Complete machine safety monitoring system based on remote control technology

Abstract

The invention provides a whole machine safety monitoring system based on a remote control technology, and relates to the technical field of ship unloader remote monitoring, and the whole machine safety monitoring system comprises the steps: enhancing the real-time performance of video monitoring through detecting the frame loss rate and time delay of a video stream; the grab bucket closed-loop anti-swing module analyzes the operation information of the grab bucket, reduces the swing of the grab bucket and improves the operation precision; vision and laser data fusion provides high-precision grab bucket positioning; the scanning modeling module establishes a three-dimensional model for a deck-free small river ship. The grab bucket positioning extension detection module is combined with the basic positioning parameters to generate dynamic positioning information; the remote control module integrates the data, supports remote intelligent control of the ship unloader, and improves operation efficiency and safety.

Description

Technical Field

[0001] The invention relates to the technical field of remote monitoring of ship unloaders, and in particular to a whole-machine safety monitoring system based on remote control technology. Background Art

[0002] With the continuous development of port transportation industry, ship unloaders, as important loading and unloading equipment, are receiving more and more attention for their automation and intelligence. The application of remote control technology enables operators to operate ship unloaders in a control center far away from the site, which improves work efficiency and safety.

[0003] In the development process of this field, the remote control technology of ship unloaders has been constantly evolving; early remote control mainly relied on simple signal transmission and basic operating instructions, lacking comprehensive monitoring of the safety of the entire machine; with the advancement of sensor technology, data analysis and communication technology, the remote control system of modern ship unloaders can achieve more precise operation and more comprehensive safety monitoring;

[0004] However, there are still some problems in the existing technology that need to be solved urgently. For example, there are frame loss and delay problems in video monitoring, which affect the operator's accurate judgment of the on-site situation; the swing control of the grab bucket is not precise enough, resulting in low operation accuracy; the positioning information of the grab bucket is not accurate and comprehensive enough to meet the needs of complex working environments; the scanning of ship type and coal piles in small river ships without decks is not accurate enough, which affects the operation efficiency and safety;

[0005] Therefore, there is an urgent need in the art for a whole machine safety monitoring system based on remote control technology to solve the above problems. Summary of the invention

[0006] The present invention provides a whole-machine safety monitoring system based on remote control technology, which can improve the remote control accuracy, safety and operating efficiency of a ship unloader.

[0007] The present invention provides a whole machine safety monitoring system based on remote control technology, comprising:

[0008] A frame loss delay detection module, which is connected to the video monitoring equipment of the ship unloader and is used to detect the frame loss rate and delay of the video stream;

[0009] The grab bucket closed-loop anti-sway module is connected to the grab bucket drive device of the ship unloader and is used to analyze the grab bucket operation information and obtain adjustable parameters to reduce the grab bucket swing;

[0010] The visual positioning and laser point cloud data fusion module is connected to the visual sensor and laser scanner of the ship unloader to fuse the acquired grab bucket visual information and environmental information and analyze the grab bucket's basic positioning parameters;

[0011] A scanning modeling module, which is connected to the multi-state sensing device of the ship unloader, is used to scan the ship type and coal pile of a small river ship without a deck, analyze and obtain a three-dimensional model;

[0012] A grab bucket positioning extension detection module, which is connected to the grab bucket driving device together with the grab bucket closed-loop anti-sway module, and generates extended positioning parameters by real-time analysis of the grab bucket movement changes based on the grab bucket's basic positioning parameters;

[0013] A remote control module is connected to the frame loss delay detection module, the grab closed-loop anti-sway module, the scanning modeling module and the grab positioning extension detection module, and is used to summarize the analysis results of each module and provide support for the remote control process of the ship unloader based on the summary results.

[0014] According to a whole machine safety monitoring system based on remote control technology provided by the present invention, the frame loss delay detection module includes:

[0015] The frame loss detection unit detects the frame loss rate by analyzing the continuous frames of the video stream; obtains the frame rate f of the video stream, the time interval T=1 / f between two consecutive frames, and obtains the number of frames received within a period of time t as N, and calculates the frame loss rate D=(f*tN) / (f*t);

[0016] The time delay detection unit is used to measure the time delay of the video signal transmitted from the ship unloader to the remote control center.

