A laser anti-collision method and system for a bucket wheel machine

Abstract

The application provides a kind of laser anti-collision method and system of bucket wheel machine, relating to the field of bucket wheel machine safe operation, comprising: according to the first positioning of the big car part on the bucket wheel machine and the laser sensing data of the big car part, it is judged whether there is an obstacle in the front and back range of the big car part;Three-dimensional coal pile model is obtained by using the coal pile monitoring system of the cantilever part of the bucket wheel machine established in advance;According to the coal pile parameter information of the three-dimensional coal pile model, the second positioning of the obtained cantilever part and the cantilever height, the safety warning level of the cantilever part and the two side coal piles is judged in real time, and the corresponding warning measures are made.Through the sensing data of the big car part of the bucket wheel machine obtained by using the laser sensor, it is judged whether there is an obstacle in front and back of the big car part;The safety warning level of the cantilever part and the two side coal piles is judged by using the coal pile parameter information of the constructed three-dimensional coal pile model and the specific data of the bucket wheel machine cantilever, so as to make warning measures, ensure the safe operation of the bucket wheel machine.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of safety operation of bucket wheel machines, and in particular to a laser anti-collision method and system for a bucket wheel machine. BACKGROUND

[0002] Coal bulk material in a coal yard is mainly stacked and removed by a bucket wheel machine. Automation of the bucket wheel machine reduces labor costs and improves stacking and removal efficiency. However, there are still some safety risks in the automatic operation of the bucket wheel machine, such as obstacles on the operating track of the bucket wheel machine, and collision between the cantilever and the coal pile. In a light case, the production efficiency is low due to operation errors, and in a serious case, the bucket wheel machine components are damaged, and production is delayed.

[0003] Therefore, the present application provides a laser anti-collision method and system for a bucket wheel machine. SUMMARY

[0004] The present application provides a laser anti-collision method and system for a bucket wheel machine, which uses sensing data of a large wheel part of the bucket wheel machine obtained by a laser sensor to determine whether there are obstacles in front and back of the large wheel part. The safety warning level of the cantilever part and the coal piles on both sides is determined using coal pile parameter information of a three-dimensional coal pile model and specific data of the cantilever of the bucket wheel machine, so that warning measures are taken to ensure safe operation of the bucket wheel machine.

[0005] The present application provides a laser anti-collision method and system for a bucket wheel machine, which includes:

[0006] Step 1: Real-time acquisition of first positioning of a large wheel part and second positioning of a cantilever part on the bucket wheel machine, and real-time collection of laser sensing data of the large wheel part based on sensors arranged in front and behind the large wheel part;

[0007] Step 2: Determining whether there are obstacles in front and back of the large wheel part according to the first positioning and the laser sensing data, and stopping the machine in an emergency if there are obstacles;

[0008] Step 3: If there are no obstacles, monitoring the coal piles on both sides of the cantilever part according to a pre-established coal pile monitoring system of the cantilever part of the bucket wheel machine, and constructing a three-dimensional coal pile model;

[0009] Step 4: Real-time determination of the safety warning level of the cantilever part and the coal piles on both sides according to coal pile parameter information of the three-dimensional coal pile model, the second positioning, and the cantilever height, and taking corresponding warning measures.

[0010] Preferably, real-time acquisition of first positioning of a large wheel part and second positioning of a cantilever part on the bucket wheel machine includes:

[0011] The load bodies are arranged uniformly along the line on the fixed operation track of the bucket wheel machine, and the first load body sensor is installed at the position of the trolley and the second load body sensor is installed at the front end of the cantilever.

[0012] When the bucket wheel machine moves, the first positioning of the trolley is obtained based on the communication connection between the first load body sensor and the load bodies arranged on the fixed operation track, and the second positioning of the cantilever is obtained based on the communication connection between the second load body sensor and the load bodies arranged on the fixed operation track.

[0013] Preferably, whether there is an obstacle in the front and rear range of the trolley is judged according to the first positioning and the laser sensing data, comprising:

[0014] Step 11: according to the moving direction of the bucket wheel machine, the matching first data is extracted from the laser sensing data;

[0015] Step 12: the first data is preprocessed to obtain a first image;

[0016] Step 13: the laser feedback energy based on the laser sensing data under the preset safety distance is obtained, and the preset gray threshold value consistent with the laser feedback energy is obtained from the energy-pixel mapping table;

[0017] Step 14: if the gray value of the pixel point in the first image is less than the preset gray threshold value, the gray value of the pixel point is updated to 0, otherwise, it is updated to 1;

[0018] Step 15: the first pixel quantity of the pixel point with the gray value of 1 in the updated first image is obtained;

[0019] Step 16: if the first pixel quantity is greater than the preset quantity, and the standard distance of the reference obstacle closest to the laser sensor installed on the trolley from the first data is equal to or less than the preset safety distance, it is judged that there is an obstacle in the front and rear range of the trolley.

