CN213423473U - Radar ranging and collision avoidance system of bridge type grab ship unloader - Google Patents
Radar ranging and collision avoidance system of bridge type grab ship unloader Download PDFInfo
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- CN213423473U CN213423473U CN202022591508.7U CN202022591508U CN213423473U CN 213423473 U CN213423473 U CN 213423473U CN 202022591508 U CN202022591508 U CN 202022591508U CN 213423473 U CN213423473 U CN 213423473U
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Abstract
The utility model discloses a bridge type grab bucket ship unloader radar range finding collision avoidance system, including laser rangefinder radar, data transmission link, ship unloader PLC, ship unloader cart frequency conversion actuating system and early warning device, the laser rangefinder radar passes through the fixed bolster and installs on the left and right door leg of ship unloader land side, and the laser rangefinder radar passes through data transmission link and ship unloader PLC communication connection, ship unloader PLC respectively with early warning device, ship unloader cart frequency conversion actuating system communication connection, obtain the signal of being close to around the left and right door leg of ship unloader land side through the monitoring of laser rangefinder radar, feed back this signal of being close to ship unloader PLC through data transmission link, by ship unloader PLC control ship unloader cart frequency conversion actuating system speed reduction or stop, send early warning signal by ship unloader PLC control early warning device simultaneously. The utility model discloses can effectively prevent to bump with ship unloaders, vehicle, or pedestrian, reduce the potential safety hazard.
Description
Technical Field
The utility model relates to an anticollision system of ship unloaders, concretely relates to bridge type grab ship unloaders radar range finding collision avoidance system.
Background
A bridge type grab ship unloader belongs to special high-altitude equipment at the front edge of a bulk cargo wharf, and a driver has a large visual blind area when moving the ship in a driver cab. The mechanical travel switch is adopted as an adjacent equipment anti-collision detection and protection device by the current driving mechanism of the ship unloader cart, the speed reduction and stop limiting are arranged, the mechanical travel switch is installed on the cart trolley below the left and right door leg anti-collision rods on the sea side of the ship unloader, when the adjacent ship unloader carts move in opposite directions, the mechanical arm of the mechanical travel switch is collided and acts, an action signal is fed back to the PLC, the PLC sends a control signal to control the variable-frequency driving system of the cart to decelerate or stop, and therefore the mechanical collision is prevented. The existing big car anti-collision system of the ship unloader can only detect the collision of the adjacent ship unloader, and can not detect the effective distance between the ship unloader and a front wharf vehicle or a pedestrian, so that the ship unloader often collides with the vehicle or the pedestrian, the equipment and the production safety are greatly influenced, and the direct and indirect economic losses caused by the production are avoided.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects of the prior art, the utility model aims to provide a bridge type grab ship unloader radar range finding collision avoidance system can effectively prevent to collide with ship unloader, vehicle or pedestrian, reduces the potential safety hazard.
The purpose of the utility model is realized through the following technical scheme:
the utility model provides a bridge type grab bucket ship unloader radar range finding collision avoidance system, includes laser ranging radar, data transmission link, ship unloader PLC, ship unloader cart variable frequency drive system and early warning device, and the laser ranging radar passes through the fixed bolster to be installed on the left and right gate leg in ship unloader land side, and the laser ranging radar passes through data transmission link and ship unloader PLC communication connection, ship unloader PLC respectively with early warning device, ship unloader cart variable frequency drive system communication connection, obtain the signal of being close to around the left and right gate leg in ship unloader land side through the monitoring of laser ranging radar, feed back this signal of being close to ship unloader PLC through data transmission link, by ship unloader PLC control ship unloader cart variable frequency drive system speed reduction or stop, send early warning signal by ship unloader PLC control early warning device simultaneously.
Preferably, the laser range radar is a single-point laser range radar, and comprises a laser transmitter and a laser receiver, wherein the laser transmitter transmits laser, and the laser receiver receives the reflection of the laser.
Preferably, the laser ranging radar has a range of 0.1-12 m.
