[0030] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention, but not to limit the present invention.
[0031] image 3 It is a schematic structural diagram of the anti-collision system for a ship loader provided by the present invention. like image 3 As shown, the present invention provides an anti-collision system for a ship loader, the system comprising: a boom projection length measuring device 30 for determining the projected length of the boom of the ship loader on the track on which the ship loader travels ; a ship loader distance measuring device 40 for determining the distance between the ship loader and an adjacent ship loader walking on the track and located in front of the ship loader; and a control device 50 for according to The projected length and distance are used to calculate the absolute distance of collision between the two adjacent ship loaders, and according to the absolute distance of collision, perform an alarm or control the operation of the ship loaders to stop running. It should be noted that the calculation of the absolute collision distance also needs to consider the design size of the ship loader and the relative position of the two ship loaders (for example, the booms of the two ship loaders are placed opposite each other, the boom of one ship loader Placement relative to the tail car of another ship loader), if the booms of two ship loader are placed opposite to each other, when calculating the absolute distance of collision, the projected length of the boom of the other ship loader also needs to be considered in order to place The booms collide with each other.
[0032] Wherein, the device for measuring the projected length of the boom can be used to perform the following operations: determine the actual length of the boom ( That is, the sum of the fixed length and the telescopic length); and according to the pitch angle of the boom (for example, it can be obtained by the pitch encoder of the boom), the rotation angle (for example, it can be obtained by the rotary encoder at the rotary platform) obtained), and the actual length, to determine the projected length of the boom on the track on which the ship loader travels.
[0033] Figure 5 A schematic diagram of the projection length calculation process is shown. Among them, the y-axis represents the extension direction of the track, α represents the pitch angle of the boom, and β represents the rotation angle of the boom, which can be obtained according to the trigonometric function relationship:
[0034] Projection length of boom = actual length of boom *cos∠α*cos∠β
[0035] Of course, the method for obtaining the projected length of the boom is not limited to the above calculation method, and any method that can realize the acquisition of the projected length of the boom is applicable to this.
[0036] Since the projection length of the boom is relatively small when the pitch angle of the boom is large, it may be smaller than the extension of the gantry of the ship loader. As a result, the gantry of the ship loader collided with the adjacent ship loader. Therefore, preferably, when the projected length is smaller than the outer extension of the gantry of the ship loader, the outer extension of the gantry can be taken as the projected length. The outer extension of the gantry can be obtained according to the design size of the ship loader itself.
[0037] According to the travel encoder of the ship loader, the travel position data of each ship loader can be obtained, so the distance between the adjacent ship loaders can be recorded by the travel encoders located on the two adjacent ship loaders The walking position data is determined. However, the present invention is not limited to this, and the method of obtaining the distance between adjacent ship loaders by other ranging devices (eg, laser ranging devices) is also applicable to this.
[0038] Preferably, the control device can be configured to: when the absolute distance of the collision is between the first preset distance (for example, 10m) and the second preset distance (5m), send an alarm signal to prompt the ship loader The operator, who has entered the collision warning area at this time, drives carefully. When the absolute collision distance is less than the second preset distance, an emergency stop signal is issued. After the ship loader receives the emergency stop signal, the low-voltage power system of the ship loader is tripped to achieve the effect of emergency stop. After the ship loader is stopped, if you want to continue to operate, you need to hold down the anti-collision bypass and close the low-voltage power switch. Under the condition of special supervision, the ship loader can be operated accordingly.
[0039] Figure 4 The flow chart of the anti-collision method for a ship loader provided by the present invention. like Figure 4 Correspondingly, the present invention also provides an anti-collision method for a ship loader, the method comprising: determining the projected length of the boom of the ship loader on the track on which the ship loader travels; Calculate the distance between the machine and the adjacent ship loader that walks on the track and is located in front of the ship loader; and calculates the absolute distance of collision between the two adjacent ship loaders according to the projected length and distance , and according to the absolute distance of the collision, perform an alarm or control the operation of the ship loader to stop running. For details and benefits of the anti-collision method for the ship loader, reference may be made to the above description of the anti-collision system for the ship loader, which will not be repeated here.
[0040]Through the above technical solution, an alarm signal can be issued when there is a possibility of collision, and the ship loader operator can take corresponding measures in time according to the alarm information, so as to avoid the collision of the ship loader and ensure the smooth progress of port production. The solution of the present application greatly enhances the safety factor of the ship loader during operation, and avoids the occurrence of equipment collision due to misoperation or inadequate monitoring by the operator.
[0041] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above-mentioned embodiments. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solutions of the present invention, These simple modifications all belong to the protection scope of the present invention.
[0042] In addition, it should be noted that each specific technical feature described in the above-mentioned specific implementation manner may be combined in any suitable manner under the circumstance that there is no contradiction. In order to avoid unnecessary repetition, the present invention will not describe various possible combinations.
[0043] In addition, the various embodiments of the present invention can also be combined arbitrarily, as long as they do not violate the spirit of the present invention, they should also be regarded as the contents disclosed in the present invention.
