Anti-collision system for combined operation of multiple ship unloaders

Abstract

The invention relates to an anti-collision system for combined operation of multiple ship unloaders, which is characterized by comprising radar anti-collision sensors mounted at key positions such as a traveling cart and a spiral platform of the ship unloaders; the laser range finder is mounted at a specific position of the ship unloader; the RFID tag and the radio frequency positioning module are mounted on a ship unloader track and a ship unloader walking cart; the 3D laser scanner is mounted on the ship unloader; and the PLC control system is used for receiving detection data from the radar anti-collision sensor, the laser range finder, the RFID tag and the 3D laser scanner, and controlling the ship unloader to stop moving equipment or send an anti-collision alarm signal according to preset safe distance parameters. The problems that in the prior art, a traditional anti-collision system depends on a single sensor or a technical means to achieve anti-collision, and all-directional and high-precision anti-collision protection is difficult to achieve are solved.

Description

Technical Field

[0001] The invention relates to the field of ship unloaders, and in particular to an anti-collision system for joint operation of multiple ship unloaders. Background Art

[0002] In the current heavy-duty unloading field, power plant terminals mostly use ship unloaders for heavy-duty unloading operations. In the existing common technologies, in order to improve unloading efficiency and reduce unloading costs, two screw ship unloaders and one grab ship unloader are usually used in a joint operation form, with the grab ship unloader located between the two screw ship unloaders. However, this joint operation form has a complex operating environment, and there is a potential risk of collision during the operation due to complexity and uncertainty. Traditional anti-collision systems often rely on a single sensor or technical means, making it difficult to achieve all-round, high-precision anti-collision protection. Summary of the invention

[0003] In response to the problems in the prior art, the present invention provides an anti-collision system for the joint operation of multiple ship unloaders, which solves the problem in the prior art that traditional anti-collision systems rely on a single sensor or technical means to achieve anti-collision and are difficult to achieve all-round and high-precision anti-collision protection.

[0004] The present invention provides an anti-collision system for the joint operation of multiple ship unloaders. The system integrates a radar anti-collision sensor, a laser rangefinder, an RFID tag and a radio frequency positioning system, a 3D laser scanner and a GPS positioning system. By comprehensively using a variety of advanced technologies, all-round, high-precision monitoring and anti-collision warning of the ship unloader operating environment can be achieved.

[0005] Among them, the radar anti-collision sensor adopts radio wave non-contact ranging technology, and has the characteristics of anti-pollution, anti-humidity and anti-vibration. It is widely installed in key positions such as ship unloader walking carts and spiral platforms. It monitors the safe distance from surrounding obstacles in real time. Once the preset safety limit distance is reached, it immediately sends out an audible and visual alarm signal through the PLC control system and triggers emergency braking measures to prevent collision.

[0006] Laser rangefinders are installed with high precision on the sea side of the screw ship unloader trolley and other key locations to accurately measure the distance to adjacent ship unloaders or specific obstacles. Real-time data is transmitted to the PLC control system to provide accurate data support for collision avoidance decisions.

[0007] RFID tags and radio frequency positioning system. RFID tags are laid on the track of the ship unloader, and the radio frequency positioning system is installed on the walking cart. Through wireless radio frequency signal recognition and positioning, a unified coordinate system is constructed to achieve accurate position recognition and positioning calibration of multiple ship unloaders, automatically set the safety distance interval, and effectively prevent collisions.

[0008] 3D laser scanners are deployed on the windshields on both sides of the grab ship unloader, the bottom of the driver's cab, the vertical and horizontal spiral platforms of the spiral ship unloader, etc. Laser scanning technology is used to build a real-time three-dimensional big data model of the ship unloader. Combined with data twin technology, the movement trajectory of the ship unloader is simulated in the three-dimensional scene software, the collision risk is predicted in advance, and three-dimensional space anti-collision warning is realized.

[0009] The GPS positioning system, as an auxiliary positioning means, monitors the operating status of the encoder positioning system. Once an abnormality is found, it will immediately alarm and remind the operator to carry out timely maintenance to ensure the reliability of the positioning system and further improve the overall stability of the anti-collision system.

[0010] The PLC control system receives detection data from radar anti-collision sensors, laser rangefinders, RFID tags and 3D laser scanners, and controls the ship unloader to stop moving the equipment or send out an anti-collision alarm signal according to the preset safety distance parameters.

