Detection method for single-machine dynamic anti-collision system of dry bulk cargo storage yard

Abstract

The invention relates to a method for detecting a single-machine dynamic anti-collision system of a dry bulk cargo storage yard, which is characterized in that the minimum operation safety distance between two single machines is obtained by taking the self braking distance of each single machine as the basis and combining factors such as strong wind weather, rail clamping device failure and opposite movement of the two single machines. Then fitting the contour of each large machine into four closed space line segments, establishing mathematical models of the storage yard and the single machines by using a space mechanism theory method, obtaining the shortest distance between every two of the four space line segments of the two single machines, and obtaining the shortest distance between the two large machines by using a bubbling method. Finally, the shortest distance between the two large machines is compared with the set minimum safety distance, large machine action linkage conditions and alarm information are established, the dynamic anti-collision problem under the condition that the distance between adjacent-stack operation of the large machines or the same-stack operation of the two machines is small is solved, technical support is provided for achieving unmanned and intelligent stacking and taking operation sites of a storage yard, and the working efficiency is improved. And reliable guarantee is provided for storage yard single-machine equipment and personnel safety.

Description

Technical Field

[0001] The invention belongs to the technical field of single-machine anti-collision, and in particular to a detection method for a single-machine dynamic anti-collision system in a dry bulk cargo yard. Background Art

[0002] At present, the stacking and reclaiming machines in dry bulk yards at home and abroad are still mainly cantilever stackers and cantilever reclaimers. The cantilever stacker mainly stacks materials to the yard after unloading and transfer transportation equipment to complete the unloading operation. The reclaimer mainly takes the materials out of the yard and then loads them onto the transport ship through transfer transportation and loading equipment to complete the loading and unloading operation. With the continuous improvement of science and technology, the unmanned operation technology of cantilever stackers and cantilever reclaimers has been widely used, which puts higher requirements on the accuracy, safety and practicality of each detection system of the single operation machine.

[0003] Due to different operation requirements, it is inevitable that the cantilever stacker and cantilever reclaimer operate at the same stacking position in the yard. The cantilever arm of a single machine with a length of several tens of meters moves, rotates, and pitches in the same space, which greatly increases the probability of cantilever collision. If the safety distance set by the anti-collision system is too small, there will be a huge hidden danger of single machine cantilever collision, and the set safety distance will reduce the utilization rate of the yard. The traditional single machine anti-collision adopts the horizontal projection method. This method projects the head throwing bucket or bucket wheel and counterweight of each single machine onto the track. When the projection distance of the two collaborative single machines is less than the safety distance, the equipment will sound an alarm and cannot continue to move in the direction of approach. This method has a simple algorithm and strong applicability, but it wastes a lot of effective working space. When a single machine is stacking or two machines are stacking, on-site personnel supervision is required to bypass the operation. It cannot meet the unmanned needs of single machine operation and is greatly affected by human factors. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and propose a detection method for a single-machine dynamic anti-collision system in a dry bulk cargo yard. The method calculates the minimum safe distance between any two single-machine devices in the yard, establishes a spatial structure model of the yard and the single-machine, fits the mathematical model of the single machine in the yard, calculates and compares the minimum safe distance between each adjacent single machine, effectively optimizes the shortcomings of the horizontal projection method, and realizes effective protection of the equipment when a single machine is stacking or two machines are stacking together through a PLC program. The detection system completely replaces manual detection and monitoring, and shortens the safe distance between single machines to the greatest extent, greatly improving the utilization rate of the yard, saving a lot of manpower, funds and corresponding maintenance time caused by the collision of single machines, and improving production efficiency and production benefits to a certain extent, providing strong technical support for the unmanned construction of dry bulk cargo yard operation equipment.