[0020] Preferably, if there is no obstacle, the coal pile monitoring system of the cantilever position of the bucket wheel machine is established in advance, the coal pile monitoring of the two sides of the cantilever position is carried out, and a three-dimensional coal pile model is constructed, comprising:

[0021] Step 21: based on the laser scanners arranged at different positions of the cantilever position, the coal piles on both sides of the cantilever position are scanned to obtain a plurality of groups of coal pile point cloud data;

[0022] Step 22: all groups of coal pile point cloud data are fused to construct a three-dimensional coal pile model.

[0023] Preferably, all groups of coal pile point cloud data are fused to construct a three-dimensional coal pile model, including:

[0024] Step 31: Adopting a bilateral filtering algorithm to remove noise and process redundancy for each group of coal pile point cloud data to obtain first point cloud data of the corresponding group;

[0025] Step 32: Adopting a coarse registration method to perform edge fusion on the first point cloud data of adjacent groups, and performing fine processing on the edge fusion line, wherein when there are two point cloud data in the same position in the fine processing result, the average value is taken as the last point cloud data of the corresponding position;

[0026] Step 34: Adopting a point cloud normal estimation method to perform triangulation processing on all fine point cloud data of the group to obtain a three-dimensional coal pile model.

[0027] Preferably, the positions of the laser scanners are uniformly distributed at both sides of the bucket wheel machine cantilever end part according to a preset interval distance, and the scanning data of the coal pile is obtained by using the cantilever rotation action.

[0028] Preferably, according to the coal pile parameter information of the three-dimensional coal pile model, the second positioning, and the cantilever height, the safety warning level of the cantilever part and the coal pile on both sides is judged in real time, and corresponding warning measures are taken, including:

[0029] Step 41: Based on the coal pile parameter visualization of the three-dimensional coal pile model, the coal pile position information and the real-time height data of the coal pile are obtained;

[0030] Step 42: The inclination sensor installed at a position far from the cantilever hinge point by a preset distance and the steering angle sensor installed on the cantilever rotation mechanism are used to measure the cantilever pitch angle and the cantilever rotation angle, respectively;

[0031] Step 43: Based on the cantilever rotation angle and the cantilever pitch angle, the cantilever height is determined;

[0032] Step 44: Based on the second positioning, the coal pile position information, the real-time height data of the coal pile, and the cantilever height, the safety level evaluation value is obtained, the current safety warning level of the cantilever is judged, and corresponding measures are taken according to the judgment result of the safety warning level.

[0033] Preferably, based on the second positioning, the coal pile position information, the real-time height data of the coal pile, and the cantilever height, the safety level evaluation value is obtained, the current safety warning level of the cantilever is judged, and corresponding measures are taken according to the judgment result of the safety warning level, including:

[0034]

[0035] P = (P1 + P2 + P3 + P4) / 4i represents the safety level evaluation value of the bucket wheel machine based on the i-th coal pile, and the value range is (0, 1);D i represents the real-time distance between the boom position determined based on the second positioning and the coal pile position and the i-th coal pile position;θ1represents the error factor of measuring the relative distance between the boom and the coal pile;t i represents the time change amount of the bucket wheel machine reaching the i-th coal pile;ω1represents the influence weight factor of the relative speed of the boom moving to the position where the i-th coal pile is located on the safety level evaluation value; represents the change amount of the boom height of the bucket wheel machine and the real-time height of the i-th coal pile within t i ;ω2represents the influence weight factor of the real-time height difference between the boom position of the bucket wheel machine and the i-th coal pile on the safety level evaluation value, wherein ω1>ω2;v max represents the maximum relative speed in the historical movement process;h max represents the maximum change amount within t i ; all the level evaluation values are analyzed, and if the level evaluation value is greater than or equal to 0.6, the safety warning level is not output, that is, no warning signal is generated;

[0036] If there is a level evaluation value in the value range of (0.35, 0.6), it is judged that the current safety warning level is a secondary warning, and a secondary warning signal is output;

[0037] At this time, the control center controls the bucket wheel machine to travel at a reduced speed, at the same time, controls the boom to be lifted to a certain height, and real-time safety level evaluation value is obtained until no warning signal is generated;

[0038] If there is a level evaluation value in the value range of (0, 0.35], it is judged that the current safety warning level is a primary warning, and a primary warning signal is output;

[0039] At this time, the control center controls the bucket wheel machine to stop immediately.