[0017] According to a whole machine safety monitoring system based on remote control technology provided by the present invention, the grab bucket closed-loop anti-sway module includes:

[0018] A sensor unit is connected to the grab bucket driving device and includes an angle sensor and an acceleration sensor installed on the grab bucket, and is used to obtain a current swing angle θ and acceleration a of the grab bucket;

[0019] The anti-sway analysis unit is connected to the sensor unit and analyzes the grab bucket operation information based on a pre-established swing model; the swing model is

[0020]

[0021] Wherein, θ is the swing radian obtained based on the swing angle conversion; is the angular velocity of the grab bucket swing, that is, the rate of change of the angle with respect to time, which is calculated by taking the time difference of the swing arc θ; is the angular acceleration of the grab bucket swing, that is, the rate of change of the angular velocity with respect to time, which can also be calculated by time difference of the angular velocity data; ζ is the damping ratio, which is used to reflect the damping degree of the system and is determined based on the characteristics of the grab bucket structure and experience; ω is the angular frequency, which is determined based on the inherent characteristics of the grab bucket structure;

[0022] Based on adjusting the above parameters The result is close to 0;

[0023] The data acquired by the sensor unit is substituted into the swing model to obtain the specific type and value of the adjustable parameter.

[0024] According to a whole machine safety monitoring system based on remote control technology provided by the present invention, the visual positioning and laser point cloud data fusion module includes:

[0025] A visual positioning unit, which is connected to the visual sensor of the ship unloader, is used to obtain and organize image information of the grab bucket and the target object, and determine the visual positioning information of the grab bucket;

[0026] A laser point cloud scanning unit, which is connected to the laser scanner of the ship unloader and uses the laser scanner to acquire and organize point cloud data of the surrounding environment;

[0027] A fusion algorithm unit is connected to the visual positioning unit and the laser point cloud scanning unit, and adopts a weighted average method to fuse the visual positioning information (x v ,y v , z v ) and laser point cloud data (x L ,y L , z L ) to generate the basic positioning parameters (x0, y0, z0) of the grab.

[0028] According to a whole machine safety monitoring system based on remote control technology provided by the present invention, the scanning modeling module includes:

[0029] A multi-sensor fusion unit, which is connected to the multi-state sensing device of the ship unloader and is used to obtain different types of sensor data to obtain point cloud data corresponding to the shape and height of the ship and the coal pile;

[0030] The three-dimensional modeling unit is connected to the multi-sensor fusion unit and is used to convert the point cloud data obtained by scanning into a three-dimensional model through a triangulation algorithm.

[0031] According to a whole machine safety monitoring system based on remote control technology provided by the present invention, the grab positioning expansion detection module includes:

[0032] Angle detection unit, which is connected to the angle sensor, is used to obtain the horizontal torsion angle (α, β, γ) of the current grab in the X, Y, and Z directions, as well as the vehicle direction inclination angle θ x 、Trolley direction inclination angle θ y ;

[0033] The acceleration detection unit is connected to the acceleration sensor and is used to obtain the horizontal acceleration (a) of the current grab bucket in the X, Y, and Z directions. x , a y , a z )、initial velocity (v 0x , v 0y , v 0z ) and angular acceleration (ω x ,ω y ,ω z );

[0034] A position calculation unit is connected to the angle detection unit, the acceleration detection unit and the fusion algorithm unit, and calculates the extended positioning parameters (x2, y2, z2) of the grab bucket based on a preset positioning calculation model.

[0035] According to a whole machine safety monitoring system based on remote control technology provided by the present invention, the positioning calculation model is:

[0036] x2=x0+Δx ang +Δx acc +Δx e

[0037] y2=y0+Δy ang +Δy acc +Δy e

[0038] z2=z0+Δz ang +Δz acc +Δz e

[0039] Among them, (x2, y2, z2) are the extended positioning parameters; (x0, y0, z0) are the basic positioning parameters of the grab at the previous moment; (Δx ang , Δy ang , Δz ang ) is the position change caused by the angle, specifically:

[0040] Δx ang =Lsinθ x cosα

[0041] Δy ang =Lsinθ y cosβ

[0042] Δz ang =Lcosγ

[0043] (Δx acc , Δy acc , Δz acc ) is the position change caused by acceleration, specifically:

[0044] Δx acc =v 0x t+0.5a x t 2

[0045] Δy acc =v 0y t+0.5a y t 2

[0046] Δz acc =v 0z t+0.5a z t 2

[0047] (Δx e , Δy e , Δz e ) is the position change caused by angular acceleration, specifically:

