A whole machine safety monitoring system based on remote control technology

Abstract

The application provides a whole machine safety monitoring system based on remote control technology, and relates to the field of ship unloader remote monitoring technology, and comprises the following steps: enhancing the real-time performance of video monitoring by detecting the frame loss rate and time delay of video stream; reducing the swing of the grab bucket and improving the operation accuracy by analyzing the operation information of the grab bucket through the grab bucket closed-loop anti-swing module; providing high-precision grab bucket positioning by fusing visual and laser data; establishing a three-dimensional model for small river ships without decks through the scanning modeling module; generating dynamic positioning information in combination with the basic positioning parameters through the grab bucket positioning expansion detection module; and integrating the above data through the remote control module to support the remote intelligent control of the ship unloader and improve the operation efficiency and safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of remote monitoring of ship unloaders, and particularly relates to a whole machine safety monitoring system based on remote control technology. BACKGROUND

[0002] With the continuous development of port transportation industry, as an important handling equipment, the automation and intelligence of ship unloaders are increasingly concerned. The application of remote control technology enables operators to operate ship unloaders in remote control centers away from the scene, improving work efficiency and safety.

[0003] In the development process of this field, the remote control technology of ship unloaders has been continuously evolving. Early remote control mainly relied on simple signal transmission and basic operation instructions, lacking comprehensive monitoring of the whole machine safety. With the progress of sensor technology, data analysis and communication technology, modern remote control systems of ship unloaders can achieve more accurate operation and more comprehensive safety monitoring.

[0004] However, there are still some problems in the prior art that need to be solved. For example, there are frame loss and time delay problems in video monitoring, which affect the accurate judgment of the scene by operators. The swing control of the grab bucket is not accurate enough, resulting in low operation precision. The positioning information of the grab bucket is not accurate and comprehensive enough to meet the needs of complex operation environments. The scanning of small river boats without decks and coal piles is not accurate enough, affecting the operation efficiency and safety.

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

[0006] The present application provides a whole machine safety monitoring system based on remote control technology, which realizes the effect of improving the remote control precision, safety and operation efficiency of ship unloaders.

[0007] The present application provides a whole machine safety monitoring system based on remote control technology, which comprises:

[0008] A frame loss and time delay detection module connected with the video monitoring device of the ship unloader for detecting the frame loss rate and time delay of the video stream;

[0009] A grab bucket closed-loop anti-swing module connected with the grab bucket driving device of the ship unloader for analyzing the grab bucket operation information to obtain adjustable parameters for reducing the swing of the grab bucket;

[0010] A visual positioning and laser point cloud data fusion module connected with the visual sensor and laser scanner of the ship unloader for fusion processing of the obtained grab bucket visual information and environmental information to analyze the basic positioning parameters of the grab bucket;

[0011] A scanning modeling module connected with the multi-state sensing device of the ship unloader, used for scanning the ship type and coal pile in the case of no deck of small river boats, analyzing and obtaining a three-dimensional model;

[0012] A grab positioning extension detection module connected with the grab closed-loop anti-swing module and the grab driving device, used for analyzing the motion change of the grab based on the basic positioning parameters of the grab to generate extended positioning parameters;

[0013] A remote control module connected with the frame loss time delay detection module, the grab closed-loop anti-swing module, the scanning modeling module and the grab positioning extension detection module, used for summarizing the analysis results of each module and providing support for the remote control process of the ship unloader based on the summarized results.

[0014] According to the application, a whole machine safety monitoring system based on remote control technology is provided, and the frame loss time delay detection module comprises:

[0015] A frame loss detection unit, used for detecting the frame loss rate by analyzing the continuous frames of the video stream; obtaining the frame rate f of the video stream, the time interval T between two continuous frames T=1 / f, and the number of received frames N within a period of time t, and calculating the frame loss rate D=(f*t-N) / (f*t);

[0016] A time delay detection unit, used for measuring the time delay of the video signal from the ship unloader to the remote control center.

