CN214610369U - Bulk cargo bucket wheel stacker-reclaimer cantilever crane collision avoidance system - Google Patents
Bulk cargo bucket wheel stacker-reclaimer cantilever crane collision avoidance system Download PDFInfo
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- CN214610369U CN214610369U CN202120176298.7U CN202120176298U CN214610369U CN 214610369 U CN214610369 U CN 214610369U CN 202120176298 U CN202120176298 U CN 202120176298U CN 214610369 U CN214610369 U CN 214610369U
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Abstract
The utility model discloses a bulk cargo bucket wheel-type stacker-reclaimer cantilever crane collision avoidance system, including laser rangefinder radar, the camera, the PLC controller, CMS monitoring unit, linkage platform buzzing early warning device and video display unit, laser rangefinder radar and camera are all installed on the platform of bulk cargo bucket wheel-type stacker-reclaimer cantilever head left and right sides, laser rangefinder radar and camera are connected with the PLC controller communication through data transmission link respectively, PLC controller through data transmission link respectively with CMS monitoring unit, linkage platform buzzing early warning device and video display unit communication are connected. The utility model adopts the laser ranging radar to carry out real-time ranging, combines with video monitoring, can effectively improve the reliability of an anti-collision system, and ensures that the early warning information can effectively act on a rotary variable frequency driving mechanism in time; the combination of the two can improve the continuous early warning and protection functions of the system, so that a driver can timely notice the swing condition of the field arm support, and the probability of collision accidents is reduced.
Description
Technical Field
The utility model relates to a port engineering machinery anticollision technical field, in particular to bulk cargo bucket wheel-type stacker-reclaimer cantilever crane collision avoidance system.
Background
A bucket wheel type stacker-reclaimer belongs to special equipment for loading and unloading materials in bulk cargo wharf storage yards and is used for transferring the materials in the storage yards. When a driver operates the machine in the cab, the driver needs to listen to the central control dispatching and can operate after the processes of yard, cargo and ship loading and unloading are carried out. The cantilever arm frame anti-collision system of the current bucket wheel type stacker-reclaimer (hereinafter referred to as a bucket wheel machine for short) mostly adopts a mechanical pull rope switch as a device for detecting and protecting the collision of a stock pile in a stock yard, and mainly comprises anti-collision sensing devices (collision sensing nylon ropes and related components connected with the mechanical pull rope switch) on two sides of the cantilever arm frame, mechanical pull rope switches on the left and right sides of the cantilever, a signal transmission line, a PLC (programmable logic controller) and the like.
Because the old harbor terminal is limited by the original flow yard design, the width of the yard can be less than the length of 2 adjacent bucket wheel machine arm supports, meanwhile, when in operation, the potential safety hazard of arm support collision occurs, in particular to a bucket wheel mechanism at the head of the arm support, therefore, the existing bucket wheel machine cantilever arm frame anti-collision system cannot effectively detect and prevent the collision of the adjacent bucket wheel machine cantilever arm frame of the old bulk cargo wharf storage yard and the collision of the bucket wheel machine and the mobile machinery (mainly a pushing and raking machine) operating in the storage yard, if the bucket wheel machine collides with the adjacent equipment, the mobile machinery or a material pile, the cantilever arm frame is distorted and deformed due to excessive external torque, further influences the balance of the whole machine and the service life of the equipment, and also brings great threat to the life and property safety of wharf workers, the method has great influence on equipment and production safety, and causes direct or indirect economic loss for wharf production.
Moreover, the current distance measurement early warning information only carries out prompt early warning, and the early warning information can not be received in time and timely and effective measures can be taken to avoid the collision between the cantilever arm support and the target object due to negligence or inattention of an operator, so that the timely and reliable early warning information can not play the early warning and protecting roles finally, and the cantilever arm support still collides.
