CN214692200U - Safety protection system of common rail bucket wheel machine - Google Patents
Safety protection system of common rail bucket wheel machine Download PDFInfo
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- CN214692200U CN214692200U CN202023256113.8U CN202023256113U CN214692200U CN 214692200 U CN214692200 U CN 214692200U CN 202023256113 U CN202023256113 U CN 202023256113U CN 214692200 U CN214692200 U CN 214692200U
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Abstract
The utility model provides a common rail bucket wheel machine safety protection system is equipped with real-time anticollision detecting system, including cart anticollision detection device and cantilever anticollision detection device, cart anticollision detection device includes laser rangefinder, installs in the cart front side for detect the interval between bucket wheel machine cart and the place ahead bucket wheel machine trailer, cantilever anticollision detection device includes the radar rangefinder array, installs in cantilever head both sides, is used for detecting the distance that gets into local cantilever and coal pile and common rail bucket wheel machine cantilever; the positioning system comprises a satellite accurate positioning system and an encoder positioning system and is used for accurate space positioning of the bucket wheel machine. The utility model discloses a multiple positioning technique combination mode improves the space orientation reliability, increases cart and the real-time crashproof detection mode of cantilever, forms the initiative and detects, improves the safety protection reliability.
Description
Technical Field
The utility model belongs to the technical field of bucket wheel machine technique and specifically relates to a rail bucket wheel machine safety protection system altogether.
Background
The bucket wheel machine is the main equipment in the bulk cargo fields such as coal yards and bulk cargo terminals of thermal power plants, and is mainly used for piling and taking the bulk cargo on the field. With the implementation of unattended full-automatic control of the bucket wheel machine, the safety protection of the bucket wheel machine is the key of the safe and reliable operation of the automatic control. For 2 bucket wheel machines running on the same track, the collision avoidance between the two bucket wheel machines mainly depends on space positioning, and controls the cart walking, cantilever pitching and rotating actions of the bucket wheel machines under the condition of a certain safety distance. The precise positioning system of the bucket wheel machine with the reference of Chinese patent publication No. CN204832531U comprises a bucket wheel of the bucket wheel machine; a bucket wheel machine cart; a bucket wheel machine cantilever; the satellite positioning server is arranged in the coal conveying program control room; the satellite positioning antenna and the satellite directional antenna are arranged on two sides of a bucket wheel of the bucket wheel machine, and the satellite positioning antenna and the satellite directional antenna are connected with a satellite through a GPS satellite signal; the satellite positioning mobile station is arranged at the tail part of a cantilever of the bucket wheel machine and is connected with a satellite positioning server, and the satellite positioning antenna and the satellite directional antenna are connected with the satellite positioning mobile station through a coaxial cable; the satellite positioning fixed station is connected with the satellite positioning mobile station through a GPS satellite signal, and the satellite positioning fixed station is connected with the satellite through a GPS satellite signal.
The defects of the prior art are as follows: the anti-collision spatial positioning technology of the common rail bucket wheel machine generally adopts a GPS differential positioning method, the positioning precision is very high under normal conditions, but under the condition of severe weather conditions, the positioning data can be inaccurate or even invalid, and then the anti-collision work is adversely affected.
SUMMERY OF THE UTILITY MODEL
The utility model provides a current common rail bucket wheel machine anticollision's space orientation method receive weather variation and produce adverse effect, the problem that the reliability is low, provide a common rail bucket wheel machine safety protection system, adopt multiple positioning technology combination mode, improve space orientation reliability, increase cart and cantilever real-time anticollision detection mode, form the initiative and detect, improve the safety protection reliability.
In order to realize the purpose, the following technical scheme is provided:
a safety protection system of a common rail bucket wheel machine comprises a centralized control system and a plurality of sets of safety protection systems, the set of safety protection system is arranged on a bucket wheel machine and comprises a single machine control system, a positioning system and a real-time anti-collision detection system, the single machine control system, the positioning system and the real-time anti-collision detection system are connected with the centralized control system through network cables, the real-time anti-collision detection system comprises a cart anti-collision detection device and a cantilever anti-collision detection device, the cart anti-collision detection device comprises a laser ranging device which is arranged on the front side of the cart, the device comprises a cantilever anti-collision detection device, a cantilever anti-collision detection device and a control device, wherein the cantilever anti-collision detection device is used for detecting the distance between a bucket wheel machine cart and a front bucket wheel machine tail car, comprises a radar ranging device array, is arranged on two sides of the head of a cantilever and is used for detecting the distance between a local cantilever and a coal pile and a common rail bucket wheel machine cantilever; the positioning system comprises a satellite precise positioning system and an encoder positioning system and is used for precise space positioning of the bucket wheel machine.
