A laser anti-collision device for large flatbed trucks in shipyards

Abstract

The present invention application discloses a laser anti-collision device for a large flatbed truck in a shipyard, comprising a controller and a reversing module, a lifting module, a steering module and a laser scanner electrically connected to the controller, wherein the lifting module is installed on the reversing module, the lifting module is provided with a steering module, and the steering module is provided with a laser scanner; by installing the laser anti-collision device for a large flatbed truck in a shipyard on both the front and rear sides of the truck, obstacles around the truck can be accurately identified, and obstacle information can be fed back to the driver of the truck in time, so that the driver can find obstacles in time and avoid collision between the truck and the obstacle, and the laser anti-collision device for a large flatbed truck in a shipyard is linked with a truck control computer, so that the truck can stop moving before collision; the laser anti-collision device for a large flatbed truck in a shipyard can effectively prevent the truck from colliding with and damaging instruments and meters on the bottom of the hull on the gantry, avoid damage to the bottom of the hull, and avoid economic losses caused by improper truck driving.

Description

Technical Field

[0001] The invention relates to assisted driving, and in particular to a laser collision avoider for a large flatbed truck in a shipyard. Background Art

[0002] In shipyards, large flatbed trucks are often used to transport the hull mounted on the gantry. During transportation, the flatbed truck generally needs to be moved to the bottom of the gantry and the hull to transport the hull. There are many instruments and various pipelines on the bottom of the hull, which are often lower than the height of the gantry's beam. In addition, the flatbed truck has a small field of view and cannot clearly see the obstacles in front, behind and above it, resulting in the flatbed truck often hitting and damaging instruments or parts on the bottom of the hull, causing huge economic losses. Summary of the invention

[0003] In view of the above problems, the present invention provides a laser anti-collision device for large-scale flatbed trucks in shipyards, which can detect obstacles on the front, rear and top sides of the flatbed truck, so as to solve the problem that the flatbed truck easily hits instruments and parts at the bottom of the hull.

[0004] To achieve the above purpose, the following scheme is provided: a laser anti-collision device for a large flatbed truck in a shipyard, comprising a controller and a reversing module, a lifting module, a steering module and a laser scanner electrically connected to the controller, the lifting module being installed on the reversing module, a steering module being provided at the lifting module, and a laser scanner being installed at the steering module, the reversing module comprising a base, a reversing motor, a worm, a worm wheel and a transmission shaft, the reversing motor being installed in the base, a worm being provided at the output shaft of the reversing motor, the worm being meshed with the worm wheel, the worm wheel being rotatably installed in the base through one end of the transmission shaft, and the other end of the transmission shaft being fixedly connected to the lifting module, the lifting module comprising a body, a lifting motor, a gear, a guide rail, a slider and a rack, the body being fixedly connected to the transmission shaft, a lifting motor being provided in the body, the output shaft of the lifting motor being connected to the gear through a key, the gear being meshed with the rack, the rack being installed on the slider, the slider being slidably connected to the guide rail and the guide rail being installed in the body, and a steering module being provided at one end of the slider.

[0005] Furthermore, the steering module includes a steering motor and a connecting shaft, the steering motor is connected to one end of the connecting shaft, and a laser scanner is provided at the other end of the connecting shaft.

[0006] Furthermore, the reversing module also includes a sensing mechanism, which includes a sleeve, a trigger block, a first photoelectric sensor and a second photoelectric sensor. The sleeve is sleeved on the transmission shaft and fixedly connected to the transmission shaft. Two trigger blocks are provided on the sleeve and the two trigger blocks are distributed at ninety degrees with the transmission shaft as the center. The installation positions of the first photoelectric sensor and the second photoelectric sensor are coordinated and adapted with the setting positions of the two trigger blocks.

[0007] Furthermore, a third photoelectric sensor and a fourth photoelectric sensor are provided in the body of the lifting module, the installation position of the third photoelectric sensor is adapted to the setting position of the gear, and the installation position of the fourth photoelectric sensor is adapted to the setting position of the rack.