SUMMERY OF THE UTILITY MODEL
To above not enough, the utility model aims at providing a bulk cargo bucket wheel stacker-reclaimer cantilever crane collision avoidance system, can prevent and avoid because of driver's negligence or adjacent bucket wheel machine when same stock dump operation swing cantilever with the mobile machinery (pile returning, push away the machine of taking off etc.) collision of stock dump operation, all-weather steady operation has, adapt to the complicated operating mode in bulk cargo stock dump, the precision is high, it is visual, good reliability's characteristics, thereby improve the bucket wheel machine windrow, the security performance when getting the material operation, satisfy the high-efficient material of pier, the operation demand of unloading.
In order to achieve the above object, the utility model provides a following technical scheme:
the utility model provides a bulk cargo bucket wheel-type stacker-reclaimer cantilever crane collision avoidance system, including laser rangefinder radar, the camera, the PLC controller, CMS monitor cell, linkage platform buzzing early warning device and video display unit, laser rangefinder radar and camera are all installed on the platform of bulk cargo bucket wheel-type stacker-reclaimer cantilever head left and right sides, laser rangefinder radar and camera are connected with the PLC controller communication through data transmission link respectively, the PLC controller through data transmission link respectively with CMS monitor cell, linkage platform buzzing early warning device and video display unit communication connection.
As a preferred technical scheme, the laser ranging radar is installed on platforms on the left side and the right side of the cantilever head of the bulk cargo bucket wheel type stacker-reclaimer through a first fixing base and is close to a bucket wheel mechanism.
As an optimal technical scheme, first unable adjustment base includes fixed support seat, vertical angle adjustment tank, adjusting screw, clamping screw, laser rangefinder radar vertical angle regulation pole, mounting platform and mounting platform fixing screw, vertical angle adjustment tank sets up in fixed support seat's middle part, and the end of laser rangefinder radar vertical angle regulation pole passes through clamping screw to be connected on fixed support seat, and the well end of laser rangefinder radar vertical angle regulation pole passes through adjusting screw to be connected with vertical angle adjustment tank, and the head end of laser rangefinder radar vertical angle regulation pole is located to mounting platform fixing screw, and mounting platform passes through mounting platform fixing screw and laser rangefinder radar vertical angle regulation pole bolted connection.
As a preferred technical scheme, the fixed support seat is formed by welding No. 5 channel steel and a steel plate with the length of 30mm, the width of 30mm and the thickness of 6mm up and down; the vertical angle adjusting groove is arc-shaped.
As an optimal technical scheme, the mounting platform comprises a fixing screw hole and a laser ranging radar mounting hole, the fixing screw hole is connected with the first fixing base through the fixing screw hole of the mounting platform, and the laser ranging radar is fixed through the laser ranging radar mounting hole.
As a preferred technical scheme, the laser ranging radar is a long-distance 3D laser ranging radar, the horizontal detection angle of the laser ranging radar is 90 degrees, the vertical detection angle of the laser ranging radar is 30 degrees, the angular resolution of the laser ranging radar is up to 0.05 degrees by 0.05 degrees, the dead zone of the laser ranging radar is as low as 10cm, and the protection level of the laser ranging radar is up to IP67 or above.
As a preferable technical scheme, the camera is installed on the platforms on the left side and the right side of the cantilever head of the bulk bucket wheel type stacker-reclaimer through the second fixed base and is close to the position of the hinged point of the arm support of the pitching front pull rod.
As an optimal technical scheme, the second fixing base comprises a fixing support seat, a camera mounting platform fixing screw and a camera mounting platform, the camera mounting platform comprises a mounting platform bottom plate, a mounting platform fixing screw hole and a camera supporting rod, a camera is fixed on the camera supporting rod through a circular metal hoop, and the camera supporting rod is welded with the camera mounting platform and fixed on the fixing support seat through the camera mounting platform fixing screw and the mounting platform fixing screw hole.