[0040] The present application provides a kind of bucket wheel machine laser anti-collision system, comprising:

[0041] Data acquisition module: real-time acquisition of the first positioning of the large car part of the bucket wheel machine and the second positioning of the boom part, while based on the laser sensing data of the front sensor and rear sensor arranged in the large car part real-time acquisition;

[0042] Obstacle detection module: according to the first positioning and the laser sensing data, it is judged whether there is an obstacle in the front and rear range of the large car part, if there is an obstacle, then emergency stop;

[0043] The coal pile model construction module: if there is no obstacle, the coal pile on both sides of the boom part is monitored according to the pre-established coal pile monitoring system of the boom part of the bucket wheel machine, and a three-dimensional coal pile model is constructed;

[0044] The safety warning module: according to the coal pile parameter information of the three-dimensional coal pile model, the second positioning and the boom height, the safety warning level of the boom part and the coal piles on both sides is judged in real time, and corresponding warning measures are taken.

[0045] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the application. The objects and other advantages of the present application can be realized and attained by the structure particularly pointed out in the written description, claims, and drawings.

[0046] The technical solutions of the present application will be further described in detail below with the help of the drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0047] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, together with the embodiments of the present application, to explain the present application, and do not constitute a limitation on the present application. In the drawings:

[0048] Figure 1 A flow chart of a bucket wheel machine laser collision avoidance method in an embodiment of the present application;

[0049] Figure 2 A structure diagram of a bucket wheel machine laser collision avoidance system in an embodiment of the present application;

[0050] Figure 3 A specific laser measurement structure diagram in an embodiment of the present application. DETAILED DESCRIPTION

[0051] The preferred embodiments of the present application will be described below in conjunction with the accompanying drawings, and it should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and do not limit the present application.

[0052] The embodiment of the present application provides a bucket wheel machine laser collision avoidance method, as shown in Figure 1 The embodiment of the present application provides a bucket wheel machine laser collision avoidance method, as shown in

[0053] Step 1: real-time acquisition of the first positioning of the large car part on the bucket wheel machine and the second positioning of the boom part, and at the same time, real-time acquisition of the laser sensing data of the large car part based on the front sensor and the rear sensor arranged in front of the large car part;

[0054] Step 2: according to the first positioning and the laser sensing data, it is judged whether there is an obstacle in the front and rear range of the large car part, if there is an obstacle, emergency stop;

[0055] Step 3: If there is no obstacle, the coal pile on both sides of the boom part is monitored according to the pre-established coal pile monitoring system of the boom part of the bucket wheel machine, and a three-dimensional coal pile model is constructed;

[0056] Step 4: According to the coal pile parameter information of the three-dimensional coal pile model, the second positioning, and the boom height, the safety warning level of the boom part and the coal piles on both sides is judged in real time, and corresponding warning measures are taken.

[0057] In this embodiment, the first positioning refers to the position coordinate information of the trolley part; the second positioning refers to the spatial coordinate information of the boom part in the coal yard.

[0058] In this embodiment, the front sensor refers to a laser sensor for detecting whether there is an obstacle in the front range of the trolley part; the rear sensor refers to a laser sensor for detecting whether there is an obstacle in the rear range of the trolley part; the laser sensor is a sensor that uses laser technology for measurement, and the advantages include realizing non-contact long-distance measurement, fast speed, and high precision; the obstacle usually refers to a pedestrian or object located on the fixed running track of the bucket wheel machine.

[0059] In this embodiment, the coal pile monitoring system is composed of a laser scanner, a data storage module, a data processing module, and a data transmission module; the three-dimensional coal pile model is obtained by using the laser scanner in the pre-established coal pile monitoring system of the boom part to scan the coal piles on both sides during the travel of the bucket wheel machine, and then transmitting the scanned data to the control center for construction based on the data processing module and the data transmission module, wherein the control center is the core for controlling the whole bucket wheel machine laser collision avoidance system.

[0060] In this embodiment, as shown in Figure 3 , it is a specific laser measurement structure diagram, wherein a1 represents a laser sensor.

[0061] In this embodiment, the coal pile parameter information includes the coal pile height, the coal pile width, and the coal pile position information; the boom height is obtained by using the obtained boom rotation angle and boom pitch angle data and combining the second positioning of the boom; the safety warning level refers to the judgment standard for the anti-collision situation between the boom part of the bucket wheel machine and the coal piles on both sides; the warning measure is to take different measures to improve the anti-collision situation according to different safety warning levels, for example, when the judgment is a first-level warning level, the system controls the bucket wheel machine to stop immediately.

[0062] The beneficial effects of the above technical solution are: through the sensing data of the bucket wheel machine trolley part obtained by the laser sensor, it is quickly and accurately judged whether there is an obstacle in front and back of the trolley part; the safety warning level of the cantilever part and the coal pile on both sides is judged by using the coal pile parameter information of the constructed three-dimensional coal pile model and the specific data of the cantilever of the bucket wheel machine, so that the warning measures are made, and the safe operation of the bucket wheel machine is ensured.

