WO2002058034A1 - Anti-collision protection system - Google Patents
Anti-collision protection system Download PDFInfo
- Publication number
- WO2002058034A1 WO2002058034A1 PCT/AU2002/000048 AU0200048W WO02058034A1 WO 2002058034 A1 WO2002058034 A1 WO 2002058034A1 AU 0200048 W AU0200048 W AU 0200048W WO 02058034 A1 WO02058034 A1 WO 02058034A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- boom
- envelope
- envelopes
- system defined
- machines
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
- B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G7/00—Traffic control systems for simultaneous control of two or more different kinds of craft
- G08G7/02—Anti-collision systems
Definitions
- the present invention relates to an anti- collision protection system for machines that operate in a raw material stockpile yard, such as (by way of example) a coal stockpile.
- An object of the present invention is to provide an anti-collision protection system that prevents machines/machine collisions with minimal disruptions to normal operations of the yard and allows maximum useable space for yard operations .
- machine/machine collisions are collisions between machines, including stackers and stackers/reclaimers, that typically operate in such yards to deliver materials to and to recover materials from the yards .
- these machines travel in defined paths on a network of rail tracks that are laid in the yard.
- the network comprises a series of parallel tracks.
- the machines include (i) a body and (ii) a boom that has a material delivery and/or recovery end and extends from the body.
- the boom includes a counterweight at the end of the boom that is opposite to the material delivery and/or recovery end.
- the boom is mounted to the body so that the boom can be rotated 360° about a vertical axis and can be raised/lowered to change the height of the material delivery and/or recovery end of the boom.
- slew angle of a boom of a machine is understood herein to mean the angle of the boom in relation to a nominated axis in the x-y plane.
- One suitable axis is the rail track axis in the direction of forward movement of the machine.
- an anti-collision protection system for machines that operate in a raw material stockpile yard, the machines being moveable in the yard in defined paths, each machine including a material delivery and/or material recovery boom that can be rotated about a vertical axis, which anti-collision protection system includes:
- each boom is de ined in relation to a longitudinal axis of the boom.
- the longitudinal axis of the boom forms a reference line for producing the envelope.
- the envelope is rectangular in shape.
- the envelope is rectangular in shape when the envelope and the longitudinal axis of the boom are projected onto the x-y plane.
- the envelope is rectangular in shape when the envelope is drawn on the x-y plane in relation to the longitudinal axis of the boom as the axis appears in top plan view projected onto the x-y plane.
- the long sides of the envelope are equi-spaced from the longitudinal axis of the boom.
- the short sides of the envelope are equi-spaced from opposite ends of the boom.
- each boom is responsive to the speed of slew and/or the speed of long travel of the machine and expands as the machine speed increases and contracts as the speed decreases.
- the envelope is defined by vector calculations that create the envelope as an envelope that moves with the boom.
- the means for detecting an intersection of the boundaries of the exclusion zones for the booms includes a means for defining the locations of the envelopes in space and a means for determining whether the envelopes intersect.
- the means for locating the envelopes in space includes, on each machine, a sensor for measuring the slew angle of the boom and a sensor for measuring the long travel of the machine along the defined path of the machine .
- the slew angle sensor of each machine is mounted on a slew ring of the machine.
- the defined path of each machine is a rail track in the yard.
- the long travel sensor is a wheel- mounted sensor on the machine.
- the anti-collision system includes a plurality of envelopes around each boom, the envelopes including an innermost envelope and successively outwardly spaced envelopes .
- the means responsive to a detected boundary intersection responds differently for each of the plurality of envelopes.
- each boom and the means responsive to a detected boundary intersection Preferably there are three envelopes around each boom and the means responsive to a detected boundary intersection:
- the means responsive to a detected boundary intersection initiates appropriate messages on the operator console when events (b) and (c) occur.
- the means responsive to a detected boundary intersection includes a means for moving the machines involved in the intersection away from each other.
- the reference to “moving the machines” includes moving one or both booms of the machines .
- the means for moving the machines involved in the boundary intersection away from each other includes a means for determining the minimum distance between the booms of the machines.
- each boom includes a counterweight, whereby the boom includes a boom section and a counterweight section.