The CMS monitoring unit is responsible for real-time fault monitoring and fault early warning (CMS touch screen text display fault monitoring and early warning of a right linkage table) of each mechanism of the whole machine, helps a driver to find equipment faults in time and provide fault removal basis, assists the driver or maintenance personnel to quickly and effectively remove hidden equipment hazards, reduces equipment fault rate, improves equipment attendance rate and meets the operation requirement of high-efficiency material turnover of a bulk cargo wharf.
The video monitoring unit is used for displaying video monitoring images of 9 cameras of each mechanism of the whole machine (a display screen is arranged at the right oblique upper part of a cab), comprises image monitoring of the cab, an electric room, a cart walking mechanism, a tail car, a cantilever head roller, a cantilever belt vertical tensioning counterweight component and the like, when the video monitoring unit receives a protection signal which is sent by the PLC and is from the collision avoidance system of the cantilever arm support of the bulk bucket wheel type stacker-reclaimer to decelerate or stop the rotation of the cantilever arm support, the corresponding video monitoring image for the anti-collision monitoring of the cantilever crane is called in the video monitoring unit and is displayed singly (when the cantilever crane anti-collision system monitors the normal rotation of the cantilever crane, the monitoring image of the anti-collision system is not displayed), so as to remind a driver to pay attention to the swinging condition of the cantilever crane on site, the probability of collision accidents is reduced, the safety of equipment operation is improved, and the equipment is produced safely and efficiently.
As a preferred technical scheme, the camera is a 180-degree wide-angle outdoor monitor, the camera has a POE power supply function, the number of pixels is 400 thousands, and the protection level reaches IP67 or above.
The beneficial effects of the utility model reside in that:
the utility model discloses a laser rangefinder radar carries out real-time ranging, combines video monitoring, can effectively improve collision avoidance system's reliable performance, can directly control bucket wheel machine rotary frequency conversion actuating system normal operation, slow down or stop through the PLC controller, ensures that early warning information can in time effectively act on rotary frequency conversion actuating mechanism, prevents the emergence of cantilever crane collision; the real-time distance between the cantilever arm support and a possibly collided object at the moment can be displayed in the video display unit in all weather under the speed reduction and stop modes of the rotary variable frequency driving system, a driver is reminded of paying attention to the operation safety, and the early warning effect of the system is strengthened; the combination of the two can improve the continuous early warning and protection functions of the system, so that an operator can timely notice the swing condition of the field arm support, and the probability of collision accidents is reduced.
Drawings
Fig. 1 is a schematic diagram of the collision avoidance system for the cantilever arm support of the bulk bucket wheel stacker-reclaimer of the present invention;
fig. 2 is a side view of a first mounting base of the present invention, namely, a laser range radar mounting base;
fig. 3 is a front view of the laser ranging radar mounting platform of the present invention;
fig. 4 is a side view of a second fixing base of the present invention, namely, a camera fixing base;
fig. 5 is a top view of the camera mounting platform of the present invention;
FIG. 6 is a schematic top view of the bulk yard adjacent equipment in operation;
fig. 7 is the top view of the collision avoidance system of the cantilever arm frame of the bulk bucket wheel stacker-reclaimer of the utility model during monitoring.
Detailed Description
For further understanding of the contents, features and effects of the present invention, the following embodiments are exemplified and will be described in detail with reference to the accompanying drawings. It should be noted that the following examples are illustrative and not restrictive, and should not be construed as limiting the scope of the present invention.
In the description of the present invention, unless otherwise expressly specified or limited, the first feature may be "on" or "under" the second feature in direct contact with the first feature or in indirect contact with the second feature through an intermediate. Also, a first feature "on," "over," or "above" a second feature may be directly or diagonally above the first feature, or may simply mean that the first feature is at a higher level than the second feature. A first feature being "under," "below," or "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lower level than the second feature.
In the description of the present invention, it is to be understood that the terms "first", "second", and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly including one or more of the described features.