[0005] The present invention solves the technical problem by adopting the following technical solutions:

[0006] A method for detecting a single-machine dynamic anti-collision system in a dry bulk cargo yard comprises the following steps:

[0007] Step 1: Calculate the minimum safe distance between any two stand-alone equipment in the yard;

[0008] Step 2: Establish the spatial structure model of the storage yard and the single machine according to the data of the storage yard and the single machine;

[0009] Step 3, fitting a single-machine mathematical model in the storage yard according to the model in step 2;

[0010] Step 4: Calculate and compare the minimum safe distance between adjacent machines based on the minimum safe distance of the operation in step 1;

[0011] Step 5: Use the minimum safety distance to perform early warning and control functions of the single-machine dynamic anti-collision system.

[0012] Moreover, the minimum safe distance for operation between any two single-machine equipment in the yard in step 1 includes the calculation of the minimum safe distance for single-machine travel and the calculation of the minimum safe distance for single-machine rotation horizontal displacement.

[0013] Moreover, the calculation of the minimum safe distance for a single machine to run includes the calculation of the minimum safe distance for a single machine to run in a windless situation and the calculation of the minimum safe distance for a single machine to run in a windy situation with failure of the track clamp.

[0014] Moreover, the calculation of the minimum safe distance for the horizontal displacement of a single machine rotation includes the calculation of the minimum safe distance for the horizontal displacement of a single machine rotation in a windy condition and the calculation of the minimum safe distance for the horizontal displacement of a single machine rotation in a windless condition.

[0015] Moreover, the specific implementation method of step 2 is as follows: the single machine includes a stacker and a reclaimer, and a three-degree-of-freedom spatial mechanism model is established for the stacker and the reclaimer in the yard; the stacker and the reclaimer mainly perform three actions in space: walking along the straight line of the track, rotating around the central vertical axis, and pitching of the arm with the central hinge as the axis; according to the action of the single machine, the single machine is simplified into a three-degree-of-freedom spatial mechanism, namely, walking, rotating and pitching spatial mechanisms, and the coordinate origin of the spatial mechanism is established, and the spatial coordinates of any point on the cantilever are determined by calculation, and the coordinates of any point on the single machine are derived based on the absolute coordinates of this point, thereby accurately describing the spatial position of the single machine.

[0016] Moreover, the specific implementation method of step 3 is: setting the single machine distribution in the yard to place a stacker on the stacker track and two reclaimers on the reclaimer track in sequence, the yard track arrangement order from top to bottom starts with the stacker track, followed by the reclaimer track, then the stacker track, then the reclaimer track, and so on until the last stacker track is the terminal end of the yard, according to the single machine arrangement, the collision is mainly between two reclaimers on the same track or between a stacker and a reclaimer on adjacent tracks, mathematical model fitting is performed based on the structural characteristics of the single machine and the possible collision position of the edge of the single machine in the operating environment, the single machine is fitted into four spatial line segments consisting of a cantilever, two tie rods, and a counterweight beam, and the spatial coordinates of the two end points of each line segment are calculated to determine the spatial position of each single machine.

[0017] Moreover, the specific implementation method of step 4 is: calculate and compare the minimum safety distance between each adjacent single machine, and derive the minimum safety distance of the cantilever segment, pull rod segment 1, pull rod segment 2 and counterweight segment fitted by the single machine respectively, and compare the data after derivation, and the minimum value is the minimum distance between the two single machines.

[0018] Moreover, the specific implementation method of step 5 is: according to the minimum safety distance between each adjacent single machine obtained in step 4, the safety distance set by the single machine is compared, a label less than the safety distance is established, and the label is used as a condition to limit the relevant actions of the single machine and the other single machine, and a single machine dynamic anti-collision system is established; the single machine dynamic anti-collision system adopts a structured text programming method and a modular approach: a subroutine for judging and calculating the minimum distance between two space segments is established, the coordinates of the endpoints of 8 space segments are calculated in the main program, and then each pair of The endpoint coordinates of the line segment are assigned to the subroutine, which returns the shortest distance between the two line segments to the main program after calculation. Since the collision between the pull rods does not exist in reality, the minimum distance between the pull rod segments is not calculated. After the shortest distances of the 12 groups of line segments are calculated, the bubbling method is used in the main program to use the for statement to calculate the minimum distance between the two machines, and the shortest distance is assigned as the return value to the anti-collision program for comparison. When the shortest distance is less than the safety distance set by the single machine, the single machine will alarm, and at the same time, the speed limit control of the single machine's travel and rotation actions will be implemented.

