Millimeter wave radar mobile distance measurement control system and method

Abstract

The invention discloses a millimeter wave radar mobile distance measurement control system and method, and relates to the technical field of distance measurement control, and the system comprises a material storage and transportation module, a mobile distance measurement module, a control transmission module, and a troubleshooting protection module. The method is provided with four modes, namely a remote automatic mode, a remote semi-automatic mode, a local semi-automatic mode and a remote control semi-automatic mode. Compared with the prior art, the millimeter wave secondary radar is adopted to carry out distance measurement and positioning on the track mobile equipment, so that original Gray bus distance measurement and a mobile control cable are replaced, and only one category 5 network cable is used to access the fixed-end millimeter wave radar; the control system is simple in structure and high in intelligent level, unmanned projects of the mobile equipment can be rapidly implemented, and the problems that other distance measuring technologies and mobile control technologies are complex in structure and difficult to install, debug and maintain are solved.

Description

Technical Field

[0001] The invention relates to the technical field of ranging control, and specifically discloses a millimeter wave radar mobile ranging control system and method. Background Art

[0002] In the material storage and transportation systems of metallurgy, cement, coal, coking, coal-fired power, ports and other industries, heavy rail mobile equipment such as double-bucket reclaimers, heavy-duty unloading vehicles, molten iron tank cross-over vehicles, and coking four-wheel vehicles are usually installed; most of the above mobile equipment use proximity switches or coded cable inlet positioning control. Proximity switches belong to conventional position detection and can only locate the position of the equipment at a certain point. They are suitable for simple positioning control and cannot meet unmanned positioning needs.

[0003] In order to improve the positioning accuracy of mobile devices, some industries use Gray bus ranging technology to continuously and accurately position mobile devices. The invention with application announcement number: CN116719047A introduces a method for automatic driving positioning of a coke oven trolley. This prior art uses laser radar and Gray bus encoding cable to establish a coordinate system for reference along the travel route of the coke oven trolley, accurately measure through laser radar, and use Gray bus encoding cable position data to accurately monitor the running distance of the coke oven trolley, thereby ensuring that the coke oven trolley can automatically and accurately transfer materials. The invention with authorization announcement number: CN111679310A introduces a high-precision fusion positioning solution for locomotives used in steel enterprises; this prior art locates the travel position of the locomotive through the Gray bus, thereby completely and accurately covering the operation of the locomotive.

[0004] In actual operation, the structural layout of Gray bus distance measurement technology is relatively complex. The coding cable used in Gray bus distance measurement technology generally needs to be installed with a fixed bracket. The length of a single cable is generally more than 100 meters, so a large number of fixed brackets need to be installed; at the same time, long-distance detection requires multiple connectors to connect the coding cables in sequence, and the ranging detection signal requires up to hundreds of connections; and the installation position of Gray bus and mobile control cable is generally in the middle and lower part of the unloading truck, which is easily damaged by external influences. After the Gray bus and mobile control cable are damaged, the operating personnel need to debug and troubleshoot. Due to the long layout length of Gray bus and mobile control cable, troubleshooting is difficult, the installation and maintenance workload is large, and the manpower and material costs are high.

[0005] In addition, rail mobile equipment needs to be equipped with moving devices such as sliding wires or hanging cables. The mobile control cables are easily damaged during long-term operation, and are difficult to find and handle. This is a key link in the remote control of equipment with a high failure rate and difficult maintenance. At the same time, the above-mentioned existing technologies all use non-frequency-controlled drive motors. After the drive motor fails and stops, the operator needs to go to the on-site control box or control cabinet to manually check the cause of the drive motor failure, which further prolongs the troubleshooting time. Summary of the invention

[0006] In view of the problems that the coding cable arrangement structure is relatively complicated and the troubleshooting workload is large during the operation of the current rail mobile equipment, the present invention provides a millimeter wave radar mobile ranging control system and method.