[0048] Δx e =Lsin(θ x +Δθ x )cos(α+θ x )-Lsinθ x cosα

[0049] Δy e =Lsin(θ y +Δθ y )cos(β+θ y )-Lsinθ y cosβ

[0050] Δz e =Lcos(γ+Δθ z )-Lcosγ

[0051] Where L is the grab length; t is the time interval; (Δθ x , Δθ y , Δθ z ) is the angle change, Δθ x =ω x t, Δθ y =ω y t, Δθ z =ω z t;

[0052] Substitute the collected corresponding data into the above model, and finally obtain the expansion positioning parameters (x2, y2, z2) of the current grab.

[0053] According to a whole machine safety monitoring system based on remote control technology provided by the present invention, the remote control module includes:

[0054] A signal transmission unit connected to the frame loss delay detection module, the grab closed-loop anti-sway module, the scanning modeling module and the grab positioning expansion detection module, and used to receive analysis results of each module;

[0055] A display unit connected to the signal transmission unit, used to display the frame loss rate, time delay, adjustable parameters for reducing grab bucket swing, three-dimensional model and extended positioning parameters to the operator for reference;

[0056] Operation control interface, which is used for operators to input control instructions and remotely control the actions of the ship unloader;

[0057] A safety interlock unit is connected to the operation control interface and is used to limit the remote control function of the operation control interface and remove the restriction only when all analysis results are at a safe level.

[0058] Compared with the prior art, the present invention has the following beneficial effects:

[0059] 1. Improved the real-time and reliability of video surveillance: The frame loss delay detection module can accurately detect the frame loss rate and delay of the video stream, ensuring that operators can obtain accurate on-site information in a timely manner;

[0060] 2. Enhanced grab stability: The grab closed-loop anti-sway module can provide data support for reducing grab swing, improve operation accuracy, and help reduce safety hazards caused by excessive grab swing;

[0061] 3. Improved the accuracy and reliability of grab positioning: The visual positioning and laser point cloud data fusion module and the grab positioning extension detection module can provide more comprehensive and accurate grab positioning parameters, enabling operators to more accurately control the position and posture of the grab;

[0062] 4. Better adaptability to the situation of small river vessels without decks: The scanning and modeling module can accurately scan and 3D model the ship type and coal pile of small river vessels without decks, providing more accurate environmental information for operations;

[0063] 5. Realized remote intelligent control: The remote control module can summarize the analysis results of each module, provide comprehensive support for the remote control of the ship unloader, realize remote fully automatic intelligent control, and improve operation efficiency and safety.

[0064] In summary, the present invention has significant advantages in improving the safety, operating efficiency and intelligence of the ship unloader, and can better meet the needs of port loading and unloading operations.

[0065] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0066] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0068] Figure 1 It is a structural schematic diagram of a whole machine safety monitoring system based on remote control technology provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0069] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0070] Embodiment 1:

[0071] This embodiment provides a whole machine safety monitoring system based on remote control technology. Figure 1 ,include:

[0072] A frame loss delay detection module, which is connected to the video monitoring equipment of the ship unloader and is used to detect the frame loss rate and delay of the video stream;

[0073] The grab bucket closed-loop anti-sway module is connected to the grab bucket drive device of the ship unloader and is used to analyze the grab bucket operation information and obtain adjustable parameters to reduce the grab bucket swing;

[0074] The visual positioning and laser point cloud data fusion module is connected to the visual sensor and laser scanner of the ship unloader to fuse the acquired grab bucket visual information and environmental information and analyze the grab bucket's basic positioning parameters;

[0075] A scanning modeling module, which is connected to the multi-state sensing device of the ship unloader, is used to scan the ship type and coal pile of a small river ship without a deck, analyze and obtain a three-dimensional model;

[0076] The grab bucket positioning extension detection module is connected to the grab bucket driving device together with the grab bucket closed-loop anti-sway module, and generates extended positioning parameters based on the grab bucket's basic positioning parameters by real-time analysis of the grab bucket's movement changes;

[0077] The remote control module is connected with the frame loss delay detection module, the grab closed-loop anti-sway module, the scanning modeling module and the grab positioning extension detection module, and is used to summarize the analysis results of each module and provide support for the remote control process of the ship unloader based on the summary results.