[0008] Furthermore, the rack and the slider are covered with foldable protective covers.

[0009] Furthermore, it also includes a protection module, which includes a protective shell, a limiting column, a mounting seat and a fixed hook. The protective shell is installed on the base surface and is adapted to the laser scanner. A limiting column is provided at one end of the slider away from the laser scanner. The limiting column is adapted to the fixed hook and the limiting column is located in the fixed hook. The fixed hook is rotatably installed on the mounting seat.

[0010] The working principle and advantages of the present invention are as follows: by installing the laser anti-collision device for the large-scale flatbed cart of the shipyard on both the front and rear sides of the flatbed cart, it is possible to accurately identify obstacles on the front and rear sides of the flatbed cart, above the flatbed cart, and above the front and rear sides of the flatbed cart, and timely feedback the obstacle information to the driver of the flatbed cart, so that the driver can find the obstacle in time and avoid the collision between the flatbed cart and the obstacle, and the laser anti-collision device for the large-scale flatbed cart of the shipyard is linked with the flatbed cart control computer, so that the flatbed cart can stop moving before the collision; the laser anti-collision device for the large-scale flatbed cart of the shipyard can effectively prevent the flatbed cart from colliding with and damaging the instruments and meters on the bottom of the hull on the gantry, avoid damage to the bottom of the hull, and avoid economic losses caused by improper driving of the flatbed cart. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a three-dimensional schematic diagram of the present invention;

[0012] Figure 2 It is a schematic diagram of the structure of the present invention;

[0013] Figure 3 The internal structure of the present invention;

[0014] Figure 4 It is a structural diagram of the reversing module of the present invention;

[0015] Figure 5 It is a structural diagram of the lifting module of the present invention;

[0016] Figure 6 It is a structural diagram of the protection module of the present invention.

[0017] The reference numerals in the drawings of the specification include:

[0018] 1. Reversing module, 11. Base, 12. Reversing motor, 13. Worm, 14. Worm wheel, 15. Transmission shaft, 16. Sleeve, 17. Trigger block, 18. First photoelectric sensor, 19. Second photoelectric sensor, 2. Lifting module, 21. Machine body, 22. Lifting motor, 23. Gear, 24. Guide rail, 25. Slider, 26. Rack, 27. Third photoelectric sensor, 28. Fourth photoelectric sensor, 29. Folding cover, 3. Steering module, 31. Steering motor, 32. Connecting shaft, 4. Laser scanner, 5. Protection module, 51. Protection shell, 52. Limiting column, 53. Mounting seat, 54. Fixing hook. DETAILED DESCRIPTION

[0019] The following is a further detailed description through specific implementation methods:

[0020] like Figures 1 to 6 As shown, a laser collision avoider for a large flatbed truck in a shipyard comprises a controller and a reversing module 1, a lifting module 2, a steering module 3 and a laser scanner 4 electrically connected to the controller. The lifting module 2 is installed on the reversing module 1, and the lifting module 2 is provided with a steering module 3. The steering module 3 is provided with a laser scanner 4. The reversing module 1 comprises a base 11, a reversing motor 12, a worm 13, a worm wheel 14 and a transmission shaft 15. The reversing motor 12 is installed in the base 11, and a worm 13 is provided at the output shaft of the reversing motor 12. The worm 13 is meshed with the worm wheel 14, and the worm wheel 14 is driven by the transmission shaft 15. One end of the driving shaft 15 is rotatably mounted in the base 11, and the other end of the transmission shaft 15 is fixedly connected to the lifting module 2. The lifting module 2 includes a body 21, a lifting motor 22, a gear 23, a guide rail 24, a slider 25 and a rack 26. The body 21 is fixedly connected to the transmission shaft 15, and a lifting motor 22 is arranged in the body 21. The output shaft of the lifting motor 22 is connected to the gear 23 by a key, and the gear 23 is meshed with the rack 26. The rack 26 is mounted on the slider 25. The slider 25 is slidably connected to the guide rail 24 and the guide rail 24 is mounted in the body 21. A steering module 3 is arranged at one end of the slider 25.

