A GPS positioning-based stacker-reclaimer anti-collision method and system

Abstract

The invention provides a method and system for anti-collision of stacker-reclaimer based on GPS positioning. Contour modeling with the counterweight, and then calculate the latitude and longitude coordinate information of the selected anti-collision feature points according to the latitude and longitude coordinate information of the stacker and each stand-alone machine, and calculate the anti-collision target distance between each stacker-reclaimer stand-alone machine, and then according to The anti-collision target distance between each stacker-reclaimer unit controls the corresponding stacker-reclaimer unit to perform collision-free operations. The above-mentioned technical solution overcomes the problem of low accuracy of anti-collision calculation in the prior art, and at the same time solves the problem of cumbersome calculation process and large data redundancy in the traditional method, not only for the chassis, boom and counterweight of a single machine It realizes all-round anti-collision, and guarantees the efficiency and accuracy of anti-collision calculation, and promotes the development of unmanned stacking and reclaiming technology to a certain extent.

Description

technical field [0001] The invention relates to the technical field of mechanical control, in particular to a GPS positioning-based stacker-reclaimer anti-collision method and system. Background technique [0002] In large-scale material transfer bases such as coal and ore ports, the stacker-reclaimer is used as the actuator, whether it is in the stacking process (stacking process of the dumper) or the loading process (shipping process of the reclaimer), it is plays a very important role. There are generally multiple tracks in a storage yard, and there are multiple stackers and reclaimers on one track. It is inevitable that there will be two tracks of stand-alone machines working on the same site at the same time and adjacent single machines on the same track stacking in adjacent sites The situation of the job. In addition, the development of intelligent technology is booming, and the port storage yard is gradually developing towards unmanned stacking and reclaiming operat...

AI Technical Summary

Problems solved by technology

In this anti-collision method, the anti-collision between the arms of the stacker-reclaimer is mainly based on the distance calculated based on the positioning data of the outer end of the arm and the positioning data of the center of the chassis of the stand-alone machine. A large amount of CPU memory in the central control PLC can easily lead to CPU freezes and crashes, and the accuracy of the calculation results is too low, and the anti-collision effect during the operation is not good. Arms, counterweights, and chassis for comprehensive anti-collision

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