Preferably, the fixed bolster includes unable adjustment base, adjusting spring and mounting platform, and unable adjustment base installs on the left and right gate leg of ship unloaders land side, places unable adjustment base in the mounting platform, and mounting platform passes through adjusting spring to be installed in unable adjustment base, and mounting platform is used for installing laser range radar.
Preferably, the fixing base comprises a shell, a support leg and a sealing glass cover, the shell is provided with an opening, the support leg is installed on the other side of the shell opposite to the opening, and the sealing glass cover covers the opening.
Preferably, the adjusting spring is mounted on the fixed base through an adjusting bolt, and the mounting platform is fixedly mounted on the fixed base through a screw.
Preferably, the early warning device comprises a buzzer alarm and a warning device which are arranged in a cab of the ship unloader.
Compared with the prior art, the utility model discloses following beneficial effect has:
the utility model discloses having accessed laser range radar, when the operation of driver operation ship unloader machine operation of moving, laser range radar detects the ship unloader, equipment, vehicle or pedestrian apart from when near, feedback signal gets into ship unloader PLC immediately, send the warning at the early warning device of driver's cab, remind operating personnel in time to make appropriate operation, ship unloader PLC control ship unloader cart variable frequency drive system slows down or stops simultaneously, effectively avoid ship unloader and adjacent ship unloader, equipment, the emergence of vehicle or pedestrian collision, reduce the potential safety hazard.
Drawings
FIG. 1 is a schematic connection diagram of a radar ranging collision avoidance system of a bridge type grab ship unloader of the present invention;
fig. 2 is one of the structural schematic diagrams of the fixing bracket of the present invention;
fig. 3 is a second schematic structural view of the fixing bracket of the present invention;
fig. 4 is a working schematic diagram of a radar ranging collision avoidance system of a bridge type grab ship unloader in one embodiment of the present invention;
fig. 5 is a schematic diagram of the utility model discloses it gets into safe district, speed reduction district, stopping area to detect the article when the cart moves.
In the figure: 4. fixing a bracket; 41. a fixed base; 411. a housing; 412. adjusting the bolt; 42. adjusting the spring; 43. mounting a platform; 44. a screw; 45. a support leg; 46. and sealing the glass cover.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The radar ranging and collision avoidance system of the bridge type grab bucket ship unloader shown in figures 1-3 comprises a laser ranging radar, a data transmission link, a ship unloader PLC, a ship unloader cart variable frequency driving system and an early warning device, wherein the laser ranging radar is arranged on the left and right door legs on the land side of the ship unloader through a fixed bracket 4 and is in communication connection with the ship unloader PLC through the data transmission link, the ship unloader PLC is respectively in communication connection with the early warning device and the ship unloader cart variable frequency driving system, the approach signals around the left and right door legs on the land side of the ship unloader are obtained by monitoring of a laser ranging radar, the approach signals are fed back to the ship unloader PLC through a data transmission link, the ship unloader PLC controls the frequency conversion driving system of the ship unloader cart to decelerate or stop, meanwhile, the ship unloader PLC controls the early warning device to send out an early warning signal to remind an operation driver to pay attention to driving safety. The early warning device comprises a buzzer alarm and a warning device which are arranged in a cab of the ship unloader.
The laser range radar of this embodiment is single-point laser range radar, including laser emitter and laser receiver, laser emitter transmission laser, laser receiver accept the reflection of laser. The range of the laser ranging radar is 0.1-12 m.
The fixing support 4 of this embodiment includes unable adjustment base 41, adjusting spring 42 and mounting platform 43, and unable adjustment base 41 installs on the left and right doorleg of ship unloaders land side, and unable adjustment base 41 is placed in mounting platform 43 in, and mounting platform 43 passes through adjusting spring 42 to be installed in unable adjustment base 41, and mounting platform 43 is used for installing laser range radar. The fixed base 41 includes a housing 411, a leg 45, and a sealing glass cover 46, the housing 411 has an opening, the leg 45 is mounted on the other side of the housing 411 opposite to the opening, and the sealing glass cover 46 covers the opening. Adjusting spring 42 is installed in unable adjustment base 41 through adjusting bolt 412, and mounting platform 43 passes through screw rod 44 fixed mounting in unable adjustment base 41, and the different angles of installation platform 43 are realized to the regulation of accessible adjusting bolt 412, correspond the range finding angle of adjusting laser rangefinder radar.