When an element is referred to as being "secured" to another element, it can be directly secured to the other element or secured through intervening elements. When an element is described as being "connected" to another element, it can be directly connected to the other element or be connected through intervening elements. The terms "upper," "lower," "left," "right," "top," "bottom," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
The utility model provides a bulk cargo bucket wheel-type stacker-reclaimer cantilever crane collision avoidance system, as shown in figure 1, including laser rangefinder radar, the camera, the PLC controller, CMS monitoring unit, linkage platform buzzing early warning device and video display unit, laser rangefinder radar and camera are all installed on the platform of bulk cargo bucket wheel-type stacker-reclaimer cantilever head left and right sides, laser rangefinder radar and camera are connected with the PLC controller communication through data transmission link respectively, the PLC controller pass through data transmission link respectively with CMS monitoring unit, linkage platform buzzing early warning device and video display unit communication are connected.
When the system is used, the laser ranging radar converts the real-time detected target position into an output switching value signal through the data transmission link and transmits the output switching value signal to the PLC of the bucket wheel machine, and the PLC of the bucket wheel machine is provided with a normal mode, a deceleration mode and a stop mode. The PLC performs corresponding processing according to a received real-time switching signal of the laser ranging radar, when a target object which does not affect the safety is detected in a safety area, the laser ranging radar sends a signal to the PLC of the bucket wheel machine, the PLC allows the bucket wheel machine to normally operate, meanwhile, the PLC sends a signal to a CMS monitoring unit and a linkage table buzzing early warning device, a green indicator light of the linkage table buzzing early warning device is turned on, and an operation driver is reminded of normally swinging the cantilever arm support; when the laser ranging radar detects an object affecting safety in a deceleration area, a signal is sent to a PLC (programmable logic controller) of the bucket wheel machine, the PLC sends a deceleration signal to a rotary variable-frequency driving system, only a driving mechanism of the rotary variable-frequency driving system is allowed to operate in a deceleration mode, the speed is reduced to 20% of the normal operation speed, meanwhile, the PLC sends a signal to a video display unit, a CMS monitoring unit and a linkage table buzzing early warning device, the CMS monitoring unit displays current faults or warnings at the moment, a buzzer of the linkage table buzzing early warning device gives an alarm, a video image of the current cantilever swinging side is displayed on a single picture in the video display unit, and multiple warning synergy reminds a driver to notice the safe swinging of the cantilever and notice the source of the object which is likely to collide; when the laser ranging radar detects a target object affecting safety in a stop area, a signal is sent to a PLC controller of the bucket wheel machine, the PLC controller sends a stop signal to a rotary variable frequency driving system, the rotary variable frequency driving system stops running immediately, the cantilever is forbidden to continue swinging the cantilever to an alarm early warning side, meanwhile, the PLC controller sends a signal to a video display unit, a CMS monitoring unit and a linkage table buzzing early warning device, the CMS monitoring unit displays current faults or warnings at the moment, meanwhile, a buzzer of the linkage table buzzing early warning device gives an alarm, a video image of the current cantilever swinging side is displayed on a single picture in the video display unit, and a redundant protection is formed under the synergistic effect, so that a driver is reminded of paying attention to the safety of cantilever swinging, and paying attention to a target object source which is likely to collide.
In this embodiment, laser rangefinder radar passes through first unable adjustment base and installs the position that is close to the bucket wheel mechanism on the platform of the round stacker-reclaimer cantilever head left and right sides of bulk cargo bucket, and laser rangefinder radar divide into left laser rangefinder radar and right laser rangefinder radar, is used for the rotation state of real-time supervision left and right cantilever crane respectively.