[0078] The principle of the above embodiment is that the frame loss delay detection module detects the frame loss rate and delay by analyzing the video stream of the video monitoring equipment, thereby ensuring the real-time and reliability of video monitoring. The grab closed-loop anti-sway module obtains the grab operation information by connecting with the grab drive device, and analyzes the adjustable parameters to reduce the grab swing, thereby realizing the closed-loop anti-sway control of the grab. The visual positioning and laser point cloud data fusion module combines the information obtained by the visual sensor and the laser scanner, integrates and processes the grab visual information and environmental information, analyzes the basic positioning parameters of the grab, and improves the accuracy of grab positioning. The scanning modeling module uses polymorphic sensing equipment to scan and analyze the ship type and coal pile of small river ships without decks, obtains a three-dimensional model, and provides accurate environmental information for the operation. The grab positioning extension detection module analyzes the grab movement changes in real time based on the grab's basic positioning parameters, generates extended positioning parameters, and further improves the accuracy of grab positioning. The remote control module summarizes the analysis results of each module, provides comprehensive support for the remote control of the ship unloader, and realizes remote intelligent control.

[0079] The beneficial effects of the above embodiments are as follows: through the frame loss delay detection module, the frame loss rate and delay of the video stream can be accurately detected to ensure that the operator can obtain accurate on-site information in a timely manner; the grab closed-loop anti-sway module can provide data support for reducing the grab swing, improve the operation accuracy, and assist in reducing the safety hazards caused by excessive grab swing; the visual positioning and laser point cloud data fusion module and the grab positioning extension detection module can provide more comprehensive and accurate grab positioning parameters, so that the operator can more accurately control the position and posture of the grab; the scanning modeling module can accurately scan and three-dimensionally model the ship type and coal pile of small river ships without decks, providing more accurate environmental information for operations; the remote control module can summarize the analysis results of each module, provide comprehensive support for the remote control of the ship unloader, realize remote fully automatic intelligent control, and improve operation efficiency and safety.

[0080] In order to further optimize the above embodiment, the frame loss delay detection module includes:

[0081] The frame loss detection unit detects the frame loss rate by analyzing the continuous frames of the video stream. The frame rate f of the video stream is obtained, the time interval between two consecutive frames is T = 1 / f, and the number of frames received within a period of time t is N, and the frame loss rate D = (f*tN) / (f*t) is calculated;

[0082] The time delay detection unit is used to measure the time delay of the video signal transmitted from the ship unloader to the remote control center.

[0083] It should be noted that the frame loss detection unit can accurately detect the frame loss rate of the video stream by performing a detailed analysis of the continuous frames of the video stream; this process can monitor the quality of the video stream in real time, detect frame loss in time, and provide an important basis for subsequent processing;

[0084] The time delay detection unit focuses on measuring the time delay of the video signal from the ship unloader to the remote control center; it helps to ensure the real-time and accuracy of remote control and avoid operational errors caused by excessive time delay;

[0085] The two units work together to enable the frame loss delay detection module to comprehensively and accurately detect the frame loss rate and delay of the video stream, providing reliable video surveillance data for the entire security monitoring system.

[0086] In order to further optimize the above embodiment, the grab closed-loop anti-sway module includes:

[0087] A sensor unit is connected to the grab bucket driving device and includes an angle sensor and an acceleration sensor installed on the grab bucket, and is used to obtain a current swing angle θ and acceleration a of the grab bucket;

[0088] The anti-sway analysis unit is connected to the sensor unit and analyzes the grab bucket operation information based on a pre-established swing model; the swing model is

[0089]

[0090] Wherein, θ is the swing radian obtained based on the swing angle conversion; is the angular velocity of the grab bucket swing, that is, the rate of change of the angle with respect to time, which is calculated by taking the time difference of the swing arc θ; is the angular acceleration of the grab bucket swing, that is, the rate of change of the angular velocity with respect to time, which can also be calculated by performing time difference calculation on the angular velocity data; is the damping ratio, which reflects the damping degree of the system and is determined based on the characteristics of the grab structure and experience; ω is the angular frequency, which is determined based on the inherent characteristics of the grab structure;

[0091] Based on adjusting the above parameters The result is close to 0;

[0092] The data obtained by the sensor unit is substituted into the swing model to obtain the specific type and value of the adjustable parameters.

