Vehicle detecting and positioning system of sampling machine and detecting and positioning method

Abstract

The invention discloses a sampling machine vehicle detection and positioning system and a detection and positioning method. Originally designed sampling depth causes that a coal seam at the bottom of the automobile cannot be sampled, a sampling blind area exists, and excessive pressure or damage is caused to the bottom of the automobile when the lifting counting of a sampling rod is wrong. The system comprises a fuel transport vehicle parking position detection system which is used for preventing a vehicle from being obliquely parked in a sampling area and preventing the vehicle from being not parked in place; a vehicle engine operation detection system; the vehicle position detection system in the sampling area is used for detecting the positions of large and small vehicles in the sampling process of the sampling machine; the sampling depth detection system in the drilling process of the sampling head is used for determining the maximum value of the sampling depth and measuring the descending distance of the sampling head; the invention discloses a system for detecting grounding rebound conditions of a sampling head. The method is applied to vehicle detection and positioning of the sampling machine.

Description

Technical Field

[0001] The invention relates to a vehicle detection and positioning system of a sampling machine and a detection and positioning method. Background Art

[0002] The original design of the coal sampling equipment for fuel trucks entering the factory was defective. First, the original design sampling depth resulted in the coal layer under the truck not being sampled, resulting in a sampling blind spot, leaving room for suppliers to adulterate the bottom. Second, when the sampling rod lifting and counting errors occurred, excessive pressure or damage was caused to the bottom of the truck, which could easily damage the sampling device, sampling head, coal truck compartment and tie rods. This defect seriously affects the safety, accuracy and reliability of sampling. Summary of the invention

[0003] The purpose of the present invention is to solve the above-mentioned problems, thereby providing a vehicle detection and positioning system and a detection and positioning method for a sampling machine.

[0004] The above purpose is achieved through the following technical solutions: A vehicle detection and positioning system for a sampling machine, the system includes a fuel transport vehicle parking position detection system, which is used to prevent the vehicle from parking diagonally in the sampling area and prevent the vehicle from parking inappropriately; The vehicle engine operation detection system is used to set up a vehicle flameout detection device, and immediately start the sampling machine to perform sampling tasks after the vehicle is turned off; The vehicle position detection system in the sampling area is used to detect the position of large and small vehicles during the sampling process; The sampling depth detection system during the sampling head drilling process is used to determine the maximum sampling depth and measure the sampling head descent distance; The invention relates to a detection system for the conditions for the sampling head to achieve bottoming out and rebounding, and is used for the detection basis and means for the sampling head to achieve bottoming out and rebounding.

[0005] The vehicle detection and positioning system of the sampling machine, the vehicle position detection system in the sampling area includes 4 laser ranging sensors, namely a large vehicle ranging sensor, a small vehicle ranging sensor, a vehicle side ranging sensor and a sampling depth ranging sensor.

[0006] A detection and positioning method for a vehicle detection and positioning system of a sampling machine, the method comprising detection of vehicle engine operation, detection of the position of the vehicle in a sampling area, detection of the positions of large and small vehicles during the sampling process of the sampling machine, detection of the sampling depth during the drilling process of the sampling head, and detection of the bottoming rebound condition of the sampling head.

[0007] The detection and positioning method of the vehicle detection and positioning system of the sampling machine, the specific process of the vehicle engine operation detection is: when the fuel transportation vehicle arrives at the specified position in the sampling area, the vehicle must be turned off before the sampling task can be carried out safely, so the vehicle engine operation must be detected, and the supplier must set up a vehicle shutdown detection device to start the sampler immediately after the vehicle is turned off to perform the sampling task.

[0008] The detection and positioning method of the vehicle detection and positioning system of the sampling machine, the specific process of the vehicle position detection in the sampling area is: the initial position of the driving mechanism of the sampling truck is at the unloading stop position, when the vehicle is detected to be stopped, the system determines that the sampling starts, and a laser scanner is installed in front and behind the sampling truck. After the truck moves to the forward limit, it completes a comprehensive scan of the road surface area of ​​the sampler vehicle below it, forms a 3D model and analyzes the specific position of the sampling vehicle, identifies whether the position of the front part of the vehicle is within the mechanical limit of the sampling head, and only if the conditions are met can the sampling head downward movement be executed; Before the sampling task is started, the location information of the vehicle sampling area and the size of the vehicle body are obtained from the three-dimensional model of the vehicle, and compared with the vehicle body size obtained from the plant-side fuel management information system. After the verification is consistent, the sampling task will proceed to the next step, otherwise the error information will be reported to the on-duty personnel. Beneficial Effects

[0009] 1. The present invention enables the sampling head to sample coal samples from any part of the carriage, achieving full-depth and full-section random sampling without dead angles or blind spots, ensuring the safety, accuracy and reliability of sampling, and making the sampled coal samples representative.

[0010] 2. The present invention improves coal quality; more accurate sampling can ensure the stability of coal quality and avoid fines or contract disputes caused by quality problems.