- the anti-collision system includes a means for defining an envelope around the boom section and a means for defining another envelope around the counterweight section of each boom, the envelopes forming boundaries of exclusion zones for the boom section and the counterweight section of the boom.
- the anti-collision system includes a plurality of envelopes around each counterweight section, the envelopes including an inner envelope and successively outwardly spaces envelopes .
- Figure 1 is a top plan view of a typical coal stockpile yard
- Figure 2 is a top plan view that illustrates in diagrammatic form adjacent machines operating in the yard shown in Figure 1;
- Figure 3 is a top plan view of the yard shown in
- Figure 1 the figure illustrating a series of possible collisions and clearance zones
- Figure 4 is a top plan view of one of the machines operating in the yard shown in Figure 1, the figure illustrating three exclusion zones around each of a boom section and a counterweight section of the boom of the machine;
- Figure 5 is a top plan view of two adjacent machines operating in the yard shown in Figure 1, the figure illustrating a single exclusion zone around each of a boom section and a counterweight section of each boom of the machines when the machines are located with intersecting boundaries of the exclusion zones of (i) the boom section of one machine and the (ii) the counterweight section of the other machine.
- Figure 1 illustrates an example of a typical coal stockpile yard. The yard defines a x-y plane.
- Figure 1 illustrates that coal is delivered to and recovered from the yard by two stacker/reclaimers SRI and SR0 and is delivered to the yard by a stacker SKI, each of which moves along a network of parallel tracks identified by the numeral 3.
- Each of the machines SRI, SR0 and SKI includes a body (not shown) that is constructed to engage the tracks 3 and to move the machines backwards and forwards along the tracks .
- Each of the machines SRI, SRO, and SKI also includes a boom 5 mounted to the body.
- Each boom 5 includes a coal delivery and/or recovery end 7 and a counterweight 9 at the other end of the boom.
- each boom 5 includes a boom section 21 and a counterweight section 23.
- Each boom 5 can be rotated about a vertical axis of the machine and can be raised/lowered relative to the horizontal.
- Figure 2 illustrates in diagrammatic form the relationship between adjacent machines, identified as Machines A and B .
- Figure 3 illustrates several possible collision scenarios .
- the object of the present invention is to provide an anti-collision protection system that makes it possible to avoid such collisions and at the same time to maximise the useable space for yard operations .
- a preferred system of the present invention is designed to avoid collisions between: (i) the booms 5 of machines SRI and SKI; (ii) the boom 5 of machine SRI and the counterweight 9 of machine SKI; (iii) the counterweight 9 of machine SRI and the boom 5 of machine SKI; (iv) the booms 5 of machines SRO and SKI; (v) the boom 5 of machine SRO and the counterweight of machine SKI; and (vi) the counterweight of machine SRO and the boom 5 of machine SKI.
- the preferred system includes (i) a PLC on each machine, (ii) point to point communications between each of the machine PLCs and a "hub" PLC, and (iii) a system PLC that carries most of the inter-machine anti-collision logic by running a compiled executable program within the PLC processor.
- the preferred system is based on creating at least one rectangular envelope around the boom section 21 of each boom 5 and at least one rectangular envelope around the counterweight section 23 of each boom 5, whereby the envelopes form boundaries of exclusion zones for the boom sections 21 and the counterweight sections 23 of the booms 5.
- Figure 4 illustrates such envelopes, i.e. exclusion zones, for the machine shown in the figure in a situation where there are three envelopes for the boom section 21 of the boom 5 (which define Zones 1, 2 and 3) and three envelopes for the counterweight section 23 of the boom 5.
- Each envelope is rectangular in shape when the envelope is drawn on the x-y plane (ie the plane of the page) in relation to the longitudinal axis of the boom 5 as the axis appears projected onto the x-y plane.
- Factors that are relevant to determine the sizes of the 3 envelopes for a machine include: • Normal stopping distance for the machine - typically takes into account stopping delay associated with control system latency, travel stop distance, and slew stop distance.
- Abnormal stopping distance for the machine typically takes into account stopping delay associated with control systems communications failure, extended travel stop distance on power failure, and extended slew stop distance on power failure.