[0019] The advantages and positive effects of the present invention are:

[0020] The present invention calculates the minimum safe distance between any two single-machine equipment in the yard, establishes a spatial structure model of the yard and the single-machine, fits the mathematical model of the single machine in the yard, calculates and compares the minimum safe distance between each adjacent single machine, and realizes anti-collision protection under various special working conditions of the single-machine operation in the yard through the PLC program, shortens the safe distance between the single machines to the greatest extent, greatly improves the utilization rate of the yard, and completely realizes the replacement of manual detection and monitoring by the detection system, which improves production efficiency to a certain extent, and provides strong technical support for the unmanned construction of dry bulk yard operation equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structural flow of the method of the present invention;

[0022] Figure 2 It is a schematic diagram of the spatial coordinates of the storage yard of the present invention;

[0023] Figure 3 It is a schematic diagram of a single-machine space line segment of the present invention;

[0024] Figure 4 It is a schematic diagram of the positional relationship between two space line segments with different parameters s and t of the present invention;

[0025] Figure 5 It is a main program flow chart of calculating the shortest distance between two space line segments of the present invention;

[0026] Figure 6 It is a flow chart of the subroutine for calculating the shortest distance between two space line segments of the present invention;

[0027] Figure 7 It is a program flow chart of the stand-alone anti-collision system of the present invention.

[0028] Description of labels:

[0029] 1-cantilever line segment; 2-pull rod line segment; 3-pull rod line segment; 4-counterweight line segment. DETAILED DESCRIPTION

[0030] The present invention is further described in detail below with reference to the accompanying drawings.

[0031] The present invention provides a method for detecting a single-machine dynamic anti-collision system in a dry bulk cargo yard, such as Figure 1 As shown, the following steps are included:

[0032] S1. Calculate the minimum safe operating distance between any two single-machine equipment in the yard.

[0033] The minimum safe distance calculation S1 between any two single-machine equipment in the yard mainly includes the minimum safe distance calculation S11 for single-machine running and the minimum safe distance calculation S12 for single-machine rotating horizontal displacement.

[0034] Among them, the minimum safe distance calculation S11 between any two single-machine equipment in the yard is calculated under the premise of no wind and wind with failure of the track clamp. In the case of no wind and failure of the track clamp, the track clamp driver is forced to brake at full speed to stop, and the maximum braking distance S of each single machine is 2.2m. According to the driver's reaction time T1 of 0.5s in normal state, the operating handle time T2 of 1s after discovering the danger, and the speed V1 of 0.5m / s in full speed state of the single machine, in the state of no wind, the braking distance S1 when the driver discovers the danger of collision and the track clamp fails is:

[0035] S1=S+V1(T1+T2)

[0036] After calculation, it can be concluded that S1 is:

[0037] S1=2.2+0.5×(1+0.5)=2.95m

[0038] When there is wind and the wind speed reaches 16m / s, the single machine needs to be anchored according to regulations. The wind speed of 16m / s is taken as the maximum value to calculate the braking distance of the single machine. The wind load under the wind speed of 16m / s is

[0039]

[0040] Where W is the wind load, V is the wind speed, A is the force area of ​​the corresponding part when the single machine is running, and C is the wind coefficient. is the wind force reduction coefficient. Corresponding to the components of each part when the single machine is running, through the calculation of the wind load of each part, it can be obtained that the total wind load when the single machine is running is W=45.73KN.

[0041] According to the kinetic energy theorem under windless conditions:

[0042]

[0043] In the formula, F1 is the friction force of the single machine running, F2 is the braking force of the single machine running, S=2.2m, and the structural weight above the single machine running part is 1112t.

[0044] According to the kinetic energy theorem under windy conditions:

[0045]

[0046] Where S2 is the maximum braking distance of a single machine when the track clamp driver is forced to brake at full speed to a stop in the case of wind and failure of the track clamp. The calculation shows that S2 = 7.97m.