[0007] To solve the above problems, in a first aspect, the present invention provides the following technical solutions: A millimeter wave radar mobile ranging control system, the system comprising a material storage and transportation module, a mobile ranging module, a control transmission module, and an obstacle removal and protection module; The material storage and transportation module includes a discharge car, which is used to transport and load and unload materials. An audible and visual alarm is installed on the discharge car. A track is fixedly arranged on the ground at the bottom of the discharge car. A pulley that slides with the track is installed at the bottom of the discharge car. A storage and transportation electric control box and a drive motor are arranged in the discharge car. A first controller for controlling the drive motor is arranged in the storage and transportation electric control box. The mobile ranging module includes a mobile end millimeter wave radar fixedly installed on the side of the unloading vehicle, the mobile end millimeter wave radar is electrically connected to the first controller, a wall is fixedly provided at the end of the track, the wall is arranged on the side of the unloading vehicle, a fixed end millimeter wave radar and a ranging electric control box are fixedly installed on the wall surface of the wall on the side opposite to the unloading vehicle, a forward button, a backward button and a stop button are provided on the ranging electric control box, a second controller is fixedly installed in the ranging electric control box, the second controller is wirelessly transmitted with the first controller, and the second controller is electrically connected to the fixed end millimeter wave radar; The control transmission module includes a main control room and a remote control device. The main control room is provided with a terminal control device electrically connected to the second controller. The remote control device is wirelessly connected to the second controller. The remote control device is provided with a forward button, a backward button, and a stop button. The troubleshooting protection module includes a motor protector, which is arranged in a storage and transportation electric control box. The motor protector is electrically connected to the first controller and the drive motor, and a current transformer is installed in the motor protector.

[0008] Preferably, the mobile-end millimeter-wave radar is electrically connected to the first controller via a category-5 network cable, the fixed-end millimeter-wave radar is electrically connected to the second controller via a category-5 network cable, the terminal control device is electrically connected to the second controller via a category-5 network cable, an RS485 communication network for data transmission is provided between the motor protector and the first controller, the terminal control device is provided with a control screen and a host, a HIM monitoring program is installed in the host, and the HIM monitoring program is used to realize human-computer interaction.

[0009] Preferably, a POE power supply is provided in the ranging electrical control box, and the POE power supply is used to supply power to the fixed-end millimeter-wave radar and for data communication.

[0010] Preferably, the mobile-end millimeter-wave radar and the fixed-end millimeter-wave radar are arranged equiaxially and at the same height.

[0011] On the other hand, the present invention also provides a millimeter wave radar mobile ranging control method, the method comprising: Load materials into the unloading vehicle, and the storage and transportation electric control box and the distance measuring electric control box enter the standby state after being powered on. The remote automatic mode and remote semi-automatic mode can be realized through the terminal control device, the machine-side semi-automatic mode can be realized through the distance measuring electric control box, and the remote control semi-automatic mode can be realized through the remote control device; S1, remote automatic mode: set the control parameters through the HIM monitoring program, start the storage and transportation electric control box and the distance measurement electric control box through the buttons on the control screen, and the control screen will display the operating position of the unloading vehicle, the parameter information of the first controller and the second controller in real time; S2, remote semi-automatic mode: start the storage and transportation electric control box and the distance measurement electric control box through the buttons on the control screen. The control screen displays the running position of the unloading vehicle, the parameter information of the first controller and the second controller in real time, and sends forward instructions, backward instructions, and stop instructions through the control screen; S3, machine-side semi-automatic mode: Press the forward button, reverse button, and stop button on the distance measuring electric control box to control the running position of the unloading vehicle; S4, remote control semi-automatic mode: press the forward button, reverse button, and stop button on the remote control device to control the running position of the unloading truck.

[0012] Preferably, after the unloading vehicle is started in the remote automatic mode, the remote semi-automatic mode, the machine-side semi-automatic mode, or the remote control semi-automatic mode, during the power-on process of the drive motor, the current transformer in the motor protector performs real-time current detection through the load line, thereby detecting the operating current of the drive motor, and the motor protector can detect whether the drive motor has a fault and the corresponding fault code; If the driving motor operates normally, it drives the unloading car to slide on the track; If there is a fault in the drive motor, the motor protector generates a fault code of the corresponding fault, the motor protector can display the fault code, and the RS communication network can transmit the fault code to the first controller. The first controller transmits the fault code to the second controller via the mobile millimeter-wave radar and the fixed-end millimeter-wave radar. The second controller unlocks the fault code and assigns a number to the fault code, which can be displayed on the control screen.

[0013] Preferably, the control screen can display the time of occurrence, fault type and fault duration of the drive motor fault in real time, perform remote fault diagnosis through the HIM monitoring program, and output a fault solution.