The positioning system comprises a satellite accurate positioning system and an encoder positioning system, and two sets of positioning systems are arranged, so that the bucket wheel machine can be positioned more accurately, redundancy protection is provided, and the reliability of the positioning system is ensured; adopt two sets of accurate positioning system, provide high accuracy and high reliability's space for common rail bucket wheel machine and detect, realize the anticollision of cart, cantilever, trailer between the common rail bucket wheel machine. The active direct collision avoidance detection and the indirect space analysis collision avoidance are adopted, the redundant collision avoidance in different modes is realized, the collision avoidance reliability is improved, and the accident probability is reduced.
The radar ranging device is provided with a detection angle, and an anti-collision detection zone can be formed by adopting the array of the radar ranging device. And returning the detection result to the single machine control system.
Preferably, the centralized control system is used for receiving the accurate positioning data of each bucket wheel machine, calculating and analyzing the mutual spatial position relation of each bucket wheel machine, analyzing and judging the safety distance between a cantilever, a cart and a trailer among the common rail bucket wheel machines, judging and generating collision avoidance alarm information, issuing the operating parameters of the single machine control system and starting or stopping the operation instruction.
Preferably, the stand-alone control system is a PLC system on the bucket wheel machine and is used for converting longitude and latitude and elevation space data of the satellite precise positioning system into cart position, cantilever pitching and rotation angle, and the stand-alone control system controls automatic operation of the local bucket wheel machine mechanism under the instruction of the centralized control system, receives real-time data of the positioning system and the real-time anti-collision detection system, and sends alarm information and operation process information to the centralized control system.
Preferably, the satellite precise positioning system is a GPS or Beidou precise positioning system and comprises a positioning base station, a cart mobile station and a cantilever mobile station, wherein the positioning base station is in signal connection with the cart mobile station and the cantilever mobile station and is used for acquiring longitude and latitude and elevation space data of a cart and a cantilever, and the positioning precision can reach the centimeter level by adopting an RTK technology.
Preferably, the encoder positioning system comprises a cart encoder device, a cart calibration device, a pitch angle encoder device, a pitch angle calibration device, a rotation angle encoder device and a rotation angle calibration device, wherein the cart encoder device and the cart calibration device are calibrated through RFID, the pitch angle encoder device and the pitch angle calibration device are calibrated through RFID, and the rotation angle encoder device and the rotation angle calibration device are calibrated through RFID. The encoder positioning system is used for providing high-reliability and high-precision data of the cart, the pitching angle and the rotating angle of the cantilever, and reducing accumulated detection deviation caused by mechanism slipping and long-term operation.
Preferably, the laser distance measuring device is provided with 2 sets of laser distance measuring devices which are arranged on the left side and the right side of the front end of the cart.
Preferably, the open-air coal yard adopts the combined configuration of a GPS or Beidou accurate positioning system and an encoder positioning system for redundancy protection, and the closed coal yard adopts the combined configuration of 2 sets of encoder positioning systems for redundancy protection.
The utility model has the advantages that: adopt two sets of accurate positioning system, provide high accuracy and high reliability's space for common rail bucket wheel machine and detect, realize the anticollision of cart, cantilever, trailer between the common rail bucket wheel machine. The active direct collision avoidance detection and the indirect space analysis collision avoidance are adopted, the redundant collision avoidance in different modes is realized, the collision avoidance reliability is improved, and the accident probability is reduced.
Drawings
Fig. 1 is a diagram of a safety protection system for N common rail bucket wheel machines according to an embodiment of the present invention.
Fig. 2 is a diagram of a positioning system under open coal yard conditions in accordance with an embodiment of the present invention.