[0093] It should be noted that the angle sensor and acceleration sensor in the sensor unit can obtain the current swing angle and acceleration information of the grab bucket in real time and accurately. This information is crucial for the anti-sway analysis unit because it is the basis for analyzing the operation information of the grab bucket.

[0094] The anti-sway analysis unit analyzes the grab bucket operation information based on a pre-established swing model. This swing model takes into account several key factors of the grab bucket swing, including swing arc, angular velocity, angular acceleration, damping ratio and angular frequency. The angular velocity of the grab bucket swing can be obtained by time-differentiating the swing arc; similarly, the angular acceleration can be obtained by time-differentiating the angular velocity data. The damping ratio and angular frequency are determined based on the characteristics and experience of the grab bucket structure and the inherent characteristics, respectively.

[0095] The key goal of this module is to adjust the above parameters so that the results are close to 0. By substituting the data obtained by the sensor unit into the swing model, the specific type and value of the adjustable parameters can be obtained. In this way, the swing of the grab bucket can be effectively controlled and adjusted according to the actual situation, thereby realizing the closed-loop anti-sway of the grab bucket and improving the operating stability and safety of the ship unloader.

[0096] In order to further optimize the above embodiment, the visual positioning and laser point cloud data fusion module includes:

[0097] A visual positioning unit, which is connected to the visual sensor of the ship unloader, is used to obtain and organize image information of the grab bucket and the target object, and determine the visual positioning information of the grab bucket;

[0098] A laser point cloud scanning unit, which is connected to the laser scanner of the ship unloader and uses the laser scanner to acquire and organize point cloud data of the surrounding environment;

[0099] The fusion algorithm unit is connected to the visual positioning unit and the laser point cloud scanning unit, and uses the weighted average method to fuse the visual positioning information (x v ,y v , z v ) and laser point cloud data (x L ,y L , z L ) to generate the basic positioning parameters (x0, y0, z0) of the grab.

[0100] It should be noted that the visual positioning unit can obtain the image information of the grab bucket and the target object in real time by connecting with the visual sensor of the ship unloader, and organize and analyze the information to determine the visual positioning information of the grab bucket. This process fully utilizes the image acquisition capability of the visual sensor and provides important basic data for the subsequent positioning parameter fusion.

[0101] The laser point cloud scanning unit is connected to the laser scanner of the ship unloader, which can efficiently obtain point cloud data of the surrounding environment and organize and analyze the data. The point cloud data contains rich environmental information, such as the shape, position and distance of objects.

[0102] The fusion algorithm unit plays a key role in fusion. It is connected to the visual positioning unit and the laser point cloud scanning unit and can receive positioning information from these two units. The weighted average method is used to fuse the visual positioning information and the laser point cloud data. This method can fully combine the advantages of the two positioning methods and improve the accuracy and reliability of positioning. The grab base positioning parameters generated by fusion provide an important basis for the precise control of the ship unloader.

[0103] In order to further optimize the above embodiment, the scanning modeling module includes:

[0104] The multi-sensor fusion unit is connected to the multi-state sensing device of the ship unloader to obtain different types of sensor data to obtain point cloud data corresponding to the shape and height of the ship type and coal pile.

[0105] The three-dimensional modeling unit is connected to the multi-sensor fusion unit and is used to convert the point cloud data obtained by scanning into a three-dimensional model through a triangulation algorithm.

[0106] It should be noted that the multi-sensor fusion unit can fully integrate the data advantages of different types of sensors by connecting to the multi-state sensor equipment of the ship unloader. These sensors may include ultrasonic sensors, laser scanners, visual sensors, etc., which can obtain information related to the shape and height of the ship and coal pile from different angles and dimensions. By fusing these data, more comprehensive and accurate point cloud data can be obtained, providing rich original information for subsequent 3D modeling.

[0107] The 3D modeling unit is closely connected with the multi-sensor fusion unit, which is responsible for processing and converting the scanned point cloud data. The triangulation algorithm can be used to construct an accurate 3D model from the point cloud data. This 3D model can intuitively display the ship type of a small river ship without a deck, as well as the shape and height of the coal pile, providing operators with a clearer perception of the working environment, helping to make more reasonable work plans and decisions, and further improving the operating efficiency and safety of the ship unloader.