[0011] After each component establishes a stable communication connection with the PLC control system, the radar anti-collision sensor continuously emits radio waves, monitors the real-time distance to surrounding obstacles, and sends the data to the PLC control system. The laser rangefinder measures the distance to the adjacent ship unloader or specific obstacles with high precision, and updates the data to the PLC control system in real time. The RFID tag and radio frequency positioning system identify the position of the walking vehicle through wireless radio frequency signals, build a unified coordinate system, and update the position information to the PLC control system in real time. The 3D laser scanner regularly scans the surrounding environment, builds a real-time three-dimensional big data model of the ship unloader, and inputs the data into the data twin analysis software. The GPS positioning system is used as an auxiliary to monitor the operating status of the encoder positioning system to ensure the reliability of the main positioning system. The beneficial effects of the present invention are: integrating multiple high-precision sensors to achieve multi-dimensional and real-time monitoring, greatly improving the accuracy and response speed of the anti-collision system, effectively avoiding the occurrence of collision accidents, and significantly reducing the safety risks in the operation process through an all-round and intelligent anti-collision warning mechanism, protecting the safety of equipment and personnel, reducing equipment downtime caused by collision accidents, improving the operating efficiency of ship unloaders, and promoting the improvement of the overall operating efficiency of ports. The PLC control system is integrated to realize automatic data processing and decision support, improve the intelligence level of port operation management, and reduce labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0013] Figure 1 Schematic diagram of encoder measurement for RF positioning system.

[0014] Figure 2 This is a schematic diagram of the large vehicle collision avoidance function.

[0015] Figure 3 Implemented top view for vertical spiral collision avoidance.

[0016] Figure 4 Schematic diagram of vertical spiral collision avoidance.

[0017] Figure 5 Schematic diagram of the anti-collision implementation of the counterweight. DETAILED DESCRIPTION

[0018] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0019] like Figure 1-Figure 5 As shown, the anti-collision system for the joint operation of multiple ship unloaders described in the present invention is equipped with 4 sets of laser anti-collision devices at the front and rear of the grab ship unloader's traveling trolley for obstacle avoidance protection and track foreign body detection. 4 sets of radar anti-collision sensors are installed at the front and rear of the grab ship unloader's traveling trolley, with redundant protection of laser anti-collision. The radar sensor has strong penetrating power and more effectively ensures the safety of the trolley. A laser rangefinder is installed on the sea side of the spiral ship unloader's traveling trolley facing the grab ship unloader to detect the safe distance from the grab ship unloader's trolley mechanism, thereby achieving trolley anti-collision.

[0020] Laser scanners are installed on the windshields on both sides of the grab ship unloader, and spatial positioning technology is used to detect the safe distance between the grab ship unloader and the horizontal screw, vertical screw, counterweight, driver's cab, etc. of the screw ship unloader on both sides. Laser scanners are installed on the bottom plane of the driver's cab on both sides of the sea-side legs of the grab ship unloader. Each laser scanner is responsible for one side of the safety area, and comprehensively detects the safe distance between the cantilever of the ship unloader and the ship's bridge and mast antenna. Parameters such as safety distance and scanning angle are set according to the on-site working conditions for alarm and shutdown, and radar anti-collision sensors are installed on the left and right sides of the screw ship unloader's cab to detect the safe distance of obstacles such as the screw ship unloader and counterweight. This achieves anti-collision of the ship unloader's counterweight.

[0021] Single-point laser rangefinders are installed at the four corners of the vertical screw platform of the screw ship unloader. From the vertical screw platform, vertically downward, close to the vertical screw, the safe distance of obstacles is measured. This achieves the vertical screw collision prevention of the screw ship unloader.

[0022] Single-line laser scanners are installed on both sides of the screw ship unloader's horizontal spiral. The scanner's lens is vertically downward from the ground, scanning a plane obstacle distance and detecting the safe distance of obstacles on both sides of the horizontal spiral. This achieves anti-collision of the screw ship unloader's horizontal spiral.

[0023] RFID tags are installed on the ship unloader tracks, with the distance between each tag not exceeding 10 meters. A unified coordinate system is established for multiple ship unloaders relative to the wharf. A radio frequency positioning system (RFID) is installed on the grab ship unloader and screw ship unloader trolleys to calibrate the encoders. The coordinate position of each ship unloader is identified through the positioning of the ship unloader trolley. By setting a safe distance interval, the two adjacent ship unloaders can always maintain a safe distance.

[0024] The travel mechanism positions of the grab ship unloader, the travel mechanism positions of the screw ship unloader and the vertical screw positions of the screw ship unloader are measured by using the positioning encoders of the travel mechanism and the vertical screw of the screw ship unloader.

[0025] Through the position data of encoder and other positioning systems, the maximum safe activity area of ​​grab ship unloader and screw ship unloader is guaranteed, and collision accidents are avoided to the greatest extent. At the same time, when the GPS positioning system detects an abnormality in the encoder positioning system, an alarm is issued to remind the driver that the positioning system failure needs to be repaired, thereby realizing the positioning and collision prevention of the ship unloader.