[0047] In the case of a wind speed of 16 m / s and the failure of the track clamp, the maximum braking distance S3 from the driver of a single machine discovering the collision danger to the single machine stopping is:

[0048] S3=S2+V1(T1+T2)

[0049] After calculation, it can be concluded that S3 is:

[0050] S3=7.97+0.5×(1+0.5)=8.72m

[0051] Under the premise that the track clamp fails, the braking distance S1 when a single-machine driver discovers the danger of collision is 2.95m when there is no wind. When there is wind and the wind speed is 16m / s, the braking distance S3 when a single-machine driver discovers the danger of collision is 8.72m.

[0052] The minimum horizontal displacement safety distance calculation S12 between any two single-machine equipment in the yard is calculated in both windless and windy conditions. Under windless conditions, the average angle θ of the single-machine slewing brake test is 2.1°. According to the driver's reaction time T1 of 0.5s in normal state, the time T2 for operating the handle after discovering danger is 1s, and the slewing angular velocity ω of the single-machine at full speed is 0.12r / min=0.002r / s. By calculating V1 as 0.5m / s, the normal braking angle θ1 when the driver discovers the collision danger in windless state is:

[0053] θ1=θ+2πω(T1+T2)

[0054] After calculation, we can get θ1 as:

[0055] θ1=2.1+2π×0.002×(1+0.5)=3.18°

[0056] The maximum horizontal displacement of a single machine during slewing braking is calculated. The angles before and after the single machine is θ2 and θ3, θ3-θ2=3.18°, and the boom slewing radius of the single machine is R=55m. When θ2 is 90°, the horizontal displacement L with the maximum slope of the cosine function is the maximum value:

[0057] L=(cosθ3-cosθ2)R=3.05m

[0058] In windy conditions, when the single-machine slewing brake is opened, the cantilever is perpendicular to the single-machine track, and the wind load moment of the slewing when the wind speed is 16m / s is:

[0059]

[0060] Where M f is the wind load moment, V is the wind speed of 16m / s, A1 is the wind load perpendicular to the single-machine cantilever, and the single-machine cantilever is perpendicular to the turntable, the windward area of ​​the components at the corresponding parts of the single-machine cantilever rotation, C1 is the air mass density, is the wind force coefficient, L Δis the distance between the rotating component and the rotating root. Corresponding to the components of each part of the single-machine cantilever, by calculating the wind load moment of each part, it can be obtained that the total wind load moment when the single machine rotates is M f =1153064N.m.

[0061] Friction torque M when single machine rotates s for:

[0062] M s =GμR1

[0063] Where G is the pressure, the total weight of the rotating part is 860t, that is, 8600000N, μ is the friction coefficient of 0.01, and R1 is the radius of the slewing bearing of 2.5m. After calculation, the friction torque M can be obtained. s for:

[0064] M s =8600000×0.01×2.5=215000N.m

[0065] Under this premise, if the slewing motor itself does not have a brake, the wind load moment M f Greater than the friction torque M s , a single-machine cantilever may be unable to brake.

[0066] The braking time t of a single rotary motor is 0.8s. When the brake is fully released, the rotation angle θ4 during the braking time is:

[0067]

[0068] The calculation shows that θ4 = 2.88°. When there is wind, the braking angle does not change much. The maximum horizontal displacement of the single machine during slewing braking is calculated. The angles before and after the single machine slewing are θ2 and θ4, θ4-θ2 = 3.96°. The slewing radius of the single machine's boom is R = 55m. The maximum horizontal displacement L1 of the braking is:

[0069] L1=(cosθ4-cosθ2)R=3.795m

[0070] When the two displacement movement directions are the same, considering the extreme case, the two distances are synthesized and directly added to obtain the maximum distance that a single machine can move is 3.795+8.72=12.515m.

[0071] If two adjacent single machines in the same yard move towards each other under extreme conditions, and the drivers of both single machines react normally, they need to brake to a complete stop when they find the danger of collision, and the distance between the two single machines is reduced by 2×12.515=25.03m. Therefore, it can be determined that the operating distance between the two single machines should not be less than 25m, which is the safe distance for single machine operation to prevent collision.