[0063] The embodiment of the present application provides a bucket wheel machine laser anti-collision method, and first positioning of a trolley part and second positioning of a cantilever part of the bucket wheel machine are obtained in real time, comprising:

[0064] The load code body is uniformly arranged along the line on the fixed running track of the bucket wheel machine, and the first load code body sensor is installed on the trolley part and the second load code body sensor is installed on the front end of the cantilever part;

[0065] When the bucket wheel machine moves, the first positioning of the trolley part is obtained based on the communication connection between the first load code body sensor and the load code body arranged on the fixed running track, and the second positioning of the cantilever part is obtained based on the communication connection between the second load code body sensor and the load code body arranged on the fixed running track.

[0066] In the embodiment, the load code body is composed of an RFID chip and a coupling element, and is uniformly arranged on the device on the fixed running track of the bucket wheel machine. The first positioning of the trolley part and the second positioning of the cantilever part are determined by automatically identifying and reading the corresponding RFID chip information through the communication connection with the first load code body sensor installed on the bottom of the trolley and the second load code body sensor installed on the front end of the cantilever, that is, there is position information in each RFID chip.

[0067] In the embodiment, the load code body sensor is a device that receives and outputs the RFID chip information in the load code body; the first positioning refers to the position coordinate information of the trolley part; and the second positioning refers to the spatial coordinate information of the cantilever part in the coal yard.

[0068] The beneficial effects of the above technical solution are: through the arrangement of the load code body on the running track of the bucket wheel machine, and the communication connection with the load code body sensor installed on the trolley part and the front end of the cantilever, the corresponding positioning data is obtained, which provides accurate data support for the anti-collision of the bucket wheel machine, and is beneficial to indirectly realize the safe operation of the bucket wheel machine.

[0069] The embodiment of the present application provides a bucket wheel machine laser anti-collision method, and according to the first positioning and the laser sensing data, it is judged whether there is an obstacle in the front and back range of the trolley part, comprising:

[0070] Step 11: according to the moving direction of the bucket wheel machine, the matching first data is extracted from the laser sensing data;

[0071] Step 12: preprocessing the first data to obtain a first image;

[0072] Step 13: obtaining laser feedback energy based on laser sensor data under the preset safety distance, and obtaining a preset gray threshold consistent with the laser feedback energy from an energy-pixel mapping table;

[0073] Step 14: if the gray value of a pixel point in the first image is less than the preset gray threshold, updating the gray value of the pixel point to 0, otherwise, updating to 1;

[0074] Step 15: obtaining the first pixel quantity whose gray value is 1 in the updated first image;

[0075] Step 16: if the first pixel quantity is greater than the preset quantity, and the standard distance of the reference obstacle closest to the laser sensor installed on the large vehicle part extracted from the first data is equal to or less than the preset safety distance, judging that there is an obstacle in the front and rear range of the large vehicle part.

[0076] In this embodiment, the moving direction of the bucket wheel machine includes forward and backward; the laser sensor data is composed of data measured by the front sensor and the rear sensor.

[0077] In this embodiment, the first data refers to the distance data between the obstacle in the measurement range detected by the laser sensor, which is extracted from the laser sensor data based on the moving direction of the bucket wheel machine; for example, the bucket wheel machine is currently in the forward direction, and the data measured by the front sensor is extracted from the laser sensor data as the first data output.

[0078] In this embodiment, the first image is a gray image obtained by generating a two-dimensional array based on the first data and displaying the generated two-dimensional array.

[0079] In this embodiment, the preset safety distance is set in advance.

[0080] In this embodiment, the laser feedback energy refers to the actual output energy of the laser sensor; the energy-pixel mapping table is composed of energy and pixels stored according to the relationship between energy and pixels; the preset gray threshold is matched from the energy-pixel mapping table based on the laser feedback energy, which is used for subsequent threshold segmentation processing.

[0081] In this embodiment, for example, the gray values of pixel points a1 and a2 in the first image A1 are greater than the preset gray threshold, and the gray value of a3 is less than the preset gray threshold, at this time, the gray values of pixel points a1 and a2 are updated to 1, and the gray value of pixel point a3 is updated to 0.

[0082] In this embodiment, the first pixel quantity is the number of pixel points with a gray value of 1 in the updated first image; and the preset quantity is set in advance based on the sensitivity of the sensor itself and is generally 15.

[0083] In this embodiment, the reference obstacle refers to the closest obstacle to the laser sensor installed on the first data corresponding to the large vehicle part; and the standard distance refers to the distance between the reference obstacle and the corresponding laser sensor.

[0084] In this embodiment, for example, the first image A2 generated when the bucket wheel machine is advancing has a first pixel quantity of 18, which is greater than the preset quantity 15, and the known standard distance is less than the preset safety distance, so it is determined that there is an obstacle in the front range of the large vehicle part.

[0085] The beneficial effects of the above technical solution are: by using the laser sensor installed on the large vehicle part and the first positioning, the first image in the front and rear range of the large vehicle is obtained; by threshold processing the first image and combining the analysis of the distance between the closest obstacle to the laser sensor and the laser sensor, the influence of data noise points or small objects in the bucket wheel machine running environment is prevented, and the accuracy of determining whether there is an obstacle in the front and rear range of the large vehicle is effectively ensured.