[0108] In order to further optimize the above embodiment, the grab bucket positioning extension detection module includes:

[0109] The angle detection unit is connected to the angle sensor to obtain the horizontal torsion angle (α, β, γ) of the current grab in the X, Y, and Z directions, as well as the tilt angle θ of the truck direction. x 、Trolley direction inclination angle θ y ;

[0110] The acceleration detection unit is connected to the acceleration sensor. It is used to obtain the horizontal acceleration (a x , a y , a z )、initial velocity (v 0x , v 0y , v 0z ) and angular acceleration (ω x ,ω y ,ω z );

[0111] The position calculation unit is connected with the angle detection unit, the acceleration detection unit and the fusion algorithm unit, and calculates the extended positioning parameters (x2, y2, z2) of the grab bucket based on a preset positioning calculation model.

[0112] It should be noted that the angle detection unit obtains the horizontal torsion angle of the grab in different directions and the inclination angles of the trolley and cart, which can fully reflect the posture changes of the grab and provide accurate angle basis for subsequent position calculations. The acceleration detection unit obtains the acceleration, initial velocity, angular acceleration and other data of the grab in various directions, which helps to accurately predict the movement trend and position changes of the grab. The position calculation unit can more accurately calculate the extended positioning parameters of the grab by comprehensively considering the data provided by the angle detection unit and the acceleration detection unit, thereby improving the positioning accuracy of the grab in complex working environments. In addition, the basic positioning parameters provided by the fusion algorithm unit also provide an important reference for the calculation of the extended positioning parameters, making the positioning of the grab more accurate and reliable.

[0113] In order to further optimize the above embodiment, the positioning calculation model is:

[0114] x2=x0+Δx ang +Δx acc +Δx e

[0115] y2=y0+Δy ang +Δy acc +Δy e

[0116] z2=z0+Δz ang +Δz acc +Δz e

[0117] Among them, (x2, y2, z2) are the extended positioning parameters; (x0, y0, z0) are the basic positioning parameters of the grab at the previous moment; (Δx ang , Δy ang , Δz ang) is the position change caused by the angle, specifically:

[0118] Δx ang =Lsinθ x cosα

[0119] Δy ang =Lsinθ y cosβ

[0120] Δz ang =Lcosγ

[0121] (Δx acc , Δy acc , Δz acc ) is the position change caused by acceleration, specifically:

[0122] Δx acc =v 0x t+0.5a x t 2

[0123] Δy acc =v 0y t+0.5a y t 2

[0124] Δz acc =v 0z t+0.5a z t 2

[0125] (Δx e , Δy e , Δz e ) is the position change caused by angular acceleration, specifically:

[0126] Δx e =Lsin(θ x +Δθ x )cos(α+θ x )-Lsinθ x cosα

[0127] Δy e =Lsin(θ y +Δθ y )cos(β+θ y )-Lsinθ y cosβ

[0128] Δz e =Lcos(γ+Δθ z )-Lcosγ

[0129] Where L is the grab length; t is the time interval; (Δθ x , Δθ y , Δθ z ) is the angle change, Δθ x =ω x t, Δθ y =ω y t, Δθ z =ω z t;

[0130] Substitute the collected corresponding data into the above model, and finally obtain the expansion positioning parameters (x2, y2, z2) of the current grab.

[0131] It should be noted that the positioning calculation model comprehensively considers the influence of angle, acceleration and angular acceleration on the position of the grab. Among them, the position change caused by the angle takes into account the horizontal torsion angle of the grab in different directions and the relationship between the inclination angle of the trolley and the length of the grab, which can accurately reflect the position offset of the grab due to the angle change. The position change caused by acceleration is calculated based on the initial velocity, acceleration and time interval of the grab, reflecting the position change of the grab due to acceleration during movement. The position change caused by angular acceleration further refines the calculation of the grab position by considering the relationship between the angle change and the length of the grab. Substituting the collected corresponding data into the model, the extended positioning parameters of the current grab can be calculated comprehensively and accurately, which improves the accuracy and reliability of the grab positioning and enables it to better adapt to various situations in actual operations.

[0132] In order to further optimize the above embodiment, the remote control module includes:

[0133] A signal transmission unit, which is connected to the frame loss delay detection module, the grab closed-loop anti-sway module, the scanning modeling module and the grab positioning extension detection module, and is used to receive the analysis results of each module;

[0134] A display unit connected to the signal transmission unit for displaying the frame loss rate, time delay, adjustable parameters for reducing grab bucket swing, a three-dimensional model, and extended positioning parameters to the operator for reference;

[0135] Operation control interface, which is used for operators to input control instructions and remotely control the actions of the ship unloader;

[0136] The safety interlock unit is connected to the operation control interface and is used to limit the remote control function of the operation control interface and release the restriction only when all analysis results are at a safe level.