- Figure 5 illustrates the envelopes, i.e. exclusion zones, for the two machines shown in the figure in a situation where there is a single envelope 13 for the boom section 21 of each boom 5 and a single envelope 15 for the counterweight section 23 of each boom 5.
- the preferred system is based on (i) detecting the intersection of the boundaries of the exclusion zones of adjacent machines and (ii) responding to detected intersections to avoid collisions.
- the preferred system uses the following coordinate system.
- the forward (north) direction of travel is defined as positive.
- the y-axis is perpendicular to the machine travel tracks 3.
- the west direction is defined as positive on the y-axis.
- the preferred system locates the envelopes in space and then continuously determines whether the envelopes intersect.
- the means for locating the envelopes in space includes sensors (not shown) on each machine for measuring the slew angles of the booms 5 and the long travel of the machines .
- Each rectangular envelope is defined by its corners, as follows:
- Collision detection is accomplished by determining if any of the lines defining the envelopes of one of the machines intersect the lines defining the envelopes of an adjacent machine.
- the preferred system carries out the following steps. 1. Set (x0,y0) to one corner of one of the collision envelopes to be examined.
- Steps 1. to 3. Are repeated for each point on both envelopes .
- Zone 1 rectangles • An intersection of the Zone 1 rectangles provides a "Warning Function" .
- Zone 2 rectangles results in the system disabling travel and slew in the direction of intrusion on both machines .
- Zone 3 rectangles results in the system disabling travel, slew and luff in all directions on both machines.
- the preferred system determines the minimum distance between the adjacent machines and calculates angles between selected points on the machines.
- the preferred system uses the calculated angles to assess permissible slewing and travel movement of the machines to move the machines away from an intersecting situation and then moves the machines accordingly.
- the envelopes are sized so as to allow the system to avoid collisions and that the size of the envelopes may change dynamically in accordance with any changing requirements to avoid collision - eg changes to required braking distance.
- the preferred system described above does not take into account the luff angles of the machines.
- the present invention extends to systems that consider the luff angles of the machines.
- the present invention is not limited to the particular: (i) means for defining envelopes around each boom that moves with the boom, (ii) means for detecting an intersection of the boundaries of the exclusion zones, and (iii) means responsive to a detected boundary intersection to prevent collision of the machines; described above.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Jib Cranes (AREA)
- Air Bags (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Specific Conveyance Elements (AREA)
Abstract
Description
Claims
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/466,708 US7034669B2 (en) | 2001-01-17 | 2002-01-17 | Anti-collision protection system |
EP02715304A EP1362336B1 (en) | 2001-01-17 | 2002-01-17 | Anti-collision protection system |
CA002435018A CA2435018A1 (en) | 2001-01-17 | 2002-01-17 | Anti-collision protection system |
JP2002558241A JP2004522668A (en) | 2001-01-17 | 2002-01-17 | Anti-collision protection device |
AU2002224655A AU2002224655B2 (en) | 2001-01-17 | 2002-01-17 | Anti-collison protection system |
DE60224648T DE60224648D1 (en) | 2001-01-17 | 2002-01-17 | ANTI-COLLISION PROTECTION SYSTEM |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AUPR2570 | 2001-01-17 | ||
AUPR2570A AUPR257001A0 (en) | 2001-01-17 | 2001-01-17 | Anti-collision protection system |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2002058034A1 true WO2002058034A1 (en) | 2002-07-25 |