Fig. 3 is a diagram of a positioning system under a closed coal yard condition according to an embodiment of the present invention.
Fig. 4 shows a GPS or beidou accurate positioning system according to an embodiment of the present invention.
Fig. 5 is a diagram of an encoder positioning system according to an embodiment of the present invention.
Fig. 6 illustrates a real-time collision avoidance system according to an embodiment of the present invention.
Wherein: 901-bucket wheel machine big car, 902-bucket wheel machine cantilever, 903-bucket wheel machine tail car, 904-bucket wheel machine track, 991-big car anticollision detection device, 992-cantilever anticollision detection device.
Detailed Description
Example (b):
the embodiment provides a safety protection system of a common rail bucket wheel machine, referring to fig. 1 and fig. 6, comprising a centralized control system and a plurality of sets of safety protection systems, wherein one set of safety protection systems is installed on one bucket wheel machine, N bucket wheel machine common rails are operated on a bucket wheel machine track 904, each safety protection system comprises a single machine control system, a positioning system and a real-time anti-collision detection system, the single machine control system, the positioning system and the real-time anti-collision detection system are connected with the centralized control system through network cables, the real-time anti-collision detection system comprises a cart anti-collision detection device 991 and a cantilever anti-collision detection device 992, the cart anti-collision detection device 991 comprises a laser ranging device, is installed on the front side of a cart and is used for detecting the distance between a bucket wheel machine cart 901 and a front bucket wheel machine tail car 903, the cantilever anti-collision detection device 992 comprises a radar ranging device array, is installed on two sides of the cantilever head of the bucket wheel machine 902, for detecting the distance into the local boom and the coal pile from the bucket wheel machine boom 902; the radar ranging device is provided with a detection angle, an anti-collision detection zone can be formed by adopting the radar ranging device array, and a detection result is returned to the single-machine control system. The positioning system comprises a satellite precise positioning system and an encoder positioning system and is used for precise space positioning of the bucket wheel machine. The laser distance measuring device is provided with 2 sets of devices which are arranged on the left side and the right side of the front end of the cart;
the centralized control system is used for receiving the accurate positioning data of all the bucket wheel machines, calculating and analyzing the mutual spatial position relation of all the bucket wheel machines, analyzing and judging the safety distance among a cantilever, a cart and a tail car among the common rail bucket wheel machines, judging and generating anti-collision alarm information, issuing the operation parameters of the single machine control system and starting or stopping operation instructions.
The stand-alone control system is a PLC system on the bucket wheel machine and is used for converting longitude and latitude and elevation space data of the satellite precise positioning system into cart position, cantilever pitching and rotation angle, the stand-alone control system controls automatic operation of the local bucket wheel machine mechanism under the instruction of the centralized control system, receives real-time data of the positioning system and the real-time anti-collision detection system, and sends alarm information and operation process information to the centralized control system.
Referring to fig. 4 and 5, the satellite precise positioning system is a GPS or beidou precise positioning system, and includes a positioning base station, a cart mobile station and a cantilever mobile station, the positioning base station is in signal connection with the cart mobile station and the cantilever mobile station, and is used to obtain longitude and latitude and elevation space data of the cart and the cantilever, and the positioning precision can reach centimeter level by using RTK technology. The encoder positioning system comprises a cart encoder device, a cart calibrating device, a pitching angle encoder device, a pitching angle calibrating device, a revolution angle encoder device and a revolution angle calibrating device, wherein the cart encoder device and the cart calibrating device are calibrated through RFID, the pitching angle encoder device and the pitching angle calibrating device are calibrated through RFID, and the revolution angle encoder device and the revolution angle calibrating device are calibrated through RFID.
Referring to fig. 2 and 3, the open-air coal yard adopts the combination configuration of the GPS or big dipper accurate positioning system and the encoder positioning system for redundancy protection, and the closed coal yard adopts the combination configuration of 2 sets of encoder positioning systems for redundancy protection.
The encoder positioning system is used for providing high-reliability and high-precision data of the cart, the pitching angle and the rotating angle of the cantilever, and reducing accumulated detection deviation caused by mechanism slipping and long-term operation.