As shown in fig. 2 and 3, first unable adjustment base 7 includes fixed bolster 71, vertical angle adjustment tank 72, adjusting screw 73, fixing screw 74, laser range radar vertical angle adjustment pole 75, mounting platform 77 and mounting platform fixing screw 76, vertical angle adjustment tank 72 sets up in fixed bolster 71's middle part, and the end of laser range radar vertical angle adjustment pole 75 passes through fixing screw 74 to be connected on fixed bolster 71, and the well end of laser range radar vertical angle adjustment pole 75 passes through adjusting screw 73 to be connected with vertical angle adjustment tank 72, and mounting platform fixing screw 76 locates the head end of laser range radar vertical angle adjustment pole 75, and mounting platform 77 passes through mounting platform fixing screw 76 and laser range radar vertical angle adjustment pole 75 bolted connection.
The fixed support seat 71 is formed by welding a No. 5 channel steel (No. 5 channel steel) and a steel plate with the length of 30mm, the width of 30mm and the thickness of 6mm up and down; the vertical angle adjusting groove 72 is arc-shaped. Can combine adjusting screw 73, clamping screw 74 and laser range radar vertical angle adjusting rod 75 to adjust laser range radar's vertical detection angle according to on-the-spot actual demand, improve the reliability of system monitoring, realize the controllability, improve the accuracy of system monitoring.
As shown in fig. 3, the mounting platform 77 includes a fixing screw hole 771 and a laser ranging radar mounting hole 772, the fixing screw hole 771 is connected with the first fixing base 7 through the mounting platform fixing screw hole 76, and the laser ranging radar is fixedly mounted on the mounting platform 77 through the laser ranging radar mounting hole 772.
In this embodiment, the laser range radar preferably uses a long-range 3D laser range radar, the horizontal detection angle of the laser range radar is 90 °, the vertical detection angle of the laser range radar is 30 ° (the detection range of the field of view is 90 ° x 30 °), the angular resolution is 0.05 ° at the highest, the measurement blind area is as low as 10cm, and the protection level is IP67 or higher.
The working principle of the long-distance 3D laser ranging radar is as follows: the long-distance 3D laser ranging radar comprises a 2D pulse type TOF laser ranging radar and an adjustable and controllable freedom degree rotating shaft, wherein the 2D laser ranging radar comprises a laser beam transmitting unit and a laser beam receiving unit, the laser beam transmitting unit transmits a 1550nm waveband laser beam, the laser beam receiving unit receives the 1550nm waveband laser beam, and the 2D laser ranging radar completes high-definition point cloud scanning imaging of a target object in a scanning range and realizes high-precision and large-range high-precision ranging; the 2D laser ranging radar is combined with the adjustable and controllable freedom degree rotating shaft to complete 3D scanning imaging and ranging of the target object, and all-weather target object ranging can be achieved quickly, accurately, comprehensively and reliably.
Principle of 2D pulsed TOF laser range radar: adopting a time of flight (TOF) method, emitting a fine laser beam to an object by a laser, receiving the laser beam reflected by the object by a photoelectric element, measuring and calculating the round trip time T of the laser beam by a built-in timer, and calculating the position S of the object: 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).
Under the severe dust working condition of the old port bulk cargo wharf, the range of the laser ranging radar is attenuated due to the influence of reflectivity and ambient light, but in the embodiment, the effective range of the long-distance 3D laser ranging radar can still reach 30m under the condition that the reflectivity is only 10%, the stability and the accuracy of measurement can be effectively ensured, the use requirement of a field is met, and the use requirement under the dust working condition is met.
The camera is installed on the platform on the left side and the right side of the cantilever head of the bulk bucket wheel type stacker-reclaimer through the second fixing base and is close to the position of a hinge point of the pitching front pull rod arm support (the camera is installed obliquely downwards), and the camera is divided into a left camera and a right camera which are respectively used for monitoring the rotation condition of the left arm support and the right arm support in real time and uploading the monitored video images to the video display device.