[0086] The embodiment of the present application provides a bucket wheel machine laser anti-collision method, if there is no obstacle, a coal pile monitoring system is established in advance according to the cantilever part of the bucket wheel machine, coal pile monitoring is performed on both sides of the cantilever part, and a three-dimensional coal pile model is constructed, including:

[0087] Step 21: based on the laser scanners arranged at different positions of the cantilever part, the coal piles on both sides of the cantilever part are scanned, and a plurality of groups of coal pile point cloud data are obtained;

[0088] Step 22: all groups of coal pile point cloud data are fused and processed, and a three-dimensional coal pile model is constructed.

[0089] In this embodiment, the positions of the laser scanners are uniformly distributed on both sides of the cantilever end part of the bucket wheel machine according to a preset interval distance; and the coal pile point cloud data is obtained by scanning the coal pile with the laser scanners installed on the cantilever part as the bucket wheel machine runs.

[0090] In this embodiment, the fusion processing aims to facilitate subsequent processing and reconstruction, including noise removal, redundancy processing, edge fusion and fine processing of the coal pile point cloud data; and the three-dimensional coal pile model is used for real-time parameter visualization of the coal pile and safety warning of possible collision between the cantilever and the coal pile.

[0091] The beneficial effects of the above technical scheme are: the laser scanner arranged at the cantilever part scans the coal piles on both sides of the cantilever, and obtains scanning data; the three-dimensional coal pile model is obtained through fusion processing of the scanning data, which is beneficial to obtain real-time data of the coal pile and lays a foundation for subsequent anti-collision detection.

[0092] The embodiment of the application provides a laser anti-collision method for a bucket wheel machine, which performs fusion processing on all groups of coal pile point cloud data, and constructs a three-dimensional coal pile model, comprising the following steps:

[0093] Step 31: a bilateral filtering algorithm is used to remove noise and perform redundancy processing on each group of coal pile point cloud data, and first point cloud data of the corresponding group is obtained;

[0094] Step 32: a coarse registration method is used to perform edge fusion on the first point cloud data of adjacent groups, and fine processing is performed on the edge fusion line, wherein when there are two point cloud data in the same position in the fine processing result, the average value is obtained as the last point cloud data of the corresponding position;

[0095] Step 34: a point cloud normal estimation method is used to perform triangulation processing on all groups of point cloud data after fine processing, and a three-dimensional coal pile model is obtained.

[0096] In the embodiment, the bilateral filtering algorithm is a commonly used algorithm developed on the basis of Gaussian filtering, which removes noise while maintaining data details; the redundancy processing mainly reduces memory and simplifies subsequent data processing; the first point cloud data refers to the coal pile point cloud data after noise removal and redundancy processing.

[0097] In the embodiment, the coarse registration method includes point cloud sampling, feature extraction and coarse registration; the purpose of edge fusion is to increase completeness and level; the fine processing of the edge fusion line is mainly to obtain more complete three-dimensional point cloud data.

[0098] In the embodiment, for example, there are two point cloud data b1 and b2 at position B, and the average value of the two point cloud data is obtained and taken as the last point cloud data at position B.

[0099] In the embodiment, the point cloud normal estimation method refers to directly estimating the surface normal of the point cloud, and the process is to obtain the eigenvector and eigenvalue of the covariance matrix of the nearest neighbor calculation of the point cloud; the realization of the triangulation processing is mainly to combine the point cloud normal estimation method, project all point cloud data to the same plane and determine the connection relationship between the point clouds, then reversely map the point clouds to the three-dimensional space, construct the three-dimensional space topology relationship according to the projection relationship, and finally obtain the three-dimensional coal pile model.

[0100] ​The beneficial effects of the above technical solution are: through the triangulation processing of the data after the fine processing of the coal pile point cloud data after the noise removal and redundancy processing by filtering, the three-dimensional coal pile model is effectively established, and the foundation is laid for the subsequent coal pile real-time data.

[0101] The embodiment of the application provides a bucket wheel machine laser anti-collision method, according to the coal pile parameter information of the three-dimensional coal pile model, the second positioning and the boom height, the safety warning level of the boom part and the two side coal piles is judged in real time, and corresponding warning measures are made, including:

[0102] Step 41: based on the coal pile parameter visualization of the three-dimensional coal pile model, the coal pile position information and the coal pile real-time height data are obtained;

[0103] Step 42: the boom pitch angle and the boom rotation angle are measured by respectively using the inclination sensor installed at a position far away from the boom hinge point by a preset distance and the steering angle sensor installed on the boom slewing mechanism;

[0104] Step 43: based on the boom rotation angle and the boom pitch angle, the boom height is determined;

[0105] Step 44: based on the second positioning, the coal pile position information, the coal pile real-time height data and the boom height, the safety level evaluation value is obtained, the current safety warning level of the boom is judged, and according to the judgment result of the safety warning level, corresponding measures are made.