[0011] 3. The initial position of the driving mechanism of the sampling truck of the present invention is at the unloading stop position. When the vehicle is detected to have stopped, the system determines that sampling has started. A laser scanner is installed in front and behind the sampling truck. After the truck moves to the forward limit, it completes a comprehensive scan of the road surface area of ​​the sampler vehicle below it, forms a 3D model and analyzes the specific position of the sampling vehicle, and identifies whether the position of the front part of the vehicle is within the mechanical limit of the sampling head. If the conditions are met, the sampling head can perform the downward movement.

[0012] 4. The present invention installs a distance detection device from the barrier pole to the front of the vehicle. When the distance does not reach the specified value, the LED display screen and the voice prompt device send out prompt information to guide the driver to drive the vehicle to the specified position. After the vehicle arrives at the specified position, the red light in the red and green indicator lights up and the green light goes out, prompting the vehicle to stop, so that the front of the vehicle is outside the sampling area, eliminating the dangerous factors caused by the sampler to the vehicle driver. DETAILED DESCRIPTION

[0013] A vehicle detection and positioning system for a sampling machine, the system includes a fuel transport vehicle parking position detection system, which is used to prevent the vehicle from parking diagonally in the sampling area and prevent the vehicle from parking inappropriately; ① Prevent vehicles from parking diagonally in the sampling area The sampling area of ​​the sampler is 6 meters wide, while the width of the vehicle is only 2.5 meters. If the vehicle enters the sampling area after a turn, and there is no restraint during the driving process, the parking direction of the vehicle will be biased towards the diagonal of the sampling area after the vehicle stops, posing a threat to the safe operation of the sampler equipment. The supplier uses cement crash barriers in the sampling area to create a vehicle channel similar to that of a highway toll station, forcing the vehicle to not park diagonally to ensure that it will not collide with the sampler equipment.

[0014] ②Prevent vehicles from parking in the wrong place After the vehicle stops, when the distance from the front of the vehicle to the exit gate does not meet the specified requirements, the front of the vehicle has not completely left the sampling area, and if the driver does not get off the vehicle, there is a factor that the sampler may endanger the driver's personal safety.

[0015] The supplier shall install a distance detection device from the system barrier pole to the front of the vehicle. When this distance does not reach the specified value, the LED display screen and voice prompt device will issue a prompt message to guide the driver to drive the vehicle to the specified position. When the vehicle arrives at the specified position, the red light in the red and green indicator lights up and the green light goes out, prompting the vehicle to stop and keep the front of the vehicle outside the sampling area, eliminating the risk factors caused by the sampler to the vehicle driver.

[0016] The vehicle engine operation detection system is used to set up a vehicle flameout detection device, and immediately start the sampling machine to perform sampling tasks after the vehicle is turned off; When a fuel transport vehicle arrives at the designated location in the sampling area, the vehicle must be turned off before the sampling task can be carried out safely. Therefore, the vehicle engine operation must be tested. The supplier must set up a vehicle stall detection device to start the sampler immediately after the vehicle is turned off to carry out the sampling task.

[0017] The vehicle position detection system in the sampling area is used to detect the position of large and small vehicles during the sampling process; The initial position of the sampling trolley's driving mechanism is at the unloading stop position. When the vehicle is detected to have stopped, the system determines that sampling has begun. A laser scanner is installed in front and behind the sampling trolley. After the trolley moves to the forward limit, it completes a comprehensive scan of the road surface area of ​​the sampler vehicle below it, forms a 3D model and analyzes the specific position of the sampling vehicle, and identifies whether the position of the front part of the vehicle is within the mechanical limit of the sampling head. Only if the conditions are met can the sampling head downward movement be executed.

[0018] Before the sampling task is started, the location information of the vehicle sampling area and the size of the vehicle body are obtained from the three-dimensional vehicle model, and compared with the vehicle body size obtained from the fuel management information system on the plant side. After the verification is consistent, the sampling task will proceed to the next step, otherwise the error information will be reported to the on-duty personnel. The scanner performance parameters are as follows: Scanning distance (10% reflectivity / maximum distance): 120 / 250m Distance resolution (mm): 3.9 Angle range (degrees): 360 Angular resolution (degrees): 0.062~1.5 Static error (mm): 30 Scan frequency (HZ): 5~10 Response time (MS); 20~100 IP rating: IP65 Laser Class: Class 1 (eye-safe) Laser wavelength: infrared (905NM) Communication interface: RS422 / Ethernet Working voltage: DC24V.

[0019] The sampling system is equipped with 4 laser ranging sensors, namely, the large vehicle ranging sensor, the small vehicle ranging sensor, the vehicle side ranging sensor and the sampling depth ranging sensor. ① The distance measuring sensor used by the supplier can work normally in an outdoor environment of -30~70 degrees Celsius and can work normally under the illumination of 100000Lux without changing the accuracy.

[0020] ② The measurement movement and response speed of the laser ranging sensor must reach 1ms, quickly determine the position of the moving object and output it to the PLC.

[0021] The sampling depth detection system during the sampling head drilling process is used to determine the maximum sampling depth and measure the sampling head descent distance; ① Determination of the maximum sampling depth The sampling head stays at the origin position almost unchanged each time, and the change in the vertical distance from the sampling head to the ground position can be ignored, that is, Z max It is regarded as a fixed value and shall not be less than 4.5 meters according to national standards.

[0022] ② Measurement of the sampling head's descending distance Z 采深 A sampling depth laser ranging sensor is installed on