[0014] Preferably, when the remote semi-automatic mode starts the unloading vehicle, sends a forward command, or sends a backward command, the sound and light alarm continues to emit a sound and light alarm for 10 seconds; In remote automatic mode, remote semi-automatic mode, machine-side semi-automatic mode, and remote control semi-automatic mode, the sound and light alarm will continue to sound and light alarms during the unloading vehicle's sliding process; If the unloading vehicle reaches the forward limit, the backward limit or the driving motor fails, the unloading vehicle stops sliding and the sound and light alarm stops sending out the sound and light alarm.

[0015] Preferably, the remote automatic mode can set fixed-point control parameters, and its operation sequence is as follows: S111, setting fixed-point position parameters, setting dwell time parameters, and starting fixed-point operation; S112, if an interlocking stop operation signal appears, the interlocking stop operation signal is: any one of a driving motor failure and the unloading vehicle reaching the forward or backward limit, the unloading vehicle is stopped; S113, if the interlocking stop signal does not appear, the distance between the position of the unloading vehicle and the fixed point position is determined in real time, if the position of the unloading vehicle is less than the fixed point position, the unloading vehicle moves forward, if the position of the unloading vehicle is greater than the fixed point position, the unloading vehicle moves backward; S114. When the unloading vehicle arrives at the fixed position, the unloading vehicle starts timing according to the set stay time parameters. After the timing ends, the terminal control device broadcasts a voice message and flashes text reminders.

[0016] Preferably, the remote automatic mode can set the position control parameters, and the operation sequence is as follows: S121, setting the storage location parameters of each material storage bin, setting the residence time parameters, and starting the storage location operation; S122, if the interlocking stop signal appears, the unloading vehicle is stopped; S123, if the interlocking stop signal does not appear, the distance between the position of the unloading vehicle and the position of the storage bin is determined in real time, if the position of the unloading vehicle is smaller than the position of the storage bin, the unloading vehicle moves forward, if the position of the unloading vehicle is smaller than the position of the storage bin, the unloading vehicle moves backward; S124. When the unloading vehicle arrives at the storage location, the unloading vehicle starts timing according to the set dwell time parameters. During the timing, the unloading vehicle loads and unloads materials. After the timing ends, the terminal control device broadcasts a voice message and flashes text reminders.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention can obtain the running position of the unloading vehicle in real time by setting a mobile end millimeter wave radar and a fixed end millimeter wave radar, thereby performing wireless ranging, and can realize remote intelligent control of the unloading vehicle and remote diagnosis of driving motor faults through the first controller and the second controller. The control system in the present invention has a simple structure and a high level of intelligence, and can quickly implement unmanned mobile equipment projects, solving the problems of complex structures, difficult installation, debugging and maintenance of other ranging technologies and mobile control technologies; 2. The terminal control device in the present invention can display the real-time operating status of the drive motor according to the trend graph of the state variable value of the drive motor. According to the variable value displayed in the trend graph, the time of occurrence, type and duration of the drive motor fault can be analyzed in time, and remote automatic fault diagnosis can be realized, so that the control personnel can query the fault code displayed by the motor protector without going to the unloading vehicle, and the on-site operating personnel can be notified to go to the repair in time, providing rapid fault handling capability for the overall system; 3. The present invention is provided with four modes: remote automatic mode, remote semi-automatic mode, machine-side semi-automatic mode and remote control semi-automatic mode. The remote automatic mode can be applied to relatively mature material storage and transportation systems to increase material storage and transportation efficiency and improve material transfer progress. The remote semi-automatic mode can be adapted to material storage and transportation operations in complex environments to increase the flexibility of the overall system. The machine-side semi-automatic mode and the remote control semi-automatic mode can be used not only for installation and debugging, but also for troubleshooting and maintenance to increase the practicality of the overall system. It can be seen that the present invention is relatively easy to install and debug, has a high cost-effectiveness ratio, low maintenance cost, small construction and maintenance amount, and can operate stably for a long time. Therefore, it has a very broad application prospect. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for the description. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work. Figure 1 It is a schematic diagram of the overall structure of the control system of the present invention; Figure 2 It is a schematic diagram of the arrangement structure of the motor protector of the present invention; Figure 3 Schematic diagram of various operation modes of the control method of the present invention; Figure 4 This is a schematic diagram of the remote automatic mode operation flow of the present invention; Figure 5 It is a schematic diagram of the fixed-point control parameter operation flow of the present invention; Figure 6 It is a schematic diagram of the operation flow of the position control parameters of the present invention; Figure 7 This is a schematic diagram of the remote semi-automatic mode operation flow of the present invention; Figure 8 This is a schematic diagram of the operation flow of the machine-side semi-automatic mode of the present invention; Fig. 9 This is a schematic diagram of the operation flow of the remote control semi-automatic mode of the present invention; In the figure: 1. Unloading car, 2. Sound and light alarm, 3. Track, 4. Pulley, 5. Storage and transportation electric control box, 6. Driving motor, 7. First controller, 8. Mobile end millimeter wave radar, 9. Wall, 10. Fixed end millimeter wave radar, 11. Ranging electric control box, 12. Second controller, 13. Main control room, 14. Remote control equipment, 15. Terminal control equipment, 16. Motor protector. DETAILED DESCRIPTION