[0137] It should be noted that the signal transmission unit, as an important component of the remote control module, can stably and efficiently receive the analysis results from each module to ensure the timely transmission and accuracy of the data. The display unit is closely connected with the signal transmission unit, and clearly displays key information such as frame loss rate, time delay, adjustable parameters for reducing grab bucket swing, three-dimensional model, and extended positioning parameters to the operator, so that the operator can intuitively understand the operating status and related parameters of the ship unloader, so as to make accurate judgments and decisions. The operation control interface provides operators with a convenient way to input control instructions, allowing them to remotely and flexibly control the actions of the ship unloader, improving the convenience and efficiency of operation. The safety interlock unit plays a vital role in safety protection. It is connected to the operation control interface and can monitor each analysis result in real time. Only when it is ensured that each analysis result is at a safe level will the restriction on the remote control function of the operation control interface be lifted, effectively avoiding safety accidents that may be caused by abnormal conditions and ensuring the safe operation of the ship unloader.

[0138] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A whole machine safety monitoring system based on remote control technology, characterized in that: include: A frame loss delay detection module, which is connected to the video monitoring equipment of the ship unloader and is used to detect the frame loss rate and delay of the video stream; The grab bucket closed-loop anti-sway module is connected to the grab bucket drive device of the ship unloader and is used to analyze the grab bucket operation information and obtain adjustable parameters to reduce the grab bucket swing; The visual positioning and laser point cloud data fusion module is connected to the visual sensor and laser scanner of the ship unloader to fuse the acquired grab bucket visual information and environmental information and analyze the grab bucket's basic positioning parameters; A scanning modeling module, which is connected to the multi-state sensing device of the ship unloader, is used to scan the ship type and coal pile of a small river ship without a deck, analyze and obtain a three-dimensional model; A grab bucket positioning extension detection module, which is connected to the grab bucket driving device together with the grab bucket closed-loop anti-sway module, and generates extended positioning parameters by real-time analysis of the grab bucket movement changes based on the grab bucket's basic positioning parameters; A remote control module is connected to the frame loss delay detection module, the grab closed-loop anti-sway module, the scanning modeling module and the grab positioning extension detection module, and is used to summarize the analysis results of each module and provide support for the remote control process of the ship unloader based on the summary results.

2. According to claim 1, a whole machine safety monitoring system based on remote control technology is characterized in that: The frame loss delay detection module comprises: The frame loss detection unit detects the frame loss rate by analyzing the continuous frames of the video stream; obtains the frame rate f of the video stream, the time interval T=1 / f between two consecutive frames, and obtains the number of frames received within a period of time t as N, and calculates the frame loss rate D=(f*tN) / (f*t); The time delay detection unit is used to measure the time delay of the video signal transmitted from the ship unloader to the remote control center.

3. The whole machine safety monitoring system based on remote control technology according to claim 2 is characterized in that: The grab bucket closed-loop anti-sway module comprises: A sensor unit is connected to the grab bucket driving device and includes an angle sensor and an acceleration sensor installed on the grab bucket, and is used to obtain a current swing angle θ and acceleration a of the grab bucket; The anti-sway analysis unit is connected to the sensor unit and analyzes the grab bucket operation information based on a pre-established swing model; the swing model is Wherein, θ is the swing radian obtained based on the swing angle conversion; is the angular velocity of the grab bucket swing, that is, the rate of change of the angle with respect to time, which is calculated by taking the time difference of the swing arc θ; is the angular acceleration of the grab bucket swing, that is, the rate of change of the angular velocity with respect to time, which can also be calculated by performing time difference calculation on the angular velocity data; is the damping ratio, which reflects the damping degree of the system and is determined based on the characteristics of the grab structure and experience; ω is the angular frequency, which is determined based on the inherent characteristics of the grab structure; Based on adjusting the above parameters The result is close to 0; The data acquired by the sensor unit is substituted into the swing model to obtain the specific type and value of the adjustable parameter.