[0017] According to the application, a whole machine safety monitoring system based on remote control technology is provided, and the grab closed-loop anti-swing module comprises:

[0018] A sensor unit connected with the grab driving device, comprising an angle sensor and an acceleration sensor installed on the grab, used for obtaining the current swing angle θ and acceleration a of the grab;

[0019] An anti-swing analysis unit connected with the sensor unit, used for analyzing the running information of the grab based on a pre-established swing model; the swing model is

[0020]

[0021] Wherein, θ is the swing radian converted based on the swing angle; is the angular velocity of the swing of the grab, i.e. the change rate of the angle with respect to time, which is calculated by time difference of the swing radian θ; is the angular acceleration of the swing of the grab, i.e. the change rate of the angular velocity with respect to time, which is also calculated by time difference of the angular velocity data; ζ is the damping ratio, used for reflecting the damping degree of the system, which is determined based on the characteristics and experience of the grab structure; ω is the angular frequency, determined based on the inherent characteristics of the grab structure;

[0022] based on adjusting the above parameters to make the result approach 0;

[0023] Substitute the data obtained by the sensor unit into the swing model to obtain the specific type and value of the adjustable parameter.

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

[0025] A visual positioning unit is connected with a visual sensor of the ship unloader, and is used for acquiring and arranging image information of the grab bucket and target objects, and determining grab bucket visual positioning information;

[0026] A laser point cloud scanning unit is connected with a laser scanner of the ship unloader, and is used for acquiring and arranging point cloud data of the surrounding environment by using the laser scanner;

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

[0028] According to the whole machine safety monitoring system based on remote control technology provided by the application, the scanning modeling module comprises:

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

[0030] A three-dimensional modeling unit is connected with the multi-sensor fusion unit, and is used for converting the scanned point cloud data into a three-dimensional model by using a triangulation algorithm.

[0031] According to the whole machine safety monitoring system based on remote control technology provided by the application, the grab bucket positioning extension detection module comprises:

[0032] An angle detection unit is connected with the angle sensor, and is used for acquiring horizontal torsion angles (α, β, γ) of the current grab bucket in X, Y and Z directions, and a large car direction inclination θ x and a trolley direction inclination θ y ;

[0033] An acceleration detection unit connected with the acceleration sensor, for acquiring the horizontal acceleration (a x , a y , a z ) of the current grab bucket in X, Y, Z directions, initial velocity (v 0x , v 0y , v 0z ) and angular acceleration (ω x , ω y , ω z );

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

[0035] According to the application, a whole machine safety monitoring system based on remote control technology is provided, and 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] Wherein, (x2, y2, z2) are the extended positioning parameters; (x0, y0, z0) are the basic positioning parameters of the grab bucket at the last moment; (Δx ang , Δy ang , Δz ang ) are the position changes caused by the angle, and specifically:

[0040] Δx ang =Lsinθ x cosα

[0041] Δy ang =Lsinθ y cosβ

[0042] Δz ang =Lcosγ

[0043] (Δx acc , Δy acc , Δz acc ) are the position changes caused by the acceleration, and 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 = L sin (θ x + Δθ x ) cos (α + θ x ) - L sin θ x cos α

[0049] Δy e = L sin (θ y + Δθ y ) cos (β + θ y ) - L sin θ y cos β

[0050] Δz e = L cos (γ + Δθ z ) - L cos γ

[0051] Wherein, L is the length of the grab; 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] The corresponding data collected is substituted into the above model to finally obtain the expansion positioning parameters (x2, y2, z2) of the current grab.

[0053] According to the whole machine safety monitoring system based on remote control technology provided by the application, the remote control module comprises:

[0054] a signal transmission unit connected with the frame loss delay detection module, the grab bucket closed-loop anti-shake module, the scanning modeling module and the grab bucket positioning extension detection module, for receiving the analysis results of each module;

[0055] a display unit connected with the signal transmission unit, for displaying 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] an operation control interface for the operator to input control instructions to remotely control the action of the ship unloader;

[0057] a safety interlocking unit connected with the operation control interface, for limiting the remote control function of the operation control interface, and only when all analysis results are at a safe level, the limitation is removed.

[0058] Compared with the prior art, the application has the following advantages:

[0059] 1. Improved real-time and reliability of video monitoring: through the frame loss delay detection module, the frame loss rate and time delay of the video stream can be accurately detected, ensuring that the operator can obtain accurate real-time information;

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

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

[0062] 4. Better adapt to small river ships without deck: the scanning modeling module can accurately scan and model the ship type and coal pile under the condition of small river ships without deck, providing more accurate environmental information for operation;

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

[0064] In summary, the application has significant advantages in improving the safety, operation efficiency and intelligent level of the ship unloader, and can better meet the needs of port loading and unloading operations.