[0019] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical scheme of the present invention will be clearly and completely described below in conjunction with the drawings in this specific embodiment. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] This specific implementation provides a millimeter wave radar mobile ranging control system, such as Figure 1-Figure 3 As shown, the system includes a material storage and transportation module, a mobile distance measurement module, a control transmission module, and an obstacle removal and protection module.

[0021] The material storage and transportation module is used to store and transport materials; it includes a discharge truck 1, which is one of a variety of mobile equipment. The present invention can also use other similar rail mobile equipment such as a molten iron tank truck; the discharge truck 1 is fixedly equipped with a bucket for transporting and loading and unloading materials, and the discharge truck 1 is equipped with an audible and visual alarm 2. Two audible and visual alarms 2 are provided and symmetrically installed on both sides of the discharge truck 1. The audible and visual alarm 2 can emit sound alarms and flash alarms, thereby providing on-site personnel with an operation reference for the discharge truck 1; a track 3 is fixedly set on the ground at the bottom of the discharge truck 1, and a pulley 4 that slides with the track 3 is installed at the bottom of the discharge truck 1. By setting the pulley 4, the discharge truck 1 can slide on the track 3 to adjust the travel position of the discharge truck 1. The body of the unloading vehicle 1 is provided with a storage and transportation electric control box 5 and a driving motor 6. The driving motor 6 can drive the pulley 4 to rotate, so that the unloading vehicle 1 slides on the track 3. The storage and transportation electric control box 5 is provided with a first controller 7. The first controller 7 can control the on and off of the external circuit of the driving motor 6, thereby controlling the power and rotation speed of the driving motor 6, and further controlling the operating state of the unloading vehicle 1.

[0022] The mobile ranging module is used to detect the moving distance and layout position of the unloading vehicle 1 in real time; it includes a mobile-end millimeter-wave radar 8 fixedly installed on the side of the unloading vehicle 1, and the mobile-end millimeter-wave radar 8 is electrically connected to the first controller 7 via a Category 5 network cable, and the real-time data of the mobile-end millimeter-wave radar 8 can be imported into the first controller 7; a wall 9 is fixedly provided at the end of the track 3, and the wall 9 is arranged on the side of the unloading vehicle 1, and a fixed-end millimeter-wave radar 10 and a ranging electric control box 11 are fixedly installed on the wall surface of the wall 9 on the side opposite to the unloading vehicle 1, and the mobile-end millimeter-wave radar 8 and the fixed-end millimeter-wave radar 10 are arranged at the same height and equiaxially, so as to facilitate the comparison of positions. The ranging electric control box 11 is provided with a forward button, a backward button and a stop button. A second controller 12 is fixedly installed in the ranging electric control box 11. A POE power supply is provided in the ranging electric control box 11. The POE power supply is used to supply power to the fixed-end millimeter-wave radar 10 and communicate data, thereby ensuring the stable operation of the fixed-end millimeter-wave radar 10; the second controller 12 is wirelessly transmitted with the first controller 7, and the fixed-end millimeter-wave radar 10 is electrically connected to the second controller 12 via a Category 5 network cable; by setting a button on the ranging electric control box 11 and transmitting the instruction to the first controller 7 through the second controller 12, the rotation of the drive motor 6 is controlled, thereby adjusting the operating state of the unloading vehicle 1.