As shown in fig. 4, the second fixing base 2 includes a fixing support base 21 (formed by welding 5# channel steel, and directly welded and fixed on the platform at the right side of the head of the bucket wheel machine cantilever), a camera mounting platform fixing screw 22 and a camera mounting platform 23 (the camera adopts a cylindrical stainless steel metal shell, and the protection level reaches IP67 and above), the camera 24 is fixed on the camera mounting platform 23 (the metal mounting platform matched with the camera), and is fixed on the fixing support base 21 through the camera mounting platform fixing screw 22.
As shown in fig. 5, the camera mounting platform 23 includes a mounting platform bottom plate 231, a mounting platform fixing screw 232 and a camera supporting rod 233, the camera supporting rod 233 is combined with a circular metal hoop for fixing and supporting the camera, the camera supporting rod 233 is welded to the camera mounting platform 23, and is fixed on the fixing support base 21 through the camera mounting platform fixing screw 22 and the mounting platform fixing screw 232.
The camera preferably adopts a 180-degree wide-angle outdoor monitor (10 m high-definition infrared night vision), the monitor has a POE power supply function, the number of pixels is 400 ten thousand, the camera is provided with a metal cylindrical shell, and the protection grade reaches IP67 and above. The POE power supply camera is simple and rapid to install on site, the 10-meter high-definition infrared night vision can ensure that the system can realize all-weather and high-reliability real-time picture monitoring, and the use requirements of bulk cargo storage yards with serious dust and humidity can be met by the protection level IP67 or above.
The real-time monitoring image of camera is not shown in the video display unit under the rotatory frequency conversion actuating system normal mode (PLC allows the rotatory frequency conversion mechanism normal operating of bucket wheel machine), only under speed reduction mode and stop mode, the real-time monitoring image of camera just can be called and only show (the camera control picture of the cantilever crane direction of rotation that corresponds this moment) in the video display unit, CMS monitoring unit early warning simultaneously, the buzzer warning of linkage platform buzzing early warning device, remind the driver to notice cantilever swing safety, notice the object matter source that probably bumps, in time effectual collision prevention's emergence.
As shown in fig. 6 and 7, the rotating mechanism of the bucket wheel machine can rotate the arm support within the range of-110 ° to +110 ° because the yard width is limited by the original design of the harbor dock (S)150 meters) and the length S from the center point of the bucket wheel machine' S rotation to the center point of the boom head235 m, 2S2＞S1Therefore, the potential safety hazard of collision of adjacent bucket wheel machine arm supports exists during simultaneous operation.
After the monitoring angles (45 degrees in the horizontal direction, 8 degrees below and 22 degrees above the vertical direction) of the laser ranging radar are adjusted and calibrated in an actual measurement manner, the laser ranging radar can effectively detect the flow equipment which is likely to collide with the cantilever, the cantilever arm support of the adjacent bucket wheel machine, the coal and mineral aggregate pile, ensure the accuracy of the system and the omnibearing large-range monitoring, after the installation position of a wide-angle camera of the video monitoring system is determined, when an object without influencing safety is detected in a safe area (outside the range of 5 meters from the central point of the arm support of the head of the bucket wheel), the laser ranging radar sends a signal to a PLC (programmable logic controller) of the bucket wheel machine, the PLC allows the bucket wheel machine to normally operate, meanwhile, the PLC sends a signal to the CMS monitoring unit and the linkage table buzzing early warning device, and a green indicator light of the linkage table buzzing early warning device is turned on to remind an operator of normally swinging the cantilever; when the laser ranging radar detects a target object influencing safety in a deceleration area (within 3 meters from the arc of the center point of the arm support at the head of the bucket wheel), a signal is sent to the PLC controller, the PLC controller further sends a deceleration signal to the rotary variable frequency driving system, only the speed of the rotary variable frequency driving system is allowed to be decelerated and reduced to 20 percent of the normal operation speed (the swing length of the arc of the center point of the head of the cantilever is 5cm under the condition of 20 percent of the swing of the arm support under the condition of 20 percent of the swing speed through actual measurement, so that the collision can be effectively prevented), meanwhile, the PLC controller sends signals to the video display unit, the CMS monitoring unit and the linkage platform buzzer early warning device, at the moment, the CMS monitoring unit displays the current fault or warning, simultaneously the buzzer of the linkage platform buzzer early warning device alarms, and displays the video image of the current swing side of the cantilever in a single picture in the video display unit, the multiple warning synergy can play a good warning effect, and effectively improve the attention of the driver; when the laser ranging radar detects a target object influencing safety in a stop area (within 1 m of an arc from the center point of a boom at the head of a bucket wheel), a signal is sent to a PLC controller, the PLC controller further sends a stop signal to a rotary variable frequency driving system, a driving mechanism of the rotary variable frequency driving system stops running immediately, the continuous swing of the cantilever is forbidden, meanwhile, the PLC controller sends a signal to a video display unit, a CMS monitoring unit and a linkage table buzzing early warning device, the CMS monitoring unit displays current faults or warnings at the moment, meanwhile, a buzzer of the linkage table buzzing early warning device gives an alarm, a video image of the current cantilever swing side is displayed on a single picture in the video display unit, and the driver is reminded of the safe swing of the cantilever and the source of the target object which is likely to collide under the synergistic action of multiple warnings.
