Method and system for preventing stacker/reclaimers from colliding with each other

Abstract

The invention discloses a method and a system for preventing stackers or reclaimers from colliding each other. The method includes establishing a plane-coordinate system of a storage yard where the stackers or reclaimers are located; setting a plurality of sampling points in the length direction of a cantilever of each stacker or reclaimer; setting a body trace point on a body of each stacker or reclaimer; acquiring the coordinate of the body trace point of each stacker or reclaimer in the plane-coordinate system; calculating a coordinate distance between the body trace points of any two stackers or reclaimers; calculating a ground projection coordinate of each of a plurality of the sampling points of each stacker or reclaimer; calculating the distance between the ground projection coordinate of any sampling point on one of the stackers or reclaimers and the ground projection coordinate of any sampling point on the other of the stackers or reclaimers when the coordinate distance between the body trace points of two stackers or reclaimers is smaller than the safe distance; outputting alarm when the distance between the ground projection coordinates of two sampling points is smaller than the alarm distance.

Description

technical field [0001] The invention relates to the monitoring field, in particular to a method and system for preventing stacker / reclaimers from colliding with each other. Background technique [0002] Since both the stacker and the reclaimer are large-scale equipment that can rotate and walk, there is a long area where the stacker cantilever and the reclaimer cantilever may collide in the same storage yard. If the stacker and reclaimer are in the In the process of turning and walking, the distance between each other is not noticed, especially at night and in the weather with low visibility, it is likely to collide with each other, and the economic and property losses will be huge, so design a set of Reasonable and effective anti-collision system is very important. [0003] The stacker and the reclaimer itself are a three-dimensional space structure, and the collision between them also occurs in the three-dimensional space. However, considering the irregularity of the cant...

AI Technical Summary

Problems solved by technology

[0002] Since both the stacker and the reclaimer are large-scale equipment that can rotate and walk, there is a long area where the stacker cantilever and the reclaimer cantilever may collide in the same storage yard. If the stacker and reclaimer are in the In the process of turning and walking, the distance between each other is not noticed, especially at night and in the weather with low visibility, it is likely to collide with each other, and the economic and property losses will be huge, so design a set of Reasonable and effective anti-collision system is very important

[0003] The stacker and the reclaimer itself are a three-dimensional space structure, and the collision between them also occurs in the three-dimensional space. However, considering the irregularity of the cantilever structure, the calculation and processing capacity of PLC, and the difficulty of programming, etc., the control The system cannot accurately calculate the minimum space distance of the stacker and reclaimer, therefore, the model of the stacker and reclaimer must be simplified

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