[0023] The control transmission module can facilitate the output of various parameters of the overall system and provide control means; it includes a main control room 13 and a remote control device 14; the main control room 13 is provided with a terminal control device 15 electrically connected to the second controller 12, and the terminal control device 15 is provided with a control screen and a host, and a HIM monitoring program is installed in the host, and the HIM monitoring program can be displayed on the control screen. By setting the HIM monitoring program and the control screen, it is convenient to realize human-computer interaction, which can not only output various parameters of the overall system, but also facilitate the operator to control the overall system. The remote control device 14 is wirelessly connected to the second controller 12, and the remote control device 14 is provided with a forward button, a backward button, and a stop button. By setting various buttons on the remote control device 14, it is convenient for the operator to control the operation of the overall system at the work site.

[0024] The troubleshooting protection module can be used to detect in real time whether there is a fault in the overall system; it includes a motor protector 16, which is arranged in the storage and transportation electric control box 5, and is electrically connected to the first controller 7 and the drive motor 6. An RS485 communication network for data transmission is set between the motor protector 16 and the first controller 7, and the RS485 communication network can transmit communication data and communication codes; the motor protector 16 is equipped with a current transformer, and the current transformer can detect the current parameters passing through in real time, so that the motor protector 16 can compare the existing parameters with the standard parameters to determine whether the drive motor 6 has a fault. The motor protector 16 is provided with a liquid crystal screen, which can be used to display the fault code of the drive motor 6.

[0025] An embodiment of a millimeter wave radar mobile ranging control system is described in detail above. Based on the millimeter wave radar mobile ranging control system described in the above embodiment, an embodiment of the present invention further provides a millimeter wave radar mobile ranging control method corresponding to the system, comprising the following steps: First, load materials into the unloading truck 1, and the storage and transportation electric control box 5 and the distance measuring electric control box 11 enter the standby state after being powered on. The remote automatic mode and the remote semi-automatic mode can be realized through the HIM monitoring program set in the terminal control device 15, the machine-side semi-automatic mode can be realized through the various buttons set on the distance measuring electric control box 11, and the remote control semi-automatic mode can be realized through the various buttons set on the remote control device 14; the following is the operation process of each mode.

[0026] S1, remote automatic mode: the operator can set the fixed-point control parameters and the position control parameters through the HIM monitoring program. The fixed-point control parameters are the fixed-point parking positions of the unloading vehicle 1, and the position control parameters are the position of each material storage bin. First, set the fixed-point position parameters, the fixed-point position residence time parameters, the position parameters of each material storage bin, and the position residence time parameters. After starting the whole system, the unloading vehicle 1 can slide along the track 3. If an interlocking stop signal appears, the interlocking stop signal is: the driving motor 6 fails, the unloading vehicle 1 reaches the forward or backward limit, any one of which stops the unloading vehicle 1. If no interlocking stop signal appears, the distance between the position of the unloading vehicle 1 and the fixed-point position and the position of the bin is determined in real time. If the position of the unloading vehicle 1 is less than the fixed position and the bin position, the unloading vehicle 1 moves forward; if the position of the unloading vehicle 1 is greater than the fixed position and the bin position, the unloading vehicle 1 moves backward; when the unloading vehicle 1 reaches the fixed position, the unloading vehicle 1 starts timing according to the set residence time parameters, and the timing period can be used to add materials. After the timing ends, the terminal control device 15 makes a voice broadcast and flashes text reminders, thereby continuing to slide; when the unloading vehicle 1 reaches the bin position, the unloading vehicle 1 starts timing according to the set residence time parameters, and the unloading vehicle 1 unloads materials during the timing process. After the timing ends, the unloading vehicle 1 can unload all the materials into the material bin, and the terminal control device 15 makes a voice broadcast and flashes text reminders, thereby sliding to the initial position, which is convenient for loading the next batch of materials.

[0027] S2, remote semi-automatic mode: start the storage and transportation electric control box 5 and the ranging electric control box 11 through the buttons on the control screen. Through the real-time feedback of the mobile end millimeter wave radar 8 and the fixed end millimeter wave radar 10, the control screen displays the operating position of the unloading vehicle 1, the parameter information of the first controller 7 and the second controller 12 in real time. The operator can send forward instructions, backward instructions, and stop instructions through the HIM monitoring program to control the operation process of the unloading vehicle 1, thereby completing the loading and unloading of materials.

[0028] S3, machine-side semi-automatic mode: the operator manually presses the forward button, the reverse button, and the stop button on the distance measuring electric control box 11, and controls the operation of the unloading vehicle 1 by observing the running position of the unloading vehicle 1, thereby completing the loading and unloading of materials.