The utility model discloses a laser rangefinder radar carries out real-time ranging, combines video monitoring, can effectively improve collision avoidance system's reliable performance, can directly control bucket wheel machine rotary frequency conversion actuating system normal operation, slow down or stop through the PLC controller, ensures that early warning information can in time effectively act on rotary frequency conversion actuating mechanism, prevents the emergence of cantilever crane collision; the real-time distance between the cantilever arm support and a possibly collided object at the moment can be displayed in the video display unit in all weather under the speed reduction and stop modes of the rotary variable frequency driving system, a driver is reminded of paying attention to the operation safety, and the early warning effect of the system is strengthened; the combination of the two can improve the continuous early warning and protection effects of the system, improve the use value of the system, provide powerful technical support for the safe and efficient loading and unloading operation of the bucket-wheel stacker-reclaimer of the bulk cargo port yard, and meet the development requirements of the current automatic and unmanned intelligent port.
The utility model discloses a bulk cargo bucket wheel stacker-reclaimer cantilever crane collision avoidance system still can complement each other with the mechanical stay cord switch anticollision detection device of original cantilever both sides, realizes the protection of all-round cantilever crane anticollision (the collision protection of the left and right sides portion and the lower part of encystment cantilever and adjacent bucket wheel machine cantilever crane, stockpile or mobile device).
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can also substitute or change the technical solution and the concept of the present invention within the technical scope disclosed in the present invention.
Claims (9)
1. The utility model provides a bulk cargo bucket wheel stacker-reclaimer cantilever crane collision avoidance system, a serial communication port, including laser rangefinder radar, the camera, the PLC controller, CMS monitoring unit, linkage platform buzzing early warning device and video display unit, laser rangefinder radar and camera are all installed on the platform of bulk cargo bucket wheel stacker-reclaimer cantilever head left and right sides, laser rangefinder radar and camera are connected with the PLC controller communication through data transmission link respectively, the PLC controller passes through data transmission link respectively with CMS monitoring unit, linkage platform buzzing early warning device and video display unit communication are connected.
2. The bulk cargo bucket wheel stacker-reclaimer cantilever crane collision avoidance system of claim 1, wherein the laser ranging radar is installed on the left and right platforms of the bulk cargo bucket wheel stacker-reclaimer cantilever head near the bucket wheel mechanism through the first fixed base.