[0106] In the embodiment, the coal pile parameters include the coal pile position information, the coal pile real-time height data and the coal pile width; the preset distance is set in advance; the inclination sensor selects the sensor with a measurement range of ±45° to measure the boom pitch angle of the bucket wheel machine; and the second positioning refers to the spatial coordinate information of the boom part in the coal yard.

[0107] In the embodiment, the safety level evaluation value is used to judge the safety warning level of the possible collision of the current boom and the two side coal piles, wherein the safety warning level is divided into first warning and second warning.

[0108] The beneficial effects of the above technical solution are: through the analysis of the boom pitch angle and the boom rotation angle obtained by the inclination sensor and the steering angle sensor installed on the boom part based on the coal pile real-time parameters obtained by the three-dimensional coal pile model, the safety level evaluation value of the possible collision of the boom part and the two side coal piles is obtained, the safety warning level is determined, and corresponding measures are made, which is beneficial to ensure the safe operation of the bucket wheel machine.

[0109] The embodiment of the present application provides a kind of bucket wheel machine laser anti-collision method, based on the second positioning, coal pile position information, coal pile real-time height data and cantilever height, obtain safety level evaluation value, the current safety warning level of cantilever is judged, and according to the judgment result of safety warning level, corresponding measures are made, including:

[0110]

[0111] Wherein, P i It is indicated that the safety level evaluation value of bucket wheel machine based on the i th coal pile, the value range is (0, 1);D i It is indicated that the real-time distance of cantilever position determined based on the second positioning and coal pile position information and the position of the i th coal pile;θ1It is indicated that the error factor of measuring the relative distance between cantilever and coal pile;t i It is indicated that the time variation of bucket wheel machine to the i th coal pile;ω1It is indicated that the influence weight factor of the relative speed of cantilever moving to the position where the i th coal pile is located on safety level evaluation value; It is indicated that the variation of cantilever height of bucket wheel machine and real-time height of the i th coal pile in t i It is indicated that the influence weight factor of the real-time height difference of cantilever position of bucket wheel machine and the i th coal pile on safety level evaluation value, wherein ω1> ω2;v max It is indicated that the maximum relative speed in historical movement process;h max It is indicated that the maximum variation in t i ;

[0112] All level evaluation values obtained are analyzed, if level evaluation value is greater than or equal to 0.6, no safety warning level is output, i.e. no warning signal is generated;

[0113] If there is level evaluation value in the value range (0.35, 0.6), it is judged that the current safety warning level is two-level warning and two-level warning signal is output;

[0114] At this time, the control center controls the bucket wheel machine to travel at a reduced speed, simultaneously, controls cantilever to lift a certain height, and real-time safety level evaluation value is obtained until no warning signal is generated;

[0115] If there is level evaluation value in the value range (0, 0.35], it is judged that the current safety warning level is one-level warning and one-level warning signal is output;

[0116] At this time, the control center controls the bucket wheel machine to stop immediately.

[0117] In this embodiment, for example, the grade evaluation value of the boom and the coal pile 1 is 0.2, and the safety warning grade of the boom and the coal pile 1 is determined as the second-level warning, and the second-level warning signal is generated and outputted, and the control center receives the second-level warning signal, and immediately controls the bucket wheel to slow down and raise the boom height.

[0118] In this embodiment, for example, the grade evaluation value of the boom and the coal pile 2 is 0.5, and the safety warning grade of the boom and the coal pile 2 is determined as the first-level warning, and the first-level warning signal is generated and outputted, and the control center receives the first-level warning signal, and immediately controls the bucket wheel machine to stop.

[0119] The beneficial effects of the above technical solution are: the safety grade evaluation value is obtained based on the real-time parameters of the coal pile obtained based on the second positioning and the three-dimensional coal pile model and the boom height; the current safety warning grade of the boom is judged by using the safety grade evaluation value, and the judgment result of the safety warning grade is transmitted to the control center, so that the bucket wheel machine makes the anti-collision measure, which is beneficial to ensure the safe operation of the bucket wheel machine.

[0120] The embodiment of the present application provides a bucket wheel machine laser anti-collision system, as shown in the figure, which comprises: Figure 2

[0121] The data acquisition module: the first positioning of the large car part of the bucket wheel machine and the second positioning of the boom part are acquired in real time, and the laser sensing data of the large car part is collected in real time based on the front sensor and the rear sensor arranged in the large car part;

[0122] The obstacle detection module: whether there is an obstacle in the front and rear range of the large car part is judged according to the first positioning and the laser sensing data, and if there is an obstacle, the machine is stopped urgently;

[0123] The coal pile model construction module: if there is no obstacle, the coal pile monitoring of both sides of the boom part is carried out according to the coal pile monitoring system of the boom part of the bucket wheel machine, and the three-dimensional coal pile model is constructed;

[0124] The safety warning module: the safety warning grade of the boom part and the coal pile on both sides is judged in real time according to the coal pile parameter information of the three-dimensional coal pile model, the second positioning and the boom height, and the corresponding warning measure is made.