[0029] S4, remote control semi-automatic mode: the operator can hold the remote control device 14 at the work site and manually press the forward button, the reverse button, and the stop button on the remote control device 14 to control the running position of the unloading vehicle 1, thereby completing the loading and unloading of materials.

[0030] The above-mentioned remote automatic mode can be applied to more mature material storage and transportation systems. This remote automatic mode can increase the efficiency of material storage and transportation and improve the progress of material transfer; the above-mentioned remote semi-automatic mode can adapt to material storage and transportation operations in complex environments. During the operation of the unloading truck 1, the remote control personnel can realize linkage with the on-site operators, so as to adapt and adjust the operation of the unloading truck 1 according to actual needs, thereby increasing the flexibility of the overall system; the above-mentioned machine-side semi-automatic mode and remote control semi-automatic mode can be used for installation and debugging on the one hand, and for troubleshooting and maintenance on the other hand, thereby increasing the practicality of the overall system.

[0031] After the unloading vehicle 1 is started in the above-mentioned four modes, namely, the remote automatic mode, the remote semi-automatic mode, the machine-side semi-automatic mode and the remote control semi-automatic mode, the drive motor 6 is continuously powered on. During the power-on process of the drive motor 6, the current transformer in the motor protector 16 performs real-time current detection through the load line, thereby detecting the operating current of the drive motor 6. The motor protector 16 can detect whether the drive motor 6 has a fault and the corresponding fault code. If the drive motor 6 operates normally, the unloading vehicle 1 is driven to slide on the track 3; if the drive motor 6 has a fault, the motor protector 16 generates a fault code of the corresponding fault, the motor protector 16 can display the fault code, and the RS485 communication network can transmit the fault code to the first controller 7. The first controller 7 transmits the fault code to the second controller 12 via the mobile end millimeter wave radar 8 and the fixed end millimeter wave radar 10. The second controller 12 unlocks the fault code and assigns a number to the fault code, which can be displayed on the control screen. For example: the code for normal motor operation is 1, the fault code for motor overcurrent is 2, the fault code for motor stall is 3, the fault code for motor phase loss is 4, the fault code for motor stall is 5, the fault code for motor three-phase imbalance is 6, and the fault code for motor overcurrent warning that exceeds the set current value and lasts for the set time (seconds) is 7. On the HIM monitoring program screen of the control panel, the system can display the real-time operating status of the drive motor 6 according to the trend chart of the state variable value of the drive motor 6. According to the variable values ​​displayed in the trend chart, the time of occurrence, type and duration of the drive motor 6 fault can be analyzed in time, and remote automatic fault diagnosis can be realized, so that the control personnel do not need to go to the unloading vehicle 1 to query the fault code displayed on the motor protector 16, and the on-site operating personnel can be notified to go for maintenance in time, providing rapid fault handling capabilities for the overall system.

[0032] Among them, the control screen can display the time of occurrence, fault type and fault duration of the drive motor 6 in real time, perform remote fault diagnosis through the HIM monitoring program, and output fault solutions, so as to facilitate the coordination of on-site workers and increase the fault repair rate.

[0033] In addition, when the remote semi-automatic mode starts the unloading vehicle 1, sends a forward command, and sends a backward command, the sound and light alarm 2 continues to emit a sound and light alarm for 10 seconds, thereby reminding the on-site workers to avoid the unloading vehicle 1 in time to avoid causing damage to the on-site workers. In the remote automatic mode, remote semi-automatic mode, machine-side semi-automatic mode, and remote control semi-automatic mode, the sound and light alarm 2 continues to emit a sound and light alarm during the sliding of the unloading vehicle 1 to remind the on-site workers to stay away from the unloading vehicle 1 and the track 3; if the unloading vehicle 1 reaches the forward limit, the backward limit, and the drive motor 6 fails, the unloading vehicle 1 stops sliding, and the sound and light alarm 2 stops emitting a sound and light alarm, thereby providing a sound and light prompt.

[0034] Compared with the prior art, the present invention adopts millimeter-wave secondary radar to measure and locate the distance of the track mobile equipment, thereby replacing the original Gray bus distance measurement and mobile control cable, and only uses a Category 5 network cable to access the fixed-end millimeter-wave radar 10, so as to realize the remote intelligent control of the unloading vehicle 1 and the remote diagnosis of the fault of the drive motor 6. The control system in the present invention has a simple structure and a high level of intelligence, and can quickly implement the unmanned project of the mobile equipment, solving the problems of complex structure, difficult installation, debugging and maintenance of other distance measurement technologies and mobile control technologies, so it has extremely high cost performance and promotion and application value.

