CN211393609U - Indoor dock collision avoidance system - Google Patents
Indoor dock collision avoidance system Download PDFInfo
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- CN211393609U CN211393609U CN201921120366.7U CN201921120366U CN211393609U CN 211393609 U CN211393609 U CN 211393609U CN 201921120366 U CN201921120366 U CN 201921120366U CN 211393609 U CN211393609 U CN 211393609U
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Abstract
The utility model discloses an indoor dock collision avoidance system, include: the system comprises an equipment position detection subsystem, an equipment active anti-collision protection subsystem, an equipment position management software subsystem, a personnel positioning management subsystem, an equipment position detection subsystem, a tool and rigging actual position identification and control subsystem, collision avoidance, an equipment position management software subsystem, an anti-collision function between equipment and equipment, collision between crane equipment which mainly avoids three-dimensional operation on the same track or parallel tracks, and a personnel positioning management subsystem, an anti-collision function between equipment operation routes and personnel, and comprises equipment active anti-collision and personnel offside reminding. The anti-collision system of the indoor dock is complete and mature, can effectively prevent equipment, workpieces and collision between shipbuilding bodies, and has the characteristics of safety, reliability, clear display, simplicity and convenience in operation, high efficiency in work and the like.
Description
Technical Field
The utility model relates to an indoor dock collision avoidance system.
Background
In the shipbuilding process, the working environment in a dock is complex, and collision between equipment, workpieces and shipbuilding bodies is easy to occur. The occurrence of the situation can not be solved by a very effective anti-collision means. The mode of relying on manual observation and intervention, not only inefficiency and cost man-hour are more, often appear because of observing carelessness or information transfer not in place and take place the collision accident to lead to the engineering progress because of equipment damage is obstructed, bring direct economic loss for the enterprise.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem, the utility model discloses an indoor dock collision avoidance system.
The technical scheme of the utility model is that: an indoor dock bumper system, comprising: an equipment position detection subsystem, an equipment active anti-collision protection subsystem, an equipment position management software subsystem and a personnel positioning management subsystem,
the equipment position detection subsystem is used for identifying and controlling the actual positions of goods, tools and riggings and avoiding collision and comprises a cart position detection device, an upper trolley positioning device, a lower trolley positioning device, a position detection device of a hoisting mechanism and a rotary positioning device;
the active anti-collision protection subsystem of the equipment detects the edge area and the top height of the suspended load object by adopting 3D scanning, so as to judge the relative position and range of the suspended load object, find out the object with overlapped peripheral height, check the distance between the objects and realize the active anti-collision function;
the equipment position management software subsystem is used for realizing an anti-collision function between equipment and mainly avoiding collision between crane equipment which runs three-dimensionally on the same track or parallel tracks;
the personnel positioning management subsystem is used for the anti-collision function between the equipment running route and personnel, and comprises active equipment anti-collision and personnel-crossing reminding;
furthermore, the 3D scanning finds the upper edge of the suspended object, the height of the bottom surface of the suspended object from the ground is calculated according to 3D model data stored in the system, the complete condition of the suspended object in space is obtained, and the 3D space attitude mapped by software is compared with the attitude, so that the collision between the suspended object of the crane and the ground is prevented.
Furthermore, the cart position detection device adopts an absolute value encoder mode, an RFID magnetic nail mode is adopted to check and detect the absolute value code, the cart positioning device can move up and down, the laser bar code belt positioning mode is adopted to realize position detection, a special read-write scanning laser is installed on a moving part to complete position detection, the position detection device of the lifting mechanism adopts a self-contained absolute value encoder mode, and the rotary positioning device selects the laser bar code belt mode to carry out accurate positioning.
Furthermore, the personnel positioning management subsystem is accessed into the software management platform, the content of the submodule can be recorded and displayed at a corresponding terminal, and the positioning of the mobile personnel is carried out by adopting a UWB (ultra Wide band) wireless positioning mode.
Furthermore, the equipment position management software subsystem judges the collision position in advance according to the relevant position data, the positioning device data of each mechanism, the operation data and the direction which are collected by the equipment position detection subsystem and the equipment active anti-collision protection subsystem, and pre-warns in advance and sends out a stop command.
The utility model discloses an useful part: the anti-collision system of the indoor dock is complete and mature, can effectively prevent equipment, workpieces and collision between shipbuilding bodies, and has the characteristics of safety, reliability, clear display, simplicity and convenience in operation, high efficiency in work and the like.
Drawings
Fig. 1 is a schematic view of the present invention.
Detailed Description
In order to deepen the understanding of the present invention, the following detailed description is given with reference to the accompanying drawings, which are only used for explaining the present invention and do not constitute a limitation to the protection scope of the present invention.