[0072] S2. According to the data of the yard and the single machine, establish the spatial structure model of the yard and the single machine.

[0073] like Figure 2 As shown in the figure, a three-degree-of-freedom spatial mechanism model is established for the single machine in the yard, namely the stacker and the reclaimer. The stacker and the reclaimer mainly perform three actions in space: linear movement along the track, rotation around the central vertical axis, and pitching of the boom with the central hinge as the axis. According to the single machine action, the single machine is simplified into a three-degree-of-freedom spatial mechanism, namely the walking, rotation and pitching spatial mechanism S21.

[0074] In the established yard and single machine spatial mechanism model, a yard coordinate system with the coordinate origin (O0x0y0z0) at the lower left corner of the yard and the running direction as the X-axis direction is established. With this coordinate system as the base coordinate system, the base coordinate system of any single machine (numbered n) can be established as (L nx ,L ny ,0). If the rotation angle of the single machine n is β, and the pitch angle of the cantilever is φ, P nx is the distance from point P to the central hinge point. According to the relevant principles of spatial mechanism, the spatial coordinates of any point P on the cantilever can be obtained as:

[0075]

[0076] Based on the determination of the absolute spatial coordinates of point P, the coordinates of any point Q on the machine can be derived to accurately describe the spatial position of the machine. nx is the distance from point Q to the central kink point, and θ is the angle between the straight line from point Q to the kink point and the straight line from point P to the kink point.

[0077]

[0078] S3. Fit the single-machine mathematical model in the yard according to the model of S2.

[0079] like Figure 3 As shown, the distribution of the single machines in the yard is set as placing a stacker on the stacker track, and placing two reclaimers on the reclaimer track in sequence, that is, two reclaimers on the same track. The arrangement order of the yard track is from top to bottom, starting with the stacker track, followed by the reclaimer track, then the stacker track, and then the reclaimer track, and so on until the last stacker track is the terminal end of the yard. According to the arrangement of the single machine, its collision may mainly be between two reclaimers on the same track or between the stacker and the reclaimer on adjacent tracks. According to the structural characteristics of the single machine and the possible collision position of the edge of the single machine in the operating environment, a mathematical model is fitted, and the single machine is fitted into four spatial line segments S31 composed of a cantilever, two tie rods, and a counterweight beam. When determining the spatial position of each single machine, it is only necessary to calculate the spatial coordinates of the two end points of each line segment.

[0080] The four space segments of the fitted single machine are the cantilever segment, the tie rod segment 1, the tie rod segment 2 and the counterweight segment. Set any two single machines m and n, and take the collision prevention of two single machine cantilevers as an example for analysis. The two endpoints of the cantilever segment AB of the single machine m are the cantilever head A and the hinge point B. Through the equipment parameters, the distance from point A to the hinge point can be obtained as P mA , the distance from point B to the junction is P mB Here P mB is point 0, but to derive the general formula, use P mB In the same way, we can get the cantilever line segment CD of single machine n, and P nC and P nD In this way, the cantilevers of the two single machines can be simplified into two space segments AB and CD. The mathematical expression of the single machine collision is the intersection of the two line segments AB and CD, and the mathematical expression of anti-collision is that when the shortest distance between the two line segments AB and CD is less than the safe distance, the equipment will issue an alarm and make corresponding evasive actions. This method can also be applied to the tie rod segment 1, tie rod segment 2 and counterweight segment fitted between the two single machines.

[0081] S4. Calculate and compare the minimum safe distance between adjacent machines based on the minimum safe distance of S1.

[0082] like Figure 4 , Figure 5 and Figure 6 As shown, the minimum safety distances of the cantilever segment, tie rod segment 1, tie rod segment 2 and counterweight segment of the single machine fitting are derived respectively.