[0065] Additional features and advantages of the application will be set forth in the description that follows, and in part will be apparent from the description, or can be learned by practice of the application. The objectives and other advantages of the application will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

[0066] The technical solutions of the present application are described in further detail below with the aid of the accompanying drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0067] The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

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

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

[0070] Embodiment 1:

[0071] This embodiment provides a whole machine safety monitoring system based on remote control technology, please refer to Figure 1 , which comprises:

[0072] The frame loss delay detection module is connected with the video monitoring device of the ship unloader, and is used for detecting the frame loss rate and time delay of the video stream;

[0073] The grab bucket closed-loop anti-shaking module is connected with the grab bucket driving device of the ship unloader, and is used for analyzing the grab bucket operation information to obtain adjustable parameters for reducing the swing of the grab bucket;

[0074] The visual positioning and laser point cloud data fusion module is connected with the visual sensor and laser scanner of the ship unloader, and is used for fusing the acquired grab bucket visual information and environmental information, and analyzing the basic positioning parameters of the grab bucket;

[0075] The scanning modeling module is connected with the multi-state sensing device of the ship unloader, and is used for scanning the ship type and coal pile under the condition of no deck of a small river ship, and analyzing and obtaining a three-dimensional model;

[0076] The grab bucket positioning extension detection module is connected with the grab bucket driving device together with the grab bucket closed-loop anti-shaking module, and generates extension positioning parameters based on the real-time analysis of the movement change of the grab bucket based on the basic positioning parameters of the grab bucket;

[0077] A remote control module connected with the frame loss delay detection module, the grab bucket closed-loop anti-shake module, the scanning modeling module and the grab bucket positioning extension detection module, used for summarizing the analysis results of each module and providing support for the remote control process of the ship unloader based on the summarized results.

[0078] The principle of the above embodiment is that the frame loss delay detection module detects the frame loss rate and the delay by analyzing the video stream of the video monitoring device, ensuring the real-time and reliability of the video monitoring. The grab bucket closed-loop anti-shake module obtains the grab bucket operation information by connecting with the grab bucket driving device, and analyzes the adjustable parameters for reducing the swing of the grab bucket, thereby realizing the closed-loop anti-shake control of the grab bucket. The visual positioning and laser point cloud data fusion module combines the information obtained by the visual sensor and the laser scanner, fuses and processes the visual information and the environmental information of the grab bucket, and analyzes the basic positioning parameters of the grab bucket, thereby improving the accuracy of the grab bucket positioning. The scanning modeling module scans and analyzes the ship type and the coal pile under the condition of no deck of small river ships by using the multi-state sensing device, obtains a three-dimensional model, and provides accurate environmental information for the operation. The grab bucket positioning extension detection module analyzes the motion change of the grab bucket in real time based on the basic positioning parameters of the grab bucket, generates extended positioning parameters, and further improves the accuracy of the grab bucket 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 the remote intelligent control.

[0079] The above embodiment has the beneficial effects that the frame loss rate and the delay of the video stream can be accurately detected by the frame loss delay detection module, so that the operator can obtain accurate on-site information in time; the grab bucket closed-loop anti-shake module can provide data support for reducing the swing of the grab bucket, improve the operation accuracy, and assist in reducing the safety hazards caused by excessive swing of the grab bucket; the visual positioning and laser point cloud data fusion module and the grab bucket positioning extension detection module can provide more comprehensive and accurate grab bucket positioning parameters, so that the operator can more accurately control the position and attitude of the grab bucket; the scanning modeling module can accurately scan and three-dimensionally model the ship type and the coal pile under the condition of no deck of small river ships, and provide more accurate environmental information for the operation; the remote control module can summarize the analysis results of each module, provide comprehensive support for the remote control of the ship unloader, realize the remote full-automatic intelligent control, and improve the operation efficiency and safety.

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

[0081] A 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 T between two continuous frames is 1 / f, the number of received frames N in a period of time t is obtained, and the frame loss rate D is calculated as (f*t-N) / (f*t);

[0082] The time delay detection unit is configured to measure the time delay of the video signal 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 detailed analysis of the continuous frames of the video stream. This process can monitor the quality of the video stream in real time, timely detect frame loss, 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, which helps to ensure the real-time and accuracy of remote control and avoid operation errors caused by excessive time delay.

[0085] The two units work together to enable the frame loss and time delay detection module to comprehensively and accurately detect the frame loss rate and time delay of the video stream, and provide reliable video monitoring data for the whole machine safety monitoring system.

[0086] In order to further optimize the above embodiment, the grab bucket closed-loop anti-swing module comprises:

[0087] The sensor unit is connected with the grab bucket driving device and comprises an angle sensor and an acceleration sensor installed on the grab bucket, and is configured to obtain the current swing angle θ and acceleration a of the grab bucket.