The utility model discloses a single-point laser rangefinder radar carries out real-time distance measuring, combines fixed bolster 4, can effectively improve the degree of accuracy and the efficiency that detects, combines the fixed mounting support, bumps when effectively preventing the ship unloader from moving the machine, improves factor of safety, ensures that cart running gear in time slows down or parks in safety range. Adopt laser range radar to carry out real-time ranging, combine mounting platform 43's levelness to adjust, can optimize the range finding angle of radar and promote the rate of accuracy that detects, improve the accuracy rate that the ship unloaders moved quick-witted in-process real-time ranging, improve factor of safety, ensure that cart running gear in time slows down or parks at the safety range.
The working principle of the single-point laser ranging radar is a time of flight (TOF) method, namely a laser emits a beam of fine laser to a target object, the laser reflected by the target object is received by a photoelectric element, a built-in timer measures and calculates the round-trip time T of the laser beam, and the position S of the target object is calculated: 2S ═ c ═ Δ t, S ═ c ═ Δ t/2, (electromagnetic wave propagation speed c ═ 3 × 108m/s, Δ T ═ T2-T1, T2 is the electromagnetic wave return time, and T1 is the electromagnetic wave emission time). The single-point laser ranging radar with the ranging range of 0.1-12m is used in the embodiment, is installed on the left and right door legs of the land side of the ship unloader cart, detects the object mark in front of the traveling direction of the cart, can realize the functions of stable, accurate, high-sensitivity and high-speed distance measurement, and has strong adaptability under different environments of different temperatures, different reflectivities and the like. In order to prevent the installation levelness error from influencing the monitoring of the linear object marking distance, the levelness of the installation platform 43 in the fixed support 4 can be adjusted to reduce the measurement error caused by factors except the radar. The fixed support 4 is sealed and dustproof through the sealing glass cover 46, and can prevent the near-distance value misinformation caused by shelters such as coal, ore sand and the like at the radar transmitting port under the complex working condition of the bulk cargo wharf.
As shown in fig. 4, the single-point laser ranging radar converts the detected position of the target object into an output switching value signal through a data transmission link and transmits the output switching value signal to the ship unloader PLC, and the configurable ship unloader PLC is provided with a normal mode, a deceleration mode and a stop mode. Referring to fig. 4 and 5, according to the received switching value signal, when the single-point laser ranging radar detects an object in a safe area, the ship unloader PLC sends a signal to the ship unloader PLC, the ship unloader PLC adopts a normal mode, and simultaneously, the ship unloader PLC sends a signal to a cab, the cab PLC can be configured, and the cab PLC controls a green warning device on the right linkage table to normally light a warning light so as to remind a driver of normally operating the ship unloader; when the single-point laser ranging radar detects an object in the warning area, the ship unloader PLC adopts a deceleration mode and sends a deceleration signal to the ship unloader PLC, the ship unloader PLC sends a deceleration signal to the ship unloader cart variable frequency driving system, the speed of the ship unloader cart is rapidly reduced to 8% of the rated speed, meanwhile, the ship unloader PLC sends a signal to the cab PLC, and the right linkage platform alarm buzzer of the cab gives an alarm to remind a driver to pay attention to the safety of moving the ship unloader. When the laser ranging radar detects an object in a stop area, the ship unloader PLC adopts a stop mode and sends a stop signal to the ship unloader PLC, the ship unloader PLC sends a signal to control a frequency converter of a frequency conversion driving system of a ship unloader cart to stop the ship unloader cart, meanwhile, the ship unloader PLC sends a signal to the cab PLC, the right linkage platform alarm buzzer of the cab alarms and stops after 10 seconds of delay, and the parking fault is displayed on a CMS (CMS) of the cab, so that a driver is reminded to pay attention to driving safety and take timely and effective measures to avoid collision (vehicles, pedestrians, adjacent ship unloaders and the like at a wharf of a harbor area).