3. The bulk cargo bucket wheel stacker-reclaimer cantilever crane collision avoidance system of claim 2, characterized in that, first unable adjustment base includes fixed support seat, vertical angle adjustment tank, adjusting screw, clamping screw, laser rangefinder radar vertical angle regulation pole, mounting platform and the fixed screw of mounting platform, vertical angle adjustment tank sets up in the middle part of fixed support seat, and the end of laser rangefinder radar vertical angle regulation pole passes through clamping screw to be connected on fixed support seat, and the well end of laser rangefinder radar vertical angle regulation pole passes through adjusting screw to be connected with vertical angle adjustment tank, and the head end of the vertical angle regulation pole of laser rangefinder radar is located to the fixed screw of mounting platform, and mounting platform passes through the fixed screw of mounting platform and laser rangefinder radar vertical angle regulation pole bolted connection.
4. The cantilever arm frame collision avoidance system of the bulk cargo bucket wheel stacker-reclaimer of claim 3, wherein the fixed support seat is formed by welding a No. 5 channel steel with a steel plate with the length of 30mm, the width of 30mm and the thickness of 6 mm; the vertical angle adjusting groove is arc-shaped.
5. The bulk cargo bucket wheel stacker-reclaimer cantilever crane collision avoidance system of claim 3, wherein the mounting platform comprises a fixing screw hole, a laser ranging radar mounting hole, the fixing screw hole is connected with the first fixing base through the mounting platform fixing screw hole, and the laser ranging radar is fixed through the laser ranging radar mounting hole.
6. The bulk hopper wheel stacker-reclaimer cantilever arm collision avoidance system of claim 1 or 2, wherein the laser ranging radar is a long-range 3D laser ranging radar with a horizontal detection angle of 90 °, a vertical detection angle of 30 °, an angular resolution up to 0.05 ° by 0.05 °, a dead zone of measurement down to 10cm, and a protection rating of IP67 and above.
7. The bulk cargo bucket wheel stacker-reclaimer cantilever crane collision avoidance system of claim 1, wherein the camera is mounted to the platform on the left and right sides of the bulk cargo bucket wheel stacker-reclaimer cantilever head near the position of the pitching front pull rod cantilever crane hinge point through a second fixed base.
8. The bulk cargo bucket wheel stacker-reclaimer cantilever crane collision avoidance system of claim 7, wherein the second fixing base comprises a fixing support seat, a camera mounting platform fixing screw and a camera mounting platform, the camera mounting platform comprises a mounting platform bottom plate, a mounting platform fixing screw and a camera support rod, the camera is fixed on the camera support rod through a circular metal hoop, the camera support rod is welded with the camera mounting platform and fixed on the fixing support seat through the camera mounting platform fixing screw and the mounting platform fixing screw.
9. The anti-collision system for the cantilever arm support of the bulk bucket wheel type stacker-reclaimer according to claim 1 or 7, wherein the camera is a 180-degree wide-angle outdoor monitor, the anti-collision system has a POE power supply function, the number of pixels is 400 ten thousand, and the protection level reaches IP67 or above.
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| CN202120176298.7U CN214610369U (en) | 2021-01-22 | 2021-01-22 | Bulk cargo bucket wheel stacker-reclaimer cantilever crane collision avoidance system |
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| CN202120176298.7U CN214610369U (en) | 2021-01-22 | 2021-01-22 | Bulk cargo bucket wheel stacker-reclaimer cantilever crane collision avoidance system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114348676A (en) * | 2022-01-26 | 2022-04-15 | 广州港集团有限公司 | Walking anti-collision method, device, equipment and storage medium for large stacker-reclaimer truck |
| CN117714637A (en) * | 2023-11-16 | 2024-03-15 | 中交机电工程局有限公司 | Monitoring system and method for production operation process in port |
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2021
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114348676A (en) * | 2022-01-26 | 2022-04-15 | 广州港集团有限公司 | Walking anti-collision method, device, equipment and storage medium for large stacker-reclaimer truck |
| CN117714637A (en) * | 2023-11-16 | 2024-03-15 | 中交机电工程局有限公司 | Monitoring system and method for production operation process in port |
| CN117714637B (en) * | 2023-11-16 | 2024-08-20 | 中交机电工程局有限公司 | Monitoring system and method for production operation process in port |
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