[0026] Sensors such as radars and laser rangefinders are installed at key locations such as the ship unloader's traveling trolley and spiral platform. When the ship unloader's mechanical equipment reaches a safe limited distance, an anti-collision alarm signal is issued to remind the driver. The analysis data is sent to the ship unloader's PLC control system, which controls the mobile equipment to stop and avoid collision.

[0027] The trolley anti-collision system detects the safe distance in real time through the radar and laser anti-collision sensors installed at the front and rear of the grab ship unloader and the screw ship unloader. The detection data is transmitted to the ship unloader PLC control system in real time, and an anti-collision alarm signal is issued to remind the driver. The vertical spiral anti-collision system uses single-point laser rangefinders on the four corners of the vertical spiral platform to detect the safe distance of obstacles in real time. The detection data is transmitted to the ship unloader PLC control system in real time, and an anti-collision alarm signal is issued to remind the driver. The vertical spiral anti-collision system uses single-line laser scanners on both sides of the horizontal spiral of the spiral ship unloader. The scanner's lens is perpendicular to the ground and points downward. It detects the safe distance of obstacles on both sides of the horizontal spiral in real time. The detection data is transmitted to the ship unloader PLC control system in real time, and an anti-collision alarm signal is issued to remind the driver, thereby realizing the ship unloader sensor detection and anti-collision.

[0028] Through the 3D laser scanners installed on the grab ship unloader and the screw ship unloader, and using spatial positioning technology, a real-time three-dimensional big data model of the three ship unloaders at the terminal was established. Through data twin analysis, the movement space scenario of the ship unloader equipment was simulated in real time in the three-dimensional scene software. When the ship unloader mechanism equipment reached the safety limit distance, an anti-collision alarm signal was issued, and the analysis data was sent to the ship unloader control system, which controlled the mobile equipment to stop.

[0029] The ship's bridge mast anti-collision system uses the LMS511 laser scanners on the left and right legs of the grab ship unloader on the sea side, with a 90-degree angle range on each side, to fully detect the safe distance between the grab ship unloader cantilever and the ship's bridge and mast antenna, etc., to avoid misidentification of the grab. Detect the safe distance of the vertical mechanism of the screw ship unloader, detect the safe distance of obstacles in real time, and send the detection data to the ship unloader PLC control system in real time, and send an anti-collision alarm signal to remind the driver.

[0030] The driver's cab and counterweight anti-collision system uses the 3D laser scanner on the windshields on both sides of the grab ship unloader to generate a three-dimensional big data model in real time between the land-side counterweights, driver's cab and other equipment of the three ship unloaders, and comprehensively detect the safe distance between the screw ship unloader, the screw tail counterweight, driver's cab and other equipment. The detection data is transmitted to the ship unloader PLC control system in real time, and an anti-collision alarm signal is issued to remind the driver, thereby realizing three-dimensional spatial recognition and anti-collision.

[0031] After the system is started, the sensors, RFID tags, radio frequency positioning system, GPS positioning system and PLC control system are initialized and self-checked first to ensure that all equipment is working properly. Preset safety distance parameters in the PLC control system, including the safety limit distance of the radar anti-collision sensor, the monitoring range of the laser rangefinder, and the safety distance interval of the RFID positioning system. Configure the data acquisition frequency and model update rate of the 3D laser scanner, as well as the parameter settings of the data twin analysis software, to ensure the real-time and accuracy of the three-dimensional space simulation.

[0032] The radar anti-collision sensor continuously emits radio waves, receives reflected signals, calculates the real-time distance to surrounding obstacles, and sends the data to the PLC control system. The laser rangefinder measures the distance to adjacent ship unloaders or specific obstacles with high precision, and also transmits real-time data to the PLC control system. The RFID tag communicates with the radio frequency positioning system through wireless radio frequency signals, identifies the position of the traveling vehicle in real time, builds a unified coordinate system, and transmits the position information to the PLC control system. The 3D laser scanner regularly scans the surrounding environment and collects data to build or update the real-time three-dimensional big data model of the ship unloader. The GPS positioning system monitors the status of the encoder positioning system to ensure the accuracy of the positioning data, and sends an alarm signal to the PLC control system when an abnormality is found.

[0033] The PLC control system receives data from each sensor and performs real-time processing and analysis. The measurement results of the radar anti-collision sensor and the laser rangefinder are compared to determine whether the preset safety limit distance has been reached or whether the dangerous area has been entered. The data of the RFID tag and the radio frequency positioning system are used to calculate the relative position between the ship unloaders to determine whether there is a risk of collision. The data of the 3D laser scanner is imported into the data twin analysis software, combined with the real-time 3D model to simulate the movement trajectory of the ship unloader and predict potential collision points.