[0021] Among them, the controller is a PLC programmable controller or other control module with similar functions. The reversing module 1 is used to drive the lifting module 2, the steering module 3, and the laser scanner 4 to rotate 90 degrees as a whole. The lifting module 2 is used to drive the steering module 3 and the laser scanner 4 to rise and fall. The special module is used to drive the laser scanner 4 to rotate. The laser scanner 4 is an existing mature technology. The laser scanner 4 can adopt TIM561-2050101 type; the base 11 of the reversing module 1 is installed at the front and rear ends of the cart. The base 11 is used to protect and install the reversing motor 12 and provide installation support for other modules The reversing motor 12 is used to drive the worm 13 to rotate, the worm 13 and the worm wheel 14 rotate in unison, the worm wheel 14 drives the transmission shaft 15 to rotate, and the transmission shaft 15 drives the lifting module 2 to rotate; the body 21 of the lifting module 2 is the main supporting component of the lifting module 2, the body 21 is fixedly connected to the transmission shaft 15, so that the transmission shaft 15 can drive the body 21 to rotate, the lifting motor 22 is used to drive the gear 23 to rotate, the gear 23 engages and rotates with the rack 26, and then drives the steering module 3 and the laser scanner 4 to move up and down, the guide rail 24 and the slider 25 are used to strengthen the strength of the rack 26 and guide the rack 26.

[0022] like Figure 3 and Figure 5 As shown, the steering module 3 includes a steering motor 31 and a connecting shaft 32 . The steering motor 31 is connected to one end of the connecting shaft 32 , and a laser scanner 4 is disposed at the other end of the connecting shaft 32 .

[0023] The steering motor 31 and the connecting shaft 32 drive the laser scanner 4 to rotate, so that the laser scanner 4 can rotate at multiple angles.

[0024] like Figure 3 and Figure 4 As shown, the reversing module 1 also includes a sensing mechanism, which includes a sleeve 16, a trigger block 17, a first photoelectric sensor 18 and a second photoelectric sensor 19. The sleeve 16 is sleeved on the transmission shaft 15 and the sleeve 16 is fixedly connected to the transmission shaft 15. Two trigger blocks 17 are provided on the sleeve 16 and the two trigger blocks 17 are distributed at ninety degrees with the transmission shaft 15 as the center. The installation positions of the first photoelectric sensor 18 and the second photoelectric sensor 19 are coordinated and adapted with the setting positions of the two trigger blocks 17.

[0025] Among them, two trigger blocks 17 are provided on the sleeve 16, which are distributed at ninety degrees with the sleeve 16 as the center. The trigger blocks 17 are adapted to the first photoelectric sensor 18 and the second photoelectric sensor 19, and are used to identify whether the transmission shaft 15 and the lifting module 2 rotate ninety degrees. The specific identification process is: the initial position of the first trigger block 17 is located in the identification area of ​​the first photoelectric sensor 18. After the transmission shaft 15 rotates ninety degrees, the first trigger block 17 enters the identification range of the second photoelectric sensor 19, and the second trigger block 17 enters the identification range of the first photoelectric sensor 18, and then through the double identification method, the transmission shaft 15 is accurately controlled to rotate ninety degrees. The first photoelectric sensor 18 and the second photoelectric sensor 19 are both existing mature technologies and will not be repeated here. Other trigger devices with similar functions can also be used instead.

[0026] like Figure 1 , Figure 2 , Figure 3 and Figure 5 As shown, a third photoelectric sensor 27 and a fourth photoelectric sensor 28 are provided in the body 21 of the lifting module 2. The installation position of the third photoelectric sensor 27 matches the setting position of the gear 23, and the installation position of the fourth photoelectric sensor 28 matches the setting position of the rack 26.