[0125] The beneficial effects of the above technical solution are: the sensing data of the large car part of the bucket wheel machine is obtained by using the laser sensor, and whether there is an obstacle in front and rear of the large car part is judged; the safety warning grade of the boom part and the coal pile on both sides is judged by using the coal pile parameter information of the constructed three-dimensional coal pile model and the specific data of the boom of the bucket wheel machine, so that the warning measure is made to ensure the safe operation of the bucket wheel machine.

[0126] ​It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application cover modifications and variations of this application provided they come within the scope of the appended claims and their equivalents.

Claims

1. A laser-based collision avoidance method for bucket wheel excavators, characterized in that, include: Step 1: Real-time acquisition of the first positioning of the trolley section and the second positioning of the cantilever section on the bucket wheel excavator. At the same time, real-time acquisition of laser sensing data of the trolley section based on the front and rear sensors set on the trolley section. Step 2: Based on the first positioning and laser sensing data, determine whether there are obstacles in the front and rear range of the vehicle section. If there are obstacles, stop the machine immediately. Step 3: If there are no obstacles, then based on the coal pile monitoring system pre-established on the cantilever section of the bucket wheel excavator, monitor the coal pile on both sides of the cantilever section to construct a three-dimensional coal pile model. Step 4: Based on the coal pile parameter information, second positioning and cantilever height of the three-dimensional coal pile model, determine the safety warning level of the cantilever part and the coal piles on both sides in real time, and take corresponding warning measures. Specifically, based on the first positioning and laser sensing data, determining whether there are obstacles within the area in front of and behind the vehicle section includes: Step 11: Extract matching first data from the laser sensing data according to the direction of movement of the bucket wheel excavator; Step 12: Preprocess the first data to obtain the first image; Step 13: Obtain the laser feedback energy based on laser sensing data at a preset safe distance, and obtain a preset grayscale threshold consistent with the laser feedback energy from the energy-pixel mapping table; Step 14: If there is a pixel in the first image whose gray value is less than the preset gray value threshold, then update the gray value of the pixel to 0; otherwise, update it to 1. Step 15: Obtain the number of pixels with a grayscale value of 1 in the updated first image; Step 16: If the number of first pixels is greater than the preset number, and the standard distance from the nearest reference obstacle to the laser sensor installed on the vehicle part extracted from the first data is equal to or less than the preset safety distance, then it is determined that there is an obstacle within the range in front of and behind the vehicle part.

2. The laser anti-collision method for bucket wheel excavators according to claim 1, characterized in that, Real-time acquisition of the first positioning of the trolley section and the second positioning of the cantilever section of the bucket wheel excavator, including: The code carriers are evenly arranged along the fixed running track of the bucket wheel excavator. At the same time, the first code carrier sensor is installed at the trolley part and the second code carrier sensor is installed at the front end of the cantilever part. When the bucket wheel excavator moves, the first positioning of the trolley section is obtained based on the communication connection between the first code carrier sensor and the code carrier arranged on the fixed running track, and the second positioning of the cantilever section is obtained based on the communication connection between the second code carrier sensor and the code carrier arranged on the fixed running track.

3. The laser anti-collision method for bucket wheel excavators according to claim 1, characterized in that, If there are no obstacles, the coal pile monitoring system pre-established on the cantilever section of the bucket wheel excavator is used to monitor the coal pile on both sides of the cantilever section, constructing a three-dimensional coal pile model, including: Step 21: Using laser scanners installed at different locations on the cantilever, scan the coal piles on both sides of the cantilever to obtain several sets of coal pile point cloud data. Step 22: Merge all coal pile point cloud data to construct a three-dimensional coal pile model.

4. The laser anti-collision method for bucket wheel excavators according to claim 3, characterized in that, The point cloud data of all coal piles are fused to construct a three-dimensional coal pile model, including: Step 31: Use a bilateral filtering algorithm to remove noise and redundancy from each group of coal pile point cloud data to obtain the first point cloud data of the corresponding group; Step 32: Perform edge fusion on the first point cloud data of adjacent groups using coarse registration, and perform fine processing on the edge fusion lines. When there are two point cloud data at the same position in the fine processing result, calculate the average value and use it as the last point cloud data at the corresponding position. Step 34: Triangulate the point cloud data of all refined groups using the point cloud normal estimation method to obtain a three-dimensional coal pile model.