An indoor dock bumper system, comprising: an equipment position detection subsystem, an equipment active anti-collision protection subsystem, an equipment position management software subsystem and a personnel positioning management subsystem,
the equipment position detection subsystem, be used for discernment and control goods, the instrument, the actual position of rigging, avoid the collision, the equipment position detection subsystem includes cart position detection device, dolly positioner from top to bottom, hoisting mechanism's position detection device and rotary positioning device, cart position detection device adopts the absolute value encoder mode, adopt the RFID magnetism nail mode to carry out the check-up and detect to the absolute value code, judge whether the absolute value encoder detects the accuracy, the less hoist of track base distance only need on one side track installation can, and to the great hoist of span, then must all install the absolute value encoder and rectify the RFID magnetism nail on its both sides.
The upper and lower trolley positioning devices adopt a laser bar code strip positioning mode to realize position detection, and a special read-write scanning laser is arranged on a moving part to finish position detection work.
The position detection device of the hoisting mechanism adopts a self-contained absolute value encoder mode. The absolute value encoder is installed at the end of the lifting winding drum, detects the length of the steel wire rope and converts the height position of the position according to the winding mode.
The rotary positioning device selects a laser bar code strip mode to accurately position the laser bar code scanner to send out a continuous swinging linear laser, scans the one-dimensional bar code, and identifies the bar code according to the brightness change of the scanned bar code. The laser bar code scanner is used for positioning, a special bar code with a standard number is used, and the current position of the laser bar code scanner relative to the bar code is obtained according to the content analysis of the bar code, so that the current rotation position is obtained.
The active anti-collision protection subsystem of the equipment detects the edge area and the top height of a suspended load object by adopting 3D scanning, thereby judging the relative position and range of the suspended load object, finding out objects with coincident heights around, checking the distance between the objects, realizing the active anti-collision function, finding out the upper edge of the suspended load object by 3D scanning, calculating the height of the bottom surface of the suspended load object from the ground according to 3D model data stored in the system, obtaining the complete condition of the suspended load object in space, comparing the height with the 3D space posture mapped by software, preventing the suspended load object of the crane from colliding with the ground, and in order to ensure the accuracy, installing a plurality of 3D scanners on the ceiling of an indoor dock, wherein the 3D scanners are used for modeling and imaging the object, and finally formed 3D images can be used for a user to observe in multiple angles.
The most core technology of the 3D scanning technology is TOF (time of flight ranging), which obtains a target object distance by continuously transmitting light pulses to a target and then receiving light returning from the object with a sensor, and by detecting the time of flight (round trip) of the light pulses. High precision measurements in space are made by using two mutually perpendicular high precision servomotors. The measured data is then transformed into a common coordinate system to complete the fitting of the scan results over a large area. Through mutual complementary fitting of a plurality of three-dimensional laser scanners, even scanning without dead angles can be achieved.
The equipment position management software subsystem is used for an anti-collision function between equipment, mainly avoiding collision between crane equipment which runs three-dimensionally on the same track or parallel tracks, monitoring and defining a safety zone between two cranes, bringing the positions of all known equipment in a dock into software management, and effectively avoiding most collisions.
The software subsystem needs to obtain the contour information of the crane, the position information of the cart, the position information of the upper trolley and the lower trolley, the height position of the hoisting mechanism, and the position information of the rotating mechanism. The information can be used for knowing the current working condition of the crane and whether the lowest height of the current position can pass through other equipment. The system also needs to monitor the direction and speed of operation of the mechanisms for predicting the risk of collision during operation of the equipment.
And the personnel positioning management subsystem is used for realizing an anti-collision function between the equipment running route and personnel, and comprises active anti-collision of the equipment and more reminding of the personnel, and the system can monitor the position of the personnel entering the workshop and realize the judgment of the position of the personnel in the dock workshop by the crane. The automatic positioning can not be realized by using a GPS, an encoder and other modes, and can only be realized by a wireless communication mode.
The personnel positioning management subsystem is accessed into the software management platform, can record and display the content of the submodule on a corresponding terminal display system, and adopts a UWB (ultra-wideband) wireless positioning mode to position the mobile personnel.
The method adopts a UWB (ultra wide band) wireless positioning mode to carry out the positioning implementation of the mobile personnel. Uwb (ultrawideband) is a carrierless communication technology capable of transmitting several tag signals per second with an accuracy of up to 30 centimeters. To locate a moving person in space, a tag capable of receiving radio waves must be installed on the person, and a plurality of base stations for transmitting radio waves are arranged in a dock to ensure that the tag can receive signals of not less than three location base stations at the same time. When the tag receives UWB (ultra wide band) wireless signals, the position of each base station can be judged according to the communication time difference among the base stations, so that the cross positioning function is realized. This level of accuracy is not sufficient for accurate positioning, but the need for in-plant collision avoidance is met.
The equipment position management software subsystem judges the collision position in advance according to the relevant position data, the positioning device data of each mechanism, the operation data and the direction which are collected by the equipment position detection subsystem and the equipment active anti-collision protection subsystem, and pre-warns in advance and sends out a stop command.
The working principle is as follows:
the equipment position detection mode is a key step for realizing collision avoidance between cranes and is also a main realization mode, and collision avoidance detection can be realized as long as the position judgment is correct.