[0027] Among them, the third photoelectric sensor 27 and the fourth photoelectric sensor 28 are used to detect the motion parameters of the gear 23 and the rack 26 respectively, and use double detection to detect the lifting height of the lifting module 2, so that the lifting height control of the laser scanner 4 is more accurate. The third photoelectric sensor 27 and the fourth photoelectric sensor 28 are both existing mature products. You can choose to buy them according to actual usage needs. They will not be repeated here, and other detection devices with the same function can also be used instead.

[0028] like Figure 1 As shown, the rack 26 and the slider 25 are covered with a folding sheath 29 .

[0029] The foldable sheath 29 is used to protect the rack 26 and the slider 25 to prevent dirt from contaminating the rack 26 and the slider 25 .

[0030] like Figure 1 and Figure 6 As shown, it also includes a protection module 5, which includes a protection shell 51, a limiting column 52, a mounting seat 53 and a fixing hook 54. The protection shell 51 is installed on the surface of the base 11 and the protection shell 51 is adapted to the laser scanner 4. The slider 25 is provided with a limiting column 52 at one end away from the laser scanner 4. The limiting column 52 is adapted to the fixing hook 54 and the limiting column 52 is located in the fixing hook 54. The fixing hook 54 is rotatably installed on the mounting seat 53.

[0031] Among them, the protective shell is used to protect the laser scanner 4, the mounting seat 53 is installed on the cart, the fixing hook 54 is hinged at the mounting seat 53, the limiting column 52 is installed at the end of the slider 25 and the rack 26, and the limiting column 52 is used in conjunction with the fixing hook 54 to fix the relative position of the rack 26 and the slider 25 to prevent the rack 26 and the slider 25 from being deformed by external force.

[0032] The specific implementation process is as follows:

[0033] The laser anti-collision device for large flatbed carts of our shipyard is installed at both the front and rear ends of the cart, and the controller is connected to the on-board computer control system of the cart; when using the laser anti-collision device for large flatbed carts of our shipyard, first open the protective shell, separate the fixing hook 54 from the limit column 52, start the reversing module 1, and start the reversing motor 12 of the reversing module 1. The reversing motor 12 drives the transmission shaft 15 to rotate through the worm 13 and the worm gear 14, and the transmission shaft 15 drives the lifting module 2 and the sleeve 16 to move. The sleeve 16 drives the two trigger blocks 17 to move. The initial position of the first trigger block 17 is located in the recognition area of ​​the first photoelectric sensor 18. After the transmission shaft 15 rotates ninety degrees, the first trigger block 17 enters the recognition range of the second photoelectric sensor 19, and the second trigger block 17 enters the recognition range of the first photoelectric sensor 18, and then through the double recognition method, the transmission shaft 15 is accurately controlled to rotate ninety degrees, and the transmission shaft 15 rotates 90 degrees, and the lifting module 2, the special module and the laser scanner 4 also swing 90 degrees with the transmission shaft 15 as the center; then the lifting module 2 is started, and the lifting motor 22 drives the rack 26 to move upward through the gear 23, and the guide rail 24 and the slider 25 guide the movement of the rack 26, and the rack 26 lifts the steering module 3 and the laser scanner 4 upward, and the two groups of laser anti-collision devices in front and behind the cart work at the same time, scanning whether there are obstacles in the front and rear of the cart, above the cart and above the track of the form. If there are obstacles, the laser scanner 4 will send the relevant information back to the controller, and the controller will feed back the information to the on-board system of the cart to remind the driver to avoid the cart from hitting the obstacle; if the cart continues to move after the alarm is issued, then when it is a certain distance away from the obstacle (the secondary distance can be set independently), the controller will send a signal back to the on-board system of the cart, and the on-board system of the cart will control the cart to stop moving. If the laser scanner needs to rotate an angle to scan other directions, the steering motor 31 is started, the steering motor 31 drives the connecting shaft 32 to rotate, and the connecting shaft 32 drives the laser scanner 4 to rotate together, so that the scanning direction of the laser scanner can be changed.

[0034] When the laser anti-collision device is not in use, the laser anti-collision device is reset so that the laser scanner 4 re-enters the protective shell 51 , and the fixing hook 54 is hooked onto the limiting column 52 again.