Family
ID=3826605
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/AU2002/000048 WO2002058034A1 (en) | 2001-01-17 | 2002-01-17 | Anti-collision protection system |
Country Status (8)
Country | Link |
---|---|
US (1) | US7034669B2 (en) |
EP (1) | EP1362336B1 (en) |
JP (1) | JP2004522668A (en) |
AT (1) | ATE384320T1 (en) |
AU (1) | AUPR257001A0 (en) |
CA (1) | CA2435018A1 (en) |
DE (1) | DE60224648D1 (en) |
WO (1) | WO2002058034A1 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2010085944A1 (en) * | 2009-01-27 | 2010-08-05 | Deutsches Forschungszentrum für künstliche Intelligenz GmbH | Method for avoiding collisions of parts of a system that perform controlled motions |
US11975951B2 (en) | 2018-11-07 | 2024-05-07 | XCMG Construction Machinery Co., Ltd. | Engineering machinery and dynamic anti-collision method, device, and system for operation space of the engineering machinery |
Families Citing this family (20)
Publication number | Priority date | Publication date | Assignee | Title |
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NO318259B1 (en) * | 2003-08-15 | 2005-02-21 | Aker Mh As | Anti Collision System |
DE102006040782A1 (en) * | 2006-08-31 | 2008-03-20 | Liebherr-Werk Nenzing Gmbh, Nenzing | Safety and control procedures for cranes |
US20100245129A1 (en) * | 2009-03-31 | 2010-09-30 | Caterpillar Inc. | System and method for identifying machines |
CN102033237B (en) * | 2010-12-16 | 2014-07-23 | 中国神华能源股份有限公司 | Method and system for predicating collision possibility as well as anti-collision control method and system |
CN103528521B (en) * | 2013-10-22 | 2016-12-07 | 广东红海湾发电有限公司 | A kind of guarded by location method and device of complicated harbour machinery based on projected boundary invasion |
CN103922150B (en) * | 2014-04-29 | 2016-02-03 | 中交机电工程局有限公司 | A kind of bulk cargo port stockyard stand-alone device collision avoidance system and collision-proof method |
CN104386504B (en) * | 2014-11-06 | 2016-09-07 | 泰富国际工程有限公司 | A kind of cantilever stacker-reclaimer anticollision control method |
CN104609207B (en) * | 2015-01-07 | 2017-02-22 | 泰富重工制造有限公司 | Anti-collision control method for stock yard stacker-reclaimers |
CN105668258A (en) * | 2015-12-29 | 2016-06-15 | 中国神华能源股份有限公司 | Anti-collision method and system for material taking machines |
JP6871097B2 (en) * | 2017-07-21 | 2021-05-12 | 株式会社タダノ | Guide information display device, work equipment equipped with this, and guide information display method |
EP3599127B1 (en) * | 2018-07-25 | 2022-10-05 | B&R Industrial Automation GmbH | Method for operating a long-stator linear motor with transport units and collision monitoring |
US10907466B2 (en) | 2018-12-07 | 2021-02-02 | Schlumberger Technology Corporation | Zone management system and equipment interlocks |
US10890060B2 (en) * | 2018-12-07 | 2021-01-12 | Schlumberger Technology Corporation | Zone management system and equipment interlocks |
CN113396268A (en) * | 2018-12-07 | 2021-09-14 | 斯伦贝谢技术有限公司 | Zone management system and equipment interlocking |
CN110834966B (en) * | 2019-12-11 | 2024-05-03 | 华电重工股份有限公司 | Stacker-reclaimer cantilever anticollision detection device and stacker-reclaimer cantilever that has it |
CN113291845A (en) * | 2020-09-27 | 2021-08-24 | 中冶长天国际工程有限责任公司 | Anti-collision method and system for stacker-reclaimer |
DE102020214291B3 (en) | 2020-11-13 | 2022-03-17 | Tadano Faun Gmbh | Crane, in particular mobile crane |
US11939748B2 (en) | 2021-03-29 | 2024-03-26 | Joy Global Surface Mining Inc | Virtual track model for a mining machine |
US11987961B2 (en) | 2021-03-29 | 2024-05-21 | Joy Global Surface Mining Inc | Virtual field-based track protection for a mining machine |
CN113204733B (en) * | 2021-05-24 | 2024-04-16 | 中冶南方工程技术有限公司 | Anti-collision method for bucket-wheel stacker-reclaimer with same track |