[0035] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A millimeter wave radar mobile ranging control system, characterized in that: The system includes a material storage and transportation module, a mobile distance measurement module, a control transmission module, and an obstacle removal and protection module; The material storage and transportation module comprises a discharge vehicle (1), the discharge vehicle (1) being used for transporting and loading and unloading materials, the discharge vehicle (1) being equipped with an audible and visual alarm (2), a track (3) being fixedly arranged on the ground at the bottom of the discharge vehicle (1), a pulley (4) being installed at the bottom of the discharge vehicle (1) and being slidably engaged with the track (3), a storage and transportation electric control box (5) and a drive motor (6) being arranged in the discharge vehicle (1), and a first controller (7) for controlling the drive motor (6) being arranged in the storage and transportation electric control box (5); The mobile ranging module comprises a mobile end millimeter wave radar (8) fixedly mounted on the side of the unloading vehicle (1), the mobile end millimeter wave radar (8) being electrically connected to a first controller (7); a wall (9) being fixedly mounted at the end of the track (3), the wall (9) being arranged on the side of the unloading vehicle (1); a fixed end millimeter wave radar (10) and a ranging electric control box (11) being fixedly mounted on the wall surface of the wall (9) on the side opposite to the unloading vehicle (1); a forward button, a backward button, and a stop button being arranged on the ranging electric control box (11); a second controller (12) being fixedly mounted in the ranging electric control box (11); the second controller (12) being wirelessly transmitted with the first controller (7); and the second controller (12) being electrically connected to the fixed end millimeter wave radar (10); The control transmission module comprises a main control room (13) and a remote control device (14); a terminal control device (15) electrically connected to the second controller (12) is arranged in the main control room (13); the remote control device (14) is wirelessly connected to the second controller (12); and a forward button, a backward button, and a stop button are arranged on the remote control device (14); The troubleshooting protection module comprises a motor protector (16), the motor protector (16) being arranged in a storage and transportation electric control box (5), the motor protector (16) being electrically connected to a first controller (7) and a drive motor (6), and a current transformer being installed in the motor protector (16).

2. A millimeter wave radar mobile ranging control system according to claim 1, characterized in that: The mobile end millimeter wave radar (8) is electrically connected to the first controller (7) via a Category 5 network cable, the fixed end millimeter wave radar (10) is electrically connected to the second controller (12) via a Category 5 network cable, the terminal control device (15) is electrically connected to the second controller (12) via a Category 5 network cable, an RS485 communication network for data transmission is provided between the motor protector (16) and the first controller (7), the terminal control device (15) is provided with a control screen and a host, a HIM monitoring program is installed in the host, and the HIM monitoring program is used to realize human-computer interaction.

3. A millimeter wave radar mobile ranging control system according to claim 1, characterized in that: A POE power supply is arranged in the distance measuring electric control box (11), and the POE power supply is used to supply power to the fixed-end millimeter wave radar (10) and for data communication.

4. A millimeter wave radar mobile ranging control system according to claim 1, characterized in that: The mobile end millimeter wave radar (8) and the fixed end millimeter wave radar (10) are arranged equiaxially and at the same height.

5. A millimeter wave radar mobile ranging control method, which is implemented based on the millimeter wave radar mobile ranging control system according to any one of claims 1 to 4, characterized in that: The method comprises: Materials are loaded into the unloading vehicle (1), and the storage and transportation electric control box (5) and the distance measuring electric control box (11) are powered on and enter a standby state. A remote automatic mode and a remote semi-automatic mode can be realized through the terminal control device (15), a machine-side semi-automatic mode can be realized through the distance measuring electric control box (11), and a remote control semi-automatic mode can be realized through the remote control device (14); S1, remote automatic mode: control parameters are set through the HIM monitoring program, and the storage and transportation electric control box (5) and the distance measurement electric control box (11) are started through the buttons on the control screen. The control screen displays the operating position of the unloading vehicle (1), the parameter information of the first controller (7) and the second controller (12) in real time; S2, remote semi-automatic mode: the storage and transportation electric control box (5) and the distance measurement electric control box (11) are started by pressing buttons on the control screen, the control screen displays the operating position of the unloading vehicle (1), parameter information of the first controller (7) and the second controller (12) in real time, and forward commands, backward commands and stop commands are sent through the control screen; S3, machine-side semi-automatic mode: Press the forward button, the reverse button, and the stop button on the distance measuring electric control box (11) to control the running position of the unloading vehicle (1); S4, remote control semi-automatic mode: Press the forward button, the reverse button, and the stop button on the remote control device (14) to control the running position of the unloading vehicle (1).