The anti-collision system and the original mechanical travel switch anti-collision detection device of the embodiment can complement each other, realize the anti-collision redundant protection, enable ship unloading operators to timely and effectively stop the operation of the cart, and prevent safety accidents caused by visual blind areas or misoperation.
According to actual measurement, when the speed of the ship unloader is 8%, the braking distance of the ship unloader is only 2cm, and when the speed of the ship unloader is a rated speed, the braking distance of the ship unloader is 15cm, and the emergency stop braking distance is 7 cm. The braking distance of the large vehicle can be shortened by firstly decelerating and then stopping and setting the given running speed of the large vehicle during deceleration, and the collision with an adjacent ship unloader, a vehicle or a pedestrian caused by overlong braking distance when the large vehicle of the ship unloader suddenly stops can be avoided.
The embodiments of the present invention are not limited to the above embodiments, and according to the contents of the above embodiments of the present invention, the above preferred embodiments can also make modifications, replacements or combinations in various forms without departing from the basic technical idea of the present invention and without conflict, and the obtained other embodiments all fall within the scope of the present invention.
Claims (7)
1. The utility model provides a bridge type grab bucket ship unloader radar range finding collision avoidance system, a serial communication port, including laser rangefinder radar, data transmission link, ship unloader PLC, ship unloader cart frequency conversion actuating system and early warning device, the laser rangefinder radar passes through the fixed bolster and installs on the left and right gate leg of ship unloader land side, the laser rangefinder radar passes through data transmission link and ship unloader PLC communication connection, ship unloader PLC respectively with early warning device, ship unloader cart frequency conversion actuating system communication connection, obtain the signal of being close to around the left and right gate leg of ship unloader land side through the monitoring of laser rangefinder radar, feed back this signal of being close to ship unloader PLC through data transmission link, by ship unloader PLC control ship unloader cart frequency conversion actuating system slow down or stop, send early warning signal by ship unloader PLC control early warning device simultaneously.
2. The radar ranging and collision avoidance system of the bridge type grab bucket ship unloader of claim 1, wherein the laser ranging radar is a single-point laser ranging radar comprising a laser transmitter and a laser receiver, the laser transmitter transmits laser light, and the laser receiver receives reflection of the laser light.
3. The radar ranging collision avoidance system of the bridge type grab bucket ship unloader of claim 1, wherein the range of the laser ranging radar is 0.1-12 m.
4. The radar ranging and collision avoidance system of the bridge type grab bucket ship unloader according to any one of claims 1 to 3, wherein the fixed support comprises a fixed base, an adjusting spring and a mounting platform, the fixed base is mounted on the left and right door legs on the land side of the ship unloader, the mounting platform is arranged in the fixed base, the mounting platform is mounted on the fixed base through the adjusting spring, and the mounting platform is used for mounting the laser ranging radar.
5. The radar ranging and collision avoidance system of the bridge type grab bucket ship unloader of claim 4, wherein the fixing base comprises a housing, a leg and a sealing glass cover, the housing is provided with an opening, the leg is installed at the other side of the housing opposite to the opening, and the sealing glass cover covers the opening.
6. The radar ranging and collision avoidance system of the bridge type grab ship unloader of claim 5, wherein the adjusting spring is installed on the fixed base through an adjusting bolt, and the installation platform is fixedly installed on the fixed base through a screw.
7. The radar ranging collision avoidance system of the bridge grab ship unloader of any one of claims 1 to 3, wherein the early warning device comprises a buzzer siren and a warning device installed in a cab of the ship unloader.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022591508.7U CN213423473U (en) | 2020-11-10 | 2020-11-10 | Radar ranging and collision avoidance system of bridge type grab ship unloader |
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| CN202022591508.7U CN213423473U (en) | 2020-11-10 | 2020-11-10 | Radar ranging and collision avoidance system of bridge type grab ship unloader |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112269188A (en) * | 2020-11-10 | 2021-01-26 | 广州港集团有限公司 | Radar ranging and collision avoidance system of bridge type grab ship unloader |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112269188A (en) * | 2020-11-10 | 2021-01-26 | 广州港集团有限公司 | Radar ranging and collision avoidance system of bridge type grab ship unloader |
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