Laser anti-collision early warning system used for bulk cargo stockyard

Abstract

The invention relates to a laser anti-collision early warning system used for a bulk cargo stockyard. A stacker-reclaimer with a cantilever is distributed in the bulk cargo stockyard. The system comprises two laser scanners which are installed on the two sides of the cantilever of the stacker-reclaimer respectively, and an anti-collision device which is in network connection with the laser scanners; the laser scanners obtain barrier information within the scanning range and output scanning point location data containing the barrier information, and the anti-collision device comprises a single-chip microcomputer. According to the laser anti-collision early warning system, the barrier information in the set range of the two sides of the cantilever of the stacker-reclaimer is collected in real time through the laser scanners, the single-chip microcomputer in the anti-collision device is used for processing the scanning point location data containing the barrier information, finally corresponding warning signals are output to a PLC system of the stacker-reclaimer so as to enable the stacker-reclaimer to slow down or stop timely, and therefore collision accidents can be effectively avoided.

Description

technical field [0001] The invention relates to a laser anti-collision warning system used in a bulk cargo yard. Background technique [0002] During the stacking and reclaiming operations of coal and ore wharves, the cantilever of the stacker / reclaimer must continuously move, rotate and pitch. Therefore, the cantilever between the cantilever and the stockpile, the adjacent large stacker / reclaimer, and Collisions between the cantilever and other objects are prone to occur, resulting in safety production accidents. [0003] The layout of a typical bulk cargo strip yard stacker / reclaimer can be as follows: figure 1 As shown, among them, the bar-shaped storage yard is about 400 meters wide and 700-1000 meters long, and there are many tracks distributed in it. The cantilever of the stacker is 35 meters long, and the cantilever of the reclaimer is 55 meters long. "Double-machine" layout (that is, two large and small reclaimers are distributed on one track), it can be seen from ...

AI Technical Summary

Problems solved by technology

[0006] 1. The mechanical cumulative error of the position encoder of the stacker / reclaimer is relatively large, and the position of the anti-collision warning is not accurate enough. Based on the error of the coordinates and the error of the projection, the spatial position is enlarged, and many false alarms will be calculated, resulting in adjacent When working on a large machine, it is easily affected by the signal chain and cannot work;

[0007] 2. This anti-collision warning method can only solve the anti-collision between adjacent large machines, but cannot solve the problem between the cantilever of the large machine and the large stack of goods, or between the cantilever and other obstacles (such as other mobile operation machinery, etc.). anti-collision problem

However, this method can only obtain digital alarm signals, but cannot obtain real-time distance and orientation information of obstacles. More importantly, the digital signal cannot reflect the function of obstacle size recognition. Under the condition of bulk cargo yard, it is very easy to generate false alarms and affect the operation.

Images