[0088] The anti-swing analysis unit is connected with 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, i.e., the change rate of the angle with respect to time, which is obtained by time difference calculation on the swing radian θ; is the angular acceleration of the grab bucket swing, i.e., the change rate of the angular velocity with respect to time, which can also be obtained by 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 and experience of the grab bucket structure; ω is the angular frequency, which is determined based on the inherent characteristics of the grab bucket structure;

[0091] Based on the adjustment of the above parameters, the result of tends to 0;

[0092] Substitute the data obtained by the sensor unit 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 the acceleration sensor in the sensor unit can obtain the current swing angle and acceleration information of the grab bucket in real time and accurately. These information is crucial for the anti-swing analysis unit, as they are the basis for analyzing the grab bucket operation information.

[0094] The anti-swing 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 grab bucket swing, including swing amplitude, angular velocity, angular acceleration, damping ratio, and angular frequency. By taking the time difference of the swing amplitude, the angular velocity of the grab bucket swing can be obtained; similarly, by taking the time difference of the angular velocity data, the angular acceleration can be obtained. The damping ratio and the 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 result approaches 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-swing of the grab bucket and improving the operation 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 comprises:

[0097] a visual positioning unit connected with the visual sensor of the ship unloader, for obtaining and arranging the image information of the grab bucket and the target object, and determining the visual positioning information of the grab bucket;

[0098] a laser point cloud scanning unit connected with the laser scanner of the ship unloader, for obtaining and arranging the point cloud data of the surrounding environment by using the laser scanner;

[0099] a fusion algorithm unit connected with the visual positioning unit and the laser point cloud scanning unit, for fusing the visual positioning information (x v , y v , z v ) and the laser point cloud data (x L , y L , z L ) by using the weighted average method, to generate the basic positioning parameters (x0, y0, z0) of the grab bucket.

[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 arrange and analyze these information, so as to determine the visual positioning information of the grab bucket. This process makes full use of the image acquisition capability of the visual sensor, and provides important basic data for the subsequent fusion of positioning parameters.

[0101] The laser point cloud scanning unit is connected with the laser scanner of the ship unloader, can efficiently obtain the point cloud data of the surrounding environment, and sorts and analyzes these 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 with the visual positioning unit and the laser point cloud scanning unit, and can receive positioning information from the 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, improve the accuracy and reliability of positioning. The basic positioning parameters of the grab bucket generated by fusion provide an important basis for accurate 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 with 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.

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

[0106] It should be noted that the multi-sensor fusion unit is connected with the multi-state sensing device of the ship unloader, and can fully integrate the data advantages of different types of sensors. 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 the coal pile from different angles and dimensions. By fusing these data, more comprehensive and accurate point cloud data can be obtained, providing rich raw information for subsequent three-dimensional modeling.

[0107] The three-dimensional modeling unit is closely connected with the multi-sensor fusion unit, and is responsible for processing and converting the scanned point cloud data. The triangulation algorithm is used to construct an accurate three-dimensional model from the point cloud data. This three-dimensional model can intuitively show the shape and height of the small river ship without deck and the shape and height of the coal pile, providing clearer perception of the operating environment for the operator, which helps to make more reasonable operation plans and decisions, further improving the operation efficiency and safety of the ship unloader.

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

[0109] The angle detection unit is connected with the angle sensor, and is used to obtain the horizontal torsion angle (α, β, γ) of the current grab bucket in X, Y, Z directions, and the inclination angle θ x , θ y of the trolley direction

[0110] An acceleration detection unit connected with the acceleration sensor, for acquiring 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 ) of the grab bucket in X, Y, Z directions;

[0111] A position calculation unit connected with the angle detection unit, acceleration detection unit and fusion algorithm unit, for calculating 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 horizontal twist angles of the grab bucket in different directions and the tilt angles of the trolley and car obtained by the angle detection unit can comprehensively reflect the attitude changes of the grab bucket, providing accurate angle basis for subsequent position calculation. The acceleration, initial velocity and angular acceleration data of the grab bucket in each direction obtained by the acceleration detection unit are helpful to accurately predict the motion trend and position change of the grab bucket. The position calculation unit can more accurately calculate the extended positioning parameters of the grab bucket by comprehensively considering the data provided by the angle detection unit and the acceleration detection unit, thereby improving the positioning accuracy of the grab bucket 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 bucket 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] Wherein (x2, y2, z2) is the extended positioning parameter; (x0, y0, z0) is the basic positioning parameter of the grab bucket at the last moment; (Δx ang , Δy ang , Δz ang) is the position change caused by angle, specifically:

[0118] Δx ang = L sin θ x cos α

[0119] Δy ang = L sin θ y cos β

[0120] Δz ang = L cos γ

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

[0122] Δx acc = v 0x t + 0.5 a x t 2

[0123] Δy acc = v 0y t + 0.5 a y t 2

[0124] Δz acc = v 0z t + 0.5 a z t 2

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

[0126] Δx e = L sin (θ x + Δθ x ) cos (α + θ x ) - L sin θ x cos α

[0127] Δy e = L sin (θ y + Δθ y ) cos (β + θ y ) - L sin θ y cos β

[0128] Δz e = L cos (γ + Δθ z ) - L cos γ

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

[0130] The corresponding data collected is substituted into the above model to finally obtain the extended positioning parameters (x2, y2, z2) of the current grab bucket.

[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 bucket. Among them, the position change amount caused by the angle considers the horizontal twist angle of the grab bucket in different directions and the relationship between the inclination angles of the large car and the small car and the length of the grab bucket, which can accurately reflect the position deviation of the grab bucket due to the change of the angle. The position change amount caused by the acceleration is calculated based on the initial speed, acceleration and time interval of the grab bucket, which reflects the position change of the grab bucket due to the acceleration in the movement process. The position change caused by the angular acceleration is further accurate in the calculation of the position of the grab bucket by considering the relationship between the angle change amount and the length of the grab bucket. Substituting the corresponding data collected into the model can comprehensively and accurately calculate the extended positioning parameters of the current grab bucket, improve the accuracy and reliability of the grab bucket positioning, and make it better adapt to various situations in actual operation.

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

[0133] A signal transmission unit connected with the frame loss delay detection module, the grab bucket closed-loop anti-sway module, the scanning modeling module and the grab bucket positioning extension detection module, for receiving the analysis results of each module;

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

[0135] An operation control interface for the operator to input control instructions to remotely control the action of the ship unloader;

[0136] A safety interlocking unit connected with the operation control interface, for limiting the remote control function of the operation control interface, and only releasing the limitation when each analysis result is at a safe level.

[0137] It should be noted that the signal transmission unit, as an important part of the remote control module, can stably and efficiently receive the analysis results from each module, ensuring timely transmission and accuracy of data. The display unit is closely connected with the signal transmission unit, clearly displaying key information such as frame loss rate, time delay, adjustable parameters for reducing the swing of the grab bucket, three-dimensional model, and extended positioning parameters to the operator, enabling the operator to intuitively understand the running state and related parameters of the ship unloader, and thus making accurate judgments and decisions. The operation control interface provides a convenient way for the operator to input control instructions, enabling them to remotely and flexibly control the actions of the ship unloader, improving the convenience and efficiency of operation. The safety interlocking unit plays a crucial role in safety protection, connected with the operation control interface, it can monitor the analysis results in real time, and only when it is ensured that all analysis results are at a safe level, the restriction on the remote control function of the operation control interface is 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 examples are only used to illustrate the technical solutions of the present application, and are not limited thereto; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing examples, or make equivalent substitutions for part of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solution to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A complete machine safety monitoring system based on remote control technology, characterized in that, The application relates to a remote control system for a ship unloader, which comprises the following modules: a frame loss time delay detection module connected with a video monitoring device of the ship unloader, used for detecting the frame loss rate and time delay of a video stream; a grab bucket closed-loop anti-swing module connected with a grab bucket driving device of the ship unloader, used for analyzing grab bucket operation information to obtain adjustable parameters for reducing swing of the grab bucket; the grab bucket closed-loop anti-swing module comprises a sensor unit, wherein the sensor unit comprises an angle sensor and an acceleration sensor installed on the grab bucket; a visual positioning and laser point cloud data fusion module connected with a visual sensor and a laser scanner of the ship unloader, used for fusing and processing acquired visual information and environmental information of the grab bucket to analyze basic positioning parameters of the grab bucket; a scanning modeling module connected with multi-state sensing devices of the ship unloader, used for scanning a ship type and a coal pile under a condition that a small river ship has no deck to analyze and obtain a three-dimensional model; a grab bucket positioning extension detection module connected with the grab bucket closed-loop anti-swing module to the grab bucket driving device, used for analyzing real-time motion changes of the grab bucket based on the basic positioning parameters of the grab bucket to generate extension positioning parameters; a remote control module connected with the frame loss time delay detection module, the grab bucket closed-loop anti-swing module, the scanning modeling module and the grab bucket positioning extension detection module, used for summarizing analysis results of the modules to provide support for a remote control process of the ship unloader based on the summarized results; the visual positioning and laser point cloud data fusion module comprises a visual positioning unit connected with the visual sensor of the ship unloader, used for acquiring and arranging image information of the grab bucket and target objects to determine visual positioning information of the grab bucket; a laser point cloud scanning unit connected with the laser scanner of the ship unloader, used for acquiring and arranging point cloud data of a surrounding environment by using the laser scanner; a fusion algorithm unit connected with the visual positioning unit and the laser point cloud scanning unit, which fuses the visual positioning information by using a weighted average method and laser point cloud data to generate the basic positioning parameters of the grab bucket ; the scanning modeling module comprises a multi-sensor fusion unit connected with the multi-state sensing devices of the ship unloader, used for acquiring different types of sensor data to obtain point cloud data corresponding to a ship type and a shape and height of a coal pile; a three-dimensional modeling unit connected with the multi-sensor fusion unit, used for converting the scanned point cloud data into a three-dimensional model by using a triangulation algorithm; The grab positioning extension detection module comprises an angle detection unit connected with the angle sensor, used for acquiring horizontal torsion angles of the current grab in X, Y and Z directions , and a large-wheel direction inclination angle , a small-wheel direction inclination angle ; An acceleration detection unit connected with the acceleration sensor, for obtaining the horizontal acceleration of the current grab bucket in X, Y, Z directions , initial speed and angular acceleration ​ A position calculation unit, connected with the angle detection unit, the acceleration detection unit and the fusion algorithm unit, calculates the extended positioning parameters of the grab bucket based on a preset positioning calculation model .