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WO1990013103A1 (en) * | 1989-04-10 | 1990-11-01 | Auto-Sense, Limited | Collision avoidance system for vehicles |
WO1991006873A1 (en) * | 1989-11-03 | 1991-05-16 | Paul Malcolm Kidd | Anti-collision detection and warning system |
EP0539255A1 (en) * | 1991-10-18 | 1993-04-28 | Thomson-Csf | Method of collision avoidance between aircraft, and onboard optical equipment for carrying out the method |
US5629692A (en) * | 1995-07-20 | 1997-05-13 | Honeywell Inc. | Method and apparatus for alerting pilot to transponder antenna failure in a traffic alert and collision avoidance system |
AU9816198A (en) * | 1997-12-23 | 1999-07-22 | Frank Maiolo | Vehicle anti collision system |
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SE456048B (en) * | 1982-02-24 | 1988-08-29 | Philips Norden Ab | SET AND DEVICE FOR DETERMINING THE RISK OF COLLISION FOR TWO INBOARD'S LOVELY BODIES |
JP2700710B2 (en) * | 1990-06-21 | 1998-01-21 | 新キャタピラー三菱株式会社 | Warning device for construction machinery |
US5481248A (en) * | 1993-03-11 | 1996-01-02 | Kruh; Brian A. | Overhead cranes having collision avoidance capabilities |
US5343739A (en) * | 1993-08-06 | 1994-09-06 | Curry John R | Gantry crane collision avoidance device |
FR2715391B1 (en) * | 1994-01-24 | 1996-03-22 | Lorraine Laminage | Anti-collision device and method for a mobile. |
DE19715458A1 (en) * | 1997-04-09 | 1998-10-15 | Wolfgang Prof Dipl Ing Miegel | Method for preventing collision between crane and building or vehicles |
CA2255111C (en) * | 1997-12-05 | 2004-11-23 | Grove U.S. L.L.C. | Aerial work platform with pothole and/or obstacle detection and avoidance system |
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-
2001
- 2001-01-17 AU AUPR2570A patent/AUPR257001A0/en not_active Abandoned
-
2002
- 2002-01-17 DE DE60224648T patent/DE60224648D1/en not_active Expired - Fee Related
- 2002-01-17 CA CA002435018A patent/CA2435018A1/en not_active Abandoned
- 2002-01-17 EP EP02715304A patent/EP1362336B1/en not_active Expired - Lifetime
- 2002-01-17 WO PCT/AU2002/000048 patent/WO2002058034A1/en active IP Right Grant
- 2002-01-17 JP JP2002558241A patent/JP2004522668A/en active Pending
- 2002-01-17 AT AT02715304T patent/ATE384320T1/en not_active IP Right Cessation
- 2002-01-17 US US10/466,708 patent/US7034669B2/en not_active Expired - Fee Related
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1990013103A1 (en) * | 1989-04-10 | 1990-11-01 | Auto-Sense, Limited | Collision avoidance system for vehicles |
WO1991006873A1 (en) * | 1989-11-03 | 1991-05-16 | Paul Malcolm Kidd | Anti-collision detection and warning system |
EP0539255A1 (en) * | 1991-10-18 | 1993-04-28 | Thomson-Csf | Method of collision avoidance between aircraft, and onboard optical equipment for carrying out the method |
US5629692A (en) * | 1995-07-20 | 1997-05-13 | Honeywell Inc. | Method and apparatus for alerting pilot to transponder antenna failure in a traffic alert and collision avoidance system |
AU9816198A (en) * | 1997-12-23 | 1999-07-22 | Frank Maiolo | Vehicle anti collision system |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2010085944A1 (en) * | 2009-01-27 | 2010-08-05 | Deutsches Forschungszentrum für künstliche Intelligenz GmbH | Method for avoiding collisions of parts of a system that perform controlled motions |
US11975951B2 (en) | 2018-11-07 | 2024-05-07 | XCMG Construction Machinery Co., Ltd. | Engineering machinery and dynamic anti-collision method, device, and system for operation space of the engineering machinery |
Also Published As
Publication number | Publication date |
---|---|
DE60224648D1 (en) | 2008-03-06 |
US7034669B2 (en) | 2006-04-25 |
ATE384320T1 (en) | 2008-02-15 |
JP2004522668A (en) | 2004-07-29 |
EP1362336A4 (en) | 2006-04-05 |
AUPR257001A0 (en) | 2001-02-08 |
CA2435018A1 (en) | 2002-07-25 |
EP1362336B1 (en) | 2008-01-16 |
EP1362336A1 (en) | 2003-11-19 |
US20040055986A1 (en) | 2004-03-25 |
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