The positioning system comprises a satellite accurate positioning system and an encoder positioning system, and two sets of positioning systems are arranged, so that the bucket wheel machine can be positioned more accurately, redundancy protection is provided, and the reliability of the positioning system is ensured; adopt two sets of accurate positioning system, provide high accuracy and high reliability's space for common rail bucket wheel machine and detect, realize the anticollision of cart, cantilever, trailer between the common rail bucket wheel machine. The active direct collision avoidance detection and the indirect space analysis collision avoidance are adopted, the redundant collision avoidance in different modes is realized, the collision avoidance reliability is improved, and the accident probability is reduced.
Claims (8)
1. The utility model provides a rail bucket wheel machine safety protection system altogether, characterized by includes centralized control system and a plurality of sets of safety protection system, one set of safety protection system installs on a bucket wheel machine, the safety protection system is connected with centralized control system through the net twine, the safety protection system is equipped with real-time collision avoidance detection system, real-time collision avoidance detection system includes cart anticollision detection device and cantilever anticollision detection device, cart anticollision detection device includes laser ranging device, installs in the cart front side for detect the interval between bucket wheel machine cart and the place ahead bucket wheel machine trailer, cantilever anticollision detection device includes radar ranging device array, installs in bucket wheel machine cantilever head both sides, is used for detecting the distance that gets into local cantilever and coal pile and bucket wheel machine cantilever.
2. The common rail bucket wheel machine safety protection system of claim 1, wherein the safety protection system is further provided with a stand-alone control system and a positioning system, and the positioning system comprises a satellite precise positioning system and an encoder positioning system and is used for precise space positioning of the bucket wheel machine.
3. The safety protection system of the common rail bucket wheel machine according to claim 1 or 2, wherein the centralized control system is used for receiving accurate positioning data of all bucket wheel machines, calculating and analyzing the mutual spatial position relation of all bucket wheel machines, analyzing and judging the safety distance between a cantilever, a cart and a trailer between the common rail bucket wheel machines, and judging to generate anti-collision alarm information and issue operation parameters and start or stop operation instructions of the single-machine control system.
4. The safety protection system of the common rail bucket wheel machine of claim 2, wherein the stand-alone control system is a PLC system on the bucket wheel machine and is used for converting longitude and latitude and elevation space data of a satellite precise positioning system into cart position, cantilever pitching and rotation angle, and the stand-alone control system controls automatic operation of a local bucket wheel machine mechanism under the instruction of the centralized control system, receives real-time data of the positioning system and the real-time anti-collision detection system, and sends alarm information and operation process information to the centralized control system.
5. The common rail bucket wheel machine safety protection system of claim 2, wherein the satellite precise positioning system is a GPS or beidou precise positioning system, and comprises a positioning base station, a cart mobile station and a cantilever mobile station, wherein the positioning base station is in signal connection with the cart mobile station and the cantilever mobile station and is used for acquiring longitude and latitude and elevation space data of the cart and the cantilever.
6. The common rail bucket wheel machine safety protection system of claim 2, wherein the encoder positioning system comprises a cart encoder device, a cart calibration device, a pitch angle encoder device, a pitch angle calibration device, a roll angle encoder device, and a roll angle calibration device, the cart encoder device and the cart calibration device are calibrated by RFID, the pitch angle encoder device and the pitch angle calibration device are calibrated by RFID, and the roll angle encoder device and the roll angle calibration device are calibrated by RFID.
7. The safety protection system of the common rail bucket wheel machine of claim 1, wherein the laser distance measuring device is provided with 2 sets, and the laser distance measuring device is installed on the left side and the right side of the front end of the cart.
8. The common rail bucket wheel machine safety protection system of claim 1, wherein said radar ranging device has a probe angle, and said array of radar ranging devices forms a collision avoidance detection zone.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023256113.8U CN214692200U (en) | 2020-12-29 | 2020-12-29 | Safety protection system of common rail bucket wheel machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023256113.8U CN214692200U (en) | 2020-12-29 | 2020-12-29 | Safety protection system of common rail bucket wheel machine |
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| CN214692200U true CN214692200U (en) | 2021-11-12 |
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| CN202023256113.8U Active CN214692200U (en) | 2020-12-29 | 2020-12-29 | Safety protection system of common rail bucket wheel machine |
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