[0034] Once any potential collision risk is detected (such as the radar anti-collision sensor triggering the safety limit distance, the laser rangefinder showing abnormal proximity, the RFID positioning system identifying the adjacent ship unloader entering the safe distance interval, the 3D laser scanner simulating the collision trajectory, etc.), the PLC control system immediately activates the anti-collision warning mechanism. It sends out an audible and visual alarm signal to alert the operator and may display specific collision risk information through the human-machine interface. According to the preset emergency braking strategy, the PLC control system automatically or after confirmation by the operator triggers the emergency braking measures of the ship unloader, such as stopping the mobile equipment, adjusting the moving direction or speed, etc., to effectively prevent collisions.

[0035] If the GPS positioning system detects an abnormality in the encoder positioning system, it will immediately send out an alarm signal to prompt the operator to check and repair. The system regularly performs self-diagnosis and maintenance checks to ensure the long-term stable operation of each sensor, positioning system and PLC control system.

[0036] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0037] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An anti-collision system for joint operation of multiple ship unloaders, characterized in that: The system includes: Radar anti-collision sensors are installed at key locations such as the ship unloader's walking trolley and spiral platform to detect the safe distance in real time and send out anti-collision alarm signals when the safe limited distance is reached; Laser rangefinder, installed at a specific position of the ship unloader, is used to detect the safe distance between the ship unloader and the adjacent ship unloader or obstacles, and transmit the detection data to the ship unloader PLC control system in real time; RFID tags and radio frequency positioning modules are installed on the track of the ship unloader and the traveling carriage of the ship unloader to establish a unified coordinate system of the ship unloader relative to the wharf, and realize the position identification and positioning calibration of multiple ship unloaders; 3D laser scanner, installed on the ship unloader, is used to establish a real-time 3D big data model of the ship unloader. Through data twin analysis, the motion space scenario of the ship unloader equipment is simulated in the 3D scene software to achieve anti-collision warning; The PLC control system receives detection data from radar anti-collision sensors, laser rangefinders, RFID tags and 3D laser scanners, and controls the ship unloader to stop moving the equipment or send out an anti-collision alarm signal according to the preset safety distance parameters.

2. The anti-collision system for joint operation of multiple ship unloaders according to claim 1, characterized in that: The radar anti-collision sensor uses a radio wave non-contact ranging method and is not affected by pollution, moisture and vibration.

3. The anti-collision system for joint operation of multiple ship unloaders according to claim 1, characterized in that: The laser rangefinder is installed on the sea side of the screw ship unloader's walking trolley and the sea side of the screw ship unloader's walking trolley to detect the safe distance from the grab ship unloader's trolley mechanism.

4. The anti-collision system for joint operation of multiple ship unloaders according to claim 1, characterized in that: The laser scanners are installed on the windshields on both sides of the grab ship unloader, the bottom plane of the driver's cab, the vertical screw platform of the screw ship unloader, and both sides of the horizontal screw to detect the safe distance from the screw ship unloader, counterweight, driver's cab, etc.

5. The anti-collision system for joint operation of multiple ship unloaders according to claim 1, characterized in that: The RFID tag is installed on the track of the ship unloader, and the radio frequency positioning system is installed on the traveling trolley of the ship unloader. By identifying the coordinate position of each ship unloader, a safe distance interval is set to prevent collision between adjacent ship unloaders.

6. The anti-collision system for joint operation of multiple ship unloaders according to claim 1, characterized in that: The 3D laser scanner uses spatial positioning technology to establish a real-time three-dimensional big data model of the ship unloader, simulate the movement space scenario of the ship unloader equipment, and realize three-dimensional space recognition and collision avoidance.

7. The anti-collision system for joint operation of multiple ship unloaders according to claim 1, characterized in that: The anti-collision system also includes a GPS positioning system to detect abnormalities in the encoder positioning system and issue an alarm when an abnormality occurs.

8. The anti-collision system for joint operation of multiple ship unloaders according to claim 1, characterized in that: The detection data of the radar anti-collision sensor and the laser rangefinder are analyzed and processed by the PLC control system, and the ship unloader is controlled to stop moving the equipment or send out an anti-collision alarm signal according to the analysis result.

9. The anti-collision system for joint operation of multiple ship unloaders according to claim 1, characterized in that: The radar anti-collision sensor, laser rangefinder, RFID tag, radio frequency positioning system and 3D laser scanner all communicate with the ship unloader PLC control system in a wired or wireless manner.

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