5. The laser anti-collision method for bucket wheel excavators according to claim 3, characterized in that, The laser scanners are evenly distributed at preset intervals on both sides of the cantilever end of the bucket wheel excavator, and the scanning data of the coal pile is obtained by the rotation of the cantilever.

6. The laser anti-collision method for bucket wheel excavators according to claim 1, characterized in that, Based on the coal pile parameter information, second positioning, and cantilever height of the three-dimensional coal pile model, the safety warning level of the cantilever section and the coal piles on both sides is determined in real time, and corresponding warning measures are taken, including: Step 41: Visualize the coal pile parameters based on the 3D coal pile model, and obtain the coal pile location information and real-time coal pile height data; Step 42: Measure the cantilever pitch angle and cantilever slewing angle using the tilt sensor installed at a preset distance from the cantilever hinge point and the steering angle sensor installed on the cantilever slewing mechanism, respectively. Step 43: Determine the cantilever height based on the cantilever rotation angle and cantilever pitch angle; Step 44: Based on the second positioning, coal pile location information, real-time coal pile height data and cantilever height, obtain the safety level evaluation value, determine the current safety warning level of the cantilever, and take corresponding measures according to the judgment result of the safety warning level.

7. The laser collision avoidance method for bucket wheel excavators according to claim 6, characterized in that, Based on the second positioning, coal pile location information, real-time coal pile height data, and cantilever height, a safety level evaluation value is obtained. The current safety warning level of the cantilever is determined, and corresponding measures are taken based on the determination result, including: in, This represents the safety level evaluation value of the bucket wheel excavator based on the i-th coal pile, with a value range of (0, 1). It is represented as the real-time distance between the cantilever position and the i-th coal pile position, determined based on the second positioning and coal pile position information; This is expressed as the error factor for measuring the relative distance between the cantilever and the coal pile; This represents the change in time for the bucket wheel excavator to reach the i-th coal pile; This represents the weighting factor of the relative velocity of the cantilever moving to the position of the i-th coal pile on the safety level evaluation value. This is expressed as the distance between the bucket wheel excavator cantilever height and the real-time height of the i-th coal pile. The amount of change within; Let represent the weighting factor of the impact of the real-time height difference between the bucket wheel excavator cantilever position and the i-th coal pile on the safety level evaluation value, where > ; This represents the maximum relative speed during the historical movement process; Indicating the historical movement process The maximum change within; analyze all obtained level evaluation values, if the level evaluation value is greater than or equal to 0.6, then no safety warning level will be output, that is, no warning signal will be generated; If there is a rating value at If the value is within the range, the current safety warning level is determined to be a level 2 warning and a level 2 warning signal is output. At this time, based on the acquired Level II warning signal, the control center controls the bucket wheel excavator to decelerate and simultaneously raises the boom to a certain height, while acquiring the corresponding safety level evaluation value in real time until no warning signal is generated. If there is a rating value at If the value is within the range, the current security warning level is determined to be a Level 1 warning and a Level 1 warning signal is output. At this point, the control center immediately stopped the bucket wheel excavator.

8. A laser collision avoidance system for bucket wheel excavators, characterized in that, include: Data acquisition module: Real-time acquisition of the first position of the trolley part and the second position of the cantilever part on the bucket wheel excavator. At the same time, based on the front and rear sensors set on the trolley part, laser sensing data of the trolley part is collected in real time. Obstacle detection module: Based on the first positioning and laser sensing data, determine whether there are obstacles in the front and rear range of the vehicle part. If there are obstacles, stop the machine immediately. Coal pile model construction module: If there are no obstacles, the coal pile monitoring system is pre-established on the cantilever section of the bucket wheel excavator to monitor the coal pile on both sides of the cantilever section and construct a three-dimensional coal pile model. Safety early warning module: Based on the coal pile parameter information, second positioning and cantilever height of the three-dimensional coal pile model, the module determines the safety early warning level of the cantilever part and the coal piles on both sides in real time, and takes corresponding early warning measures. Based on the first positioning and laser sensing data, determine whether there are obstacles within the front and rear range of the vehicle section, including: Step 11: Extract matching first data from the laser sensing data according to the direction of movement of the bucket wheel excavator; Step 12: Preprocess the first data to obtain the first image; Step 13: Obtain the laser feedback energy based on laser sensing data at a preset safe distance, and obtain a preset grayscale threshold consistent with the laser feedback energy from the energy-pixel mapping table; Step 14: If there is a pixel in the first image whose gray value is less than the preset gray value threshold, then update the gray value of the pixel to 0; otherwise, update it to 1. Step 15: Obtain the number of pixels with a grayscale value of 1 in the updated first image; Step 16: If the number of first pixels is greater than the preset number, and the standard distance from the nearest reference obstacle to the laser sensor installed on the vehicle part extracted from the first data is equal to or less than the preset safety distance, then it is determined that there is an obstacle within the range in front of and behind the vehicle part.

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