[0083] Derivation of the minimum safe distance of the cantilever line segment fitted between any two single machines:

[0084] Let the coordinates of point A be (x 1, y 1, z1), the coordinates of point B are (x 2, y 2, z2), the coordinates of point C are (x 3, y 3, z3), the coordinates of point D are (x 4, y 4, z4). According to the coordinate formula, the spatial coordinates of the four points are as follows:

[0085]

[0086] Set point Q m (X, Y, Z) is any point on line AB, and the parametric equation of line AB is:

[0087]

[0088] When the parameter 0≤s≤1, Q m On line segment AB; when parameter s<0, Q m On the extension line of BA; when s>1, Q m On the extension line of AB.

[0089] Set point Q n (U, V, W) is any point on the line CB, and the parametric equation of the line CD is:

[0090]

[0091] When the parameter 0≤t≤1, Q n On line segment CD; when parameter t<0, Q n On the extension line of DC; when t>1, Q n On the extension cord of the CD.

[0092] Q m With Q n The distance between

[0093]

[0094] Ask for Q m Q n The minimum value can be equivalent to finding Q m Q n The minimum value of the square of , and then square it. Then Q m Q n The square of

[0095] f(s,t)=(XU) 2 +(YV) 2 +(ZW) 2 =[(x1-x3)+s(x2-x1)-t(x4-x3)] 2 +[(y1-y3)+s(y2-x1)-t(y4-y3)] 2 +[(z1-z3)+s(z2-z1)-t(z4-z3)] 2

[0096] In this way, the shortest distance between the two line segments AB and CD can be determined by finding the minimum value of the function f(s, t). For the multivariate function f(s, t), find the partial derivatives of the independent variables s and t respectively and set the partial derivatives to zero.

[0097]

[0098] in:

[0099]

[0100] Find the values ​​of parameters s0 and t0:

[0101]

[0102] Bring it to Q m With Q n The distance formula between the two lines AB and CD can be obtained as follows:

[0103]

[0104] However, for the shortest distance between line segments AB and CD, it is necessary to discuss and classify the positional relationship between the space line segments AB and CD according to the values ​​of parameters s and t, and respectively calculate the shortest distance between the two corresponding space line segments AB and CD, that is, the minimum safe distance between the two single-machine cantilevers. When the parameters are 0≤s≤1, 0≤t≤1, Q m On line segment AB, Q n On line segment CD, the shortest distance between the two space line segments is point Q m With Q n Distance Q m Q n . In other cases, Q m , Q n On the extension lines of the space segments AB and CD, the following conclusions can be drawn based on the projections of the two space segments on the horizontal plane.

[0105] When (0≤s≤1, t<0), (0≤s≤1, t>1), (s>1, 0≤t≤1), (s<0, 0≤t≤1) are the four cases, the projection of the two space segments on the horizontal plane is the extension of one line segment intersecting with the other line segment. The relative position on the plane can be applied to space. Taking the case of (0≤s≤1, t<0) as an example, the shortest distance problem of space segments AB and CD can be transformed into the shortest distance problem from point C to space segment AB. Similarly, the case of (0≤s≤1, t>1) can be transformed into the shortest distance problem from point D to space segment AB; the case of (s>1, 0≤t≤1) can be transformed into the shortest distance problem from point B to space segment CD; the case of (s<0, 0≤t≤1) can be transformed into the shortest distance problem from point A to space segment CD.

[0106] The shortest distance from a point to a line segment. If the foot of the perpendicular to the point is on the line segment, the shortest distance is the perpendicular distance from the point to the line segment. If the foot of the perpendicular to the point is on the extended line of the line segment, the shortest distance is the distance from the point to the nearest endpoint of the line segment. Suppose the point is C, the line segment is AB, and the perpendicular segment from point C to line segment AB is CH. When the foot of the perpendicular from point C to line AB is on line segment AB, the shortest distance from point C to the line segment is the perpendicular segment CH; when the foot of the perpendicular from point C to line AB is on the extended line of line segment AB, the shortest distance from point C to the line segment is the distance AC and BC from point C to the nearest endpoints of the line segment. According to the relevant theory of vector algorithm, let If the shortest distance from point C to line segment AB is AC, then r<0; if the shortest distance from point C to line segment AB is CH, then 0≤r≤1; if the shortest distance from point C to line segment AB is BC, then r>1. Therefore, depending on the value of r, the shortest distance from point C to line segment AB is:

[0107]

[0108] When there are four cases (s>1, t<0), (s<1, t<0), (s>1, t>1), and (s<0, t>1), the projections of the two space line segments on the horizontal plane are the extensions of the two line segments intersecting at one point. At this time, in the case of (s>1, t<0), the shortest distance between the two space line segments AB and CD is the distance BC between point B and point C. Similarly, in the case of (s<1, t<0), the shortest distance between the two space line segments AB and CD is the distance AC between point A and point C; in the case of (s>1, t>1), the shortest distance between the two space line segments AB and CD is the distance BD between point B and point D; in the case of (s<0, t>1), the shortest distance between the two space line segments AB and CD is the distance AD ​​between point A and point D. Taking the case of (s>1, t<0) as an example, we can get the shortest distance between the two straight lines AB and CD:

[0109]

[0110] After finding the position relationship parameters s and t of the two line segments AB and CD of the cantilever fitting, the shortest distance d1 of the two line segments AB and CD can be found according to the shortest distance formula. Similarly, the coordinates of the two end points of the counterweight beam, tie rod 1, and tie rod 2 can be calculated respectively, and the corresponding line segments can be fitted. The shortest distances are calculated for each pair, for a total of 16 values. Then use the for statement in the program to compare and find the distance from d1 to d 16 The minimum value d min , which is the minimum distance S41 between two single machines.

[0111] S5. Use the minimum safety distance to perform early warning and control functions of the single-machine dynamic anti-collision system.

[0112] like Figure 7As shown in the figure, the warning and control function S5 of the single-machine dynamic anti-collision system is realized by using the minimum safety distance. According to the inference, the single-machine anti-collision minimum distance d is written. min Calculation program, and compare it with the safety distance set by the single machine, establish a label that is less than the safety distance, and use this label as a condition to limit the relevant actions of this single machine and the other single machine. Due to the large amount of calculation of this algorithm, the programming method of structured text is adopted in the program design, and a modular approach is adopted. Establish a subroutine for judging and calculating the minimum distance between two spatial line segments. The main program calculates the coordinates of the endpoints of 8 spatial line segments, and then assigns the coordinates of the endpoints of each two pairs of line segments to the subroutine. After the subroutine calculates, it returns the shortest distance between the two line segments to the main program. Since the collision between the pull rods does not exist in reality, the minimum distance between the pull rod line segments is not calculated. After calculating the shortest distance of the 12 groups of line segments, the bubbling method is used in the main program to use the for statement to calculate the minimum distance d between the two machines. min The shortest distance is assigned as the return value to the anti-collision program for comparison. When the shortest distance is less than the safety distance set by the single machine, the single machine will alarm and at the same time, the speed limit control S51 is performed on the travel and rotation actions of the single machine.

[0113] It should be emphasized that the embodiments described in the present invention are illustrative rather than restrictive. Therefore, the present invention includes but is not limited to the embodiments described in the specific implementation manner. Any other implementation manners derived by those skilled in the art based on the technical solution of the present invention also fall within the scope of protection of the present invention.

Claims

1. A method for detecting a single-machine dynamic anti-collision system in a dry bulk cargo yard, characterized by: The following steps are involved: Step 1: Calculate the minimum safe distance between any two stand-alone equipment in the yard; Step 2: Establish the spatial structure model of the storage yard and the single machine according to the data of the storage yard and the single machine; Step 3, fitting a single-machine mathematical model in the storage yard according to the model in step 2; Step 4: Calculate and compare the minimum safe distance between adjacent machines based on the minimum safe distance of the operation in step 1; Step 5: Use the minimum safety distance to perform the early warning and control functions of the single-machine dynamic anti-collision system.

2. A dry bulk cargo yard single-machine dynamic anti-collision system detection method according to claim 1, characterized in that: The minimum safe distance for operation between any two single-machine equipment in the yard in step 1 includes the calculation of the minimum safe distance for single-machine travel and the calculation of the minimum safe distance for single-machine rotation horizontal displacement.