6. A millimeter wave radar mobile ranging control method according to claim 5, characterized in that: After the unloading vehicle (1) is started in the remote automatic mode, the remote semi-automatic mode, the machine-side semi-automatic mode, or the remote control semi-automatic mode, during the power-on process of the drive motor (6), the current transformer in the motor protector (16) performs real-time current detection through the load line, thereby detecting the operating current of the drive motor (6). The motor protector (16) can detect whether the drive motor (6) has a fault and the corresponding fault code; If the driving motor (6) operates normally, the unloading vehicle (1) is driven to slide on the track (3); If the drive motor (6) has a fault, the motor protector (16) generates a fault code corresponding to the fault, the motor protector (16) can display the fault code, and the RS485 communication network can transmit the fault code to the first controller (7). The first controller (7) transmits the fault code to the second controller (12) via the mobile end millimeter wave radar (8) and the fixed end millimeter wave radar (10). The second controller (12) unlocks the fault code and assigns a number to the fault code, which can be displayed on the control screen.

7. A millimeter wave radar mobile ranging control method according to claim 6, characterized in that: The control screen can display the time when the drive motor (6) fault occurs, the fault type and the fault duration in real time, perform remote fault diagnosis through the HIM monitoring program, and output a fault solution.

8. The millimeter wave radar mobile ranging control method according to claim 5, characterized in that: When the remote semi-automatic mode starts the unloading vehicle (1), sends a forward command, or sends a backward command, the sound and light alarm (2) continuously emits a sound and light alarm for 10 seconds; In the remote automatic mode, the remote semi-automatic mode, the machine-side semi-automatic mode, and the remote control semi-automatic mode, the sound and light alarm (2) continuously emits a sound and light alarm during the sliding process of the unloading vehicle (1); If the unloading vehicle (1) reaches the forward limit, the backward limit, or the driving motor (6) fails, the unloading vehicle (1) stops sliding, and the sound and light alarm (2) stops emitting the sound and light alarm.

9. The millimeter wave radar mobile ranging control method according to claim 5, characterized in that: The remote automatic mode can set fixed-point control parameters, and its operation sequence is as follows: S111, setting fixed-point position parameters, setting dwell time parameters, and starting fixed-point operation; S112, if an interlocking stop operation signal appears, the interlocking stop operation signal is: the driving motor (6) fails, or the unloading vehicle (1) reaches the forward or backward limit, then the unloading vehicle (1) stops running; S113, if the interlocking stop signal does not appear, then the distance between the position of the unloading vehicle (1) and the fixed point position is determined in real time, if the position of the unloading vehicle (1) is less than the fixed point position, the unloading vehicle (1) moves forward, if the position of the unloading vehicle (1) is greater than the fixed point position, the unloading vehicle (1) moves backward; S114, when the unloading vehicle (1) arrives at the fixed position, the unloading vehicle (1) counts according to the set stay time parameters. After the timing ends, the terminal control device (15) broadcasts a voice message and flashes text reminders.

10. The millimeter wave radar mobile ranging control method according to claim 5, characterized in that: The remote automatic mode can set the position control parameters, and the operation sequence is as follows: S121, setting the storage location parameters of each material storage bin, setting the residence time parameters, and starting the storage location operation; S122, if the interlocking stop operation signal appears, the unloading vehicle (1) is stopped; S123, if the interlocking stop signal does not appear, then the distance between the position of the unloading vehicle (1) and the position of the storage bin is determined in real time, if the position of the unloading vehicle (1) is smaller than the position of the storage bin, the unloading vehicle (1) moves forward, if the position of the unloading vehicle (1) is smaller than the position of the storage bin, the unloading vehicle (1) moves backward; S124, when the unloading vehicle (1) arrives at the storage location, the unloading vehicle (1) counts according to the set dwell time parameters. During the timing, the unloading vehicle (1) loads and unloads materials. After the timing ends, the terminal control device (15) broadcasts a voice message and flashes text reminders.

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