2. The overall security monitoring system based on remote control technology according to claim 1, characterized in that, The frame loss delay detection module comprises a frame loss detection unit which detects a frame loss rate by analyzing consecutive frames of the video stream; acquires a frame rate f of the video stream and a time interval between two consecutive frames , and simultaneously acquires a number N of received frames in a period of time t and calculates the frame loss rate . a time delay detection unit used for measuring time delay of a video signal from the ship unloader to a remote control center.

3. The overall security monitoring system based on remote control technology according to claim 2, characterized in that, The grab closed-loop anti-swing module comprises the sensor unit connected with the grab driving device, which is used for acquiring the current swing angle of the grab and acceleration a; an anti-swing analysis unit connected with the sensor unit, used for analyzing grab bucket operation information based on a pre-established swing model; the swing model is as follows: wherein, is based on the swing angle converted to a swing radian; The angular velocity of the swing of the grab, i.e. the rate of change of the radian with respect to time, is obtained by time-differentiating the swing radian ; The angular acceleration of the swing of the grab, i.e. the rate of change of the angular velocity with respect to time, can likewise be obtained by time-differencing the angular velocity data; Damping ratio, which is used to reflect the damping degree of the system, is determined based on the characteristics of the grab structure and experience; is the angular frequency, determined based on the inherent properties of the grab structure; based on adjusting the above parameters to make The result tends to 0; data acquired by the sensor unit is substituted into the swing model to obtain specific types and values of adjustable parameters.

4. The overall security monitoring system based on remote control technology according to claim 1, characterized in that, the positioning calculation model is as follows: wherein, to expand the positioning parameters; to the base positioning parameters of the grab at the previous time; to the angle-induced position change amount, specifically: The acceleration-induced position change amount is specifically: for the position change caused by the angular acceleration, in particular: wherein L is the length of the grab; t is the time interval; is the angle change, , , ; The corresponding data collected is substituted into the above model, and the final extension positioning parameters of the current grab bucket are obtained .

5. A system for monitoring the security of an entire machine based on remote control technology according to claim 4, characterized in that, the remote control module comprises a signal transmission unit connected with the frame loss time delay detection module, the grab bucket closed-loop anti-swing module, the scanning modeling module and the grab bucket positioning extension detection module, used for receiving analysis results of the modules; a display unit connected with the signal transmission unit, used for displaying the frame loss rate, time delay, adjustable parameters for reducing swing of the grab bucket, three-dimensional model and extension positioning parameters to an operator for reference; an operation control interface used for inputting control instructions by the operator to remotely control actions of the ship unloader. A safety interlock unit is connected with the operation control interface for limiting the remote control function of the operation control interface, and the limitation is released only when each analysis result is at a safety level.

Images