The equipment position management software is used for monitoring the position values of all cranes, detecting whether any two pieces of equipment collide or not through logical operation, sending a deceleration command in the approaching process of the equipment and reminding a driver of paying attention. When the portal crane needs to pass through a shipbuilding gantry crane or other construction equipment, software needs to judge according to the boom position of the portal crane, the lifting height and the lifting position of the gantry crane, and corresponding equipment can be executed by receiving a pass-through permission instruction of a platform.
The active anti-collision system of the equipment uploads the 3D scanning data to the management software, judges the relative position and range of the suspended load weight, finds out objects with coincident heights in a certain range, and checks the distance between the objects to realize the active anti-collision function. Meanwhile, the height of the bottom surface of the suspended object from the ground can be calculated according to the 3D model data stored in the system, and the collision between the suspended object of the crane and the ground is effectively prevented.
The personnel positioning detection mode also needs to calculate the position of the UWB tag through software and upload a position signal to an anti-collision system, so that the position and the direction of the mobile personnel are judged, and the gantry crane with collision risk are controlled to decelerate or stop.
All the device position detection values are accessed into the PLC, and a special Siemens PLC is adopted for position detection, so that the position detection values are not mixed with the functions of a main control system, and the control fault of the whole device is prevented from being influenced when the fault occurs.
Claims (5)
1. An indoor dock anti-collision system is characterized by comprising an equipment position detection subsystem, an equipment active anti-collision protection subsystem, an equipment position management software subsystem and a personnel positioning management subsystem,
the equipment position detection subsystem is used for identifying and controlling the actual positions of goods, tools and riggings and avoiding collision, and comprises a cart position detection device, an upper trolley positioning device, a lower trolley positioning device, a position detection device of a lifting mechanism and a rotary positioning device;
the active anti-collision protection subsystem of the equipment detects the edge area and the top height of the suspended load object by adopting 3D scanning, so as to judge the relative position and range of the suspended load object, find out the object with overlapped peripheral height, check the distance between the objects and realize the active anti-collision function;
the equipment position management software subsystem is used for realizing an anti-collision function between equipment and mainly avoiding collision between crane equipment which runs three-dimensionally on the same track or parallel tracks;
and the personnel positioning management subsystem is used for realizing the anti-collision function between the equipment running route and personnel, and comprises active equipment anti-collision and personnel offside reminding.
2. An indoor dock bumper system according to claim 1 wherein: and the 3D scanning finds the upper edge of the suspended object, calculates the height of the bottom surface of the suspended object from the ground according to 3D model data stored in the system, obtains the complete condition of the suspended object in space, and compares the height with the 3D space attitude mapped by software to prevent the collision between the suspended object of the crane and the ground.
3. An indoor dock bumper system according to claim 1 wherein: the cart position detection device adopts an absolute value encoder mode, adopts an RFID magnetic nail mode to check and detect absolute value codes, the upper and lower cart positioning devices adopt a laser bar code strip positioning mode to realize position detection, a special read-write scanning laser is installed on a moving part to complete position detection, the position detection device of the lifting mechanism adopts a self-contained absolute value encoder mode, and the rotary positioning device selects the laser bar code strip mode to carry out accurate positioning.
4. An indoor dock bumper system according to claim 1 wherein: the personnel positioning management subsystem is accessed into the software management platform, the contents of the submodule can be recorded and displayed at a corresponding terminal, and the positioning of the mobile personnel is carried out by adopting a UWB (ultra-wideband) wireless positioning mode.
5. An indoor dock bumper system according to claim 1 wherein: the equipment position management software subsystem judges the collision position in advance according to the relevant position data, the positioning device data of each mechanism, the operation data and the direction which are collected by the equipment position detection subsystem and the equipment active anti-collision protection subsystem, and pre-warns in advance and sends out a stop command.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921120366.7U CN211393609U (en) | 2019-07-17 | 2019-07-17 | Indoor dock collision avoidance system |
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| CN201921120366.7U CN211393609U (en) | 2019-07-17 | 2019-07-17 | Indoor dock collision avoidance system |
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| CN211393609U true CN211393609U (en) | 2020-09-01 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110255384A (en) * | 2019-07-17 | 2019-09-20 | 招商局邮轮制造有限公司 | A kind of interior dock anti-collision system |
| CN114835023A (en) * | 2022-04-15 | 2022-08-02 | 江苏苏港智能装备产业创新中心有限公司 | Anti-collision method, device and equipment for gantry crane and storage medium |
-
2019
- 2019-07-17 CN CN201921120366.7U patent/CN211393609U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110255384A (en) * | 2019-07-17 | 2019-09-20 | 招商局邮轮制造有限公司 | A kind of interior dock anti-collision system |
| CN114835023A (en) * | 2022-04-15 | 2022-08-02 | 江苏苏港智能装备产业创新中心有限公司 | Anti-collision method, device and equipment for gantry crane and storage medium |
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