3. A dry bulk cargo yard single-machine dynamic anti-collision system detection method according to claim 2, characterized in that: The calculation of the minimum safe distance for a single machine includes the calculation of the minimum safe distance for a single machine in a windless situation and the calculation of the minimum safe distance for a single machine in a windy situation with a failure of the track clamp.

4. A dry bulk cargo yard single-machine dynamic anti-collision system detection method according to claim 2, characterized in that: The calculation of the minimum safe distance for the horizontal displacement of a single machine rotation includes the calculation of the minimum safe distance for the horizontal displacement of a single machine rotation in a windy condition and the calculation of the minimum safe distance for the horizontal displacement of a single machine rotation in a windless condition.

5. The dry bulk cargo yard single-machine dynamic anti-collision system detection method according to claim 1 is characterized by: The specific implementation method of step 2 is as follows: a single machine includes a stacker and a reclaimer, and a three-degree-of-freedom spatial mechanism model is established for the stacker and the reclaimer in the yard; the stacker and the reclaimer mainly perform three actions in space: walking along the straight line of the track, rotating around the central vertical axis, and pitching of the boom with the central hinge as the axis; according to the action of the single machine, the single machine is simplified into a three-degree-of-freedom spatial mechanism, namely, walking, rotating and pitching spatial mechanisms, and the coordinate origin of the spatial mechanism is established, and the spatial coordinates of any point on the cantilever are determined by calculation, and the coordinates of any point on the single machine are derived based on the absolute coordinates of this point, thereby accurately describing the spatial position of the single machine.

6. A method for detecting a single-machine dynamic anti-collision system in a dry bulk cargo yard according to claim 1, characterized in that: The specific implementation method of step 3 is: setting the single machine distribution in the yard to place a stacker on the stacker track and two reclaimers on the reclaimer track in sequence, the yard track arrangement sequence from top to bottom starts with the stacker track, followed by the reclaimer track, then the stacker track, then the reclaimer track, and so on until the last stacker track is the terminal end of the yard, according to the single machine arrangement, the collision is mainly between two reclaimers on the same track or between a stacker and a reclaimer on adjacent tracks, mathematical model fitting is performed based on the structural characteristics of the single machine and the possible collision position of the edge of the single machine in the operating environment, the single machine is fitted into four spatial line segments consisting of a cantilever, two tie rods, and a counterweight beam, and the spatial coordinates of the two end points of each line segment are calculated to determine the spatial position of each single machine.

7. A method for detecting a single-machine dynamic anti-collision system in a dry bulk cargo yard according to claim 1, characterized in that: The specific implementation method of step 4 is: calculate and compare the minimum safety distance between each adjacent single machine, and derive the minimum safety distance of the cantilever segment, tie rod segment 1, tie rod segment 2 and counterweight segment fitted by the single machine respectively, compare the data after derivation, and the minimum value is the minimum distance between the two single machines.

8. The method for detecting a single-machine dynamic anti-collision system in a dry bulk cargo yard according to claim 1, characterized in that: The specific implementation method of step 5 is as follows: according to the minimum safety distance between each adjacent single machine obtained in step 4, the safety distance set by the single machine is compared, a label less than the safety distance is established, the label is used as a condition to limit the relevant actions of the single machine and the other single machine, and a single machine dynamic anti-collision system is established; the single machine dynamic anti-collision system adopts the programming method of structured text, and adopts a modular idea: a subroutine for judging and calculating the minimum distance between two space segments is established, the coordinates of the endpoints of 8 space segments are calculated in the main program, and then the coordinates of the endpoints of each two pairs of segments are assigned to the subroutine respectively, and the subroutine returns the shortest distance between the two segments to the main program after calculation. Since the tie rods collide with each other first in reality, the minimum distance between the tie rod segments is not calculated; after the shortest distance of the 12 groups of segments is calculated, the bubbling method is used in the main program to use the for statement to calculate the minimum distance between the two machines, and the shortest distance is assigned as the return value to the anti-collision program for comparison. When the shortest distance is less than the safety distance set by the single machine, the single machine alarms, and the speed limit control is performed on the travel and rotation actions of the single machine.

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