[0035] By installing our shipyard's large-scale flatbed truck laser anti-collision devices on both the front and rear sides of the flatbed truck, obstacles on the front and rear sides of the flatbed truck, above the flatbed truck, and above the front and rear sides of the flatbed truck can be accurately identified, and obstacle information can be promptly fed back to the driver of the flatbed truck, so that the driver can find obstacles in time and avoid collision between the flatbed truck and the obstacle. Our shipyard's large-scale flatbed truck laser anti-collision device is linked with the flatbed truck control computer, so that the flatbed truck can stop moving before collision. Our shipyard's large-scale flatbed truck laser anti-collision device can effectively prevent the flatbed truck from colliding with and damaging the instruments and meters on the bottom of the hull on the gantry, avoid damage to the bottom of the hull, and avoid economic losses caused by improper flatbed truck driving.

[0036] The above is only an embodiment of the present invention. The common sense such as the known specific structure and characteristics in the scheme is not described in detail here. The ordinary technicians in the relevant field know all the common technical knowledge in the technical field of the invention before the application date or priority date, can obtain all the existing technologies in the field, and have the ability to apply the conventional experimental means before that date. The ordinary technicians in the relevant field can improve and implement this scheme in combination with their own abilities under the enlightenment given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the relevant field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can be made, which should also be regarded as the scope of protection of the present invention, which will not affect the effect of the implementation of the present invention and the applicability of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A laser anti-collision device for large flatbed trucks in shipyards. Features: It includes a controller and a reversing module, a lifting module, a steering module and a laser scanner electrically connected to the controller. The lifting module is installed on the reversing module, a steering module is provided at the lifting module, and a laser scanner is installed at the steering module. The reversing module includes a base, a reversing motor, a worm, a worm wheel and a transmission shaft. The reversing motor is installed in the base. A worm is provided at the output shaft of the reversing motor. The worm is meshed with the worm wheel. The worm wheel is rotatably installed in the base through one end of the transmission shaft. The other end of the transmission shaft is fixedly connected to the lifting module. The lifting module includes a body, a lifting motor, a gear, a guide rail, a slider and a rack. The body is fixedly connected to the transmission shaft. A lifting motor is provided in the body. The output shaft of the lifting motor is connected to the gear through a key. The gear is meshed with the rack. The rack is installed on the slider. The slider is slidably connected to the guide rail and the guide rail is installed in the body. A steering module is provided at one end of the slider. The steering module comprises a steering motor and a connecting shaft, the steering motor is connected to one end of the connecting shaft, and the other end of the connecting shaft is provided with a laser scanner; The reversing module also includes a sensing mechanism, which includes a sleeve, a trigger block, a first photoelectric sensor and a second photoelectric sensor. The sleeve is sleeved on the transmission shaft and fixedly connected to the transmission shaft. Two trigger blocks are provided on the sleeve and the two trigger blocks are distributed at ninety degrees with the transmission shaft as the center. The installation positions of the first photoelectric sensor and the second photoelectric sensor are coordinated and adapted to the setting positions of the two trigger blocks.

2. The laser anti-collision device for large flatbed trucks in shipyards according to claim 1, Features: A third photoelectric sensor and a fourth photoelectric sensor are arranged in the body of the lifting module. The installation position of the third photoelectric sensor matches the setting position of the gear, and the installation position of the fourth photoelectric sensor matches the setting position of the rack.

3. The laser collision avoider for large flatbed trucks in shipyards according to claim 1, Features: The rack and the slider are covered with a folding sheath.

4. The laser anti-collision device for large flatbed trucks in shipyards according to claim 1, Features: It also includes a protection module, which includes a protection shell, a limiting column, a mounting seat and a fixed hook. The protection shell is installed on the base surface and is adapted to the laser scanner. A limiting column is provided at one end of the slider away from the laser scanner. The limiting column is adapted to the fixed hook and the limiting column is located in the fixed hook. The fixed hook is rotatably installed on the mounting seat.

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