4. The whole machine safety monitoring system based on remote control technology according to claim 3 is characterized in that: The visual positioning and laser point cloud data fusion module includes: A visual positioning unit, which is connected to the visual sensor of the ship unloader, is used to obtain and organize image information of the grab bucket and the target object, and determine the visual positioning information of the grab bucket; A laser point cloud scanning unit, which is connected to the laser scanner of the ship unloader and uses the laser scanner to acquire and organize point cloud data of the surrounding environment; A fusion algorithm unit is connected to the visual positioning unit and the laser point cloud scanning unit, and adopts a weighted average method to fuse the visual positioning information (x v ,y v , z v ) and laser point cloud data (x L ,y L , z L ) to generate the basic positioning parameters (x0, y0, z0) of the grab.

5. The whole machine safety monitoring system based on remote control technology according to claim 4 is characterized in that: The scanning modeling module includes: A multi-sensor fusion unit, which is connected to the multi-state sensing device of the ship unloader and is used to obtain different types of sensor data to obtain point cloud data corresponding to the shape and height of the ship and the coal pile; The three-dimensional modeling unit is connected to the multi-sensor fusion unit and is used to convert the point cloud data obtained by scanning into a three-dimensional model through a triangulation algorithm.

6. The whole machine safety monitoring system based on remote control technology according to claim 5 is characterized in that: The grab bucket positioning extension detection module includes: Angle detection unit, which is connected to the angle sensor, is used to obtain the horizontal torsion angle (α, β, γ) of the current grab in the X, Y, and Z directions, as well as the vehicle direction inclination angle θ x 、Trolley direction inclination angle θ y ; The acceleration detection unit is connected to the acceleration sensor and is used to obtain the horizontal acceleration (a) of the current grab bucket in the X, Y, and Z directions. x , a y , a z )、initial velocity (v 0x , v 0y , v 0z ) and angular acceleration (ω x ,ω y ,ω z ); A position calculation unit is connected to the angle detection unit, the acceleration detection unit and the fusion algorithm unit, and calculates the extended positioning parameters (x2, y2, z2) of the grab bucket based on a preset positioning calculation model.

7. The whole machine safety monitoring system based on remote control technology according to claim 6 is characterized in that: The positioning calculation model is: x2=x0+Δx ang +Δx acc +Δx e y2=y0+Δy ang +Δy acc +Δy e z2=z0+Δz ang +Δz acc +Δz e Among them, (x2, y2, z2) are the extended positioning parameters; (x0, y0, z0) are the basic positioning parameters of the grab at the previous moment; (Δx ang , Δy ang , Δz ang ) is the position change caused by the angle, specifically: Δx ang =Lsinθ x cosα Δy ang =Lsinθ y cosβ Δz ang =Lcosγ (Δx acc , Δy acc , Δz acc ) is the position change caused by acceleration, specifically: Δx acc =v 0x t+0.5a x t 2 Δy acc =v 0y t+0.5a y t 2 Δz acc =v 0z t+0.5a z t 2 (Δx e , Δy e , Δz e ) is the position change caused by angular acceleration, specifically: Δx e =Lsin(θ x +Δθ x )cos(α+θ x )-Lsinθ x thing Δy e =Lsin(θ y +Δθ y )cos(β+θ y )-Lsinθ y cosβ Δz e =Lcos(γ+Δθ z )-Lcosγ Where L is the grab length; t is the time interval; (Δθ x , Δθ y , Δθ z ) is the angle change, Δθ x =ω x t, Δθ y =ω y t, Δθ z =ω z t; Substitute the collected corresponding data into the above model, and finally obtain the expansion positioning parameters (x2, y2, z2) of the current grab.

8. According to the whole machine safety monitoring system based on remote control technology according to claim 7, it is characterized in that: The remote control module comprises: A signal transmission unit connected to the frame loss delay detection module, the grab closed-loop anti-sway module, the scanning modeling module and the grab positioning expansion detection module, and used to receive analysis results of each module; A display unit connected to the signal transmission unit, used to display the frame loss rate, time delay, adjustable parameters for reducing grab bucket swing, three-dimensional model and extended positioning parameters to the operator for reference; Operation control interface, which is used for operators to input control instructions and remotely control the actions of the ship unloader; A safety interlock unit is connected to the operation control interface and is used to limit the remote control function of the operation control interface and remove the restriction only when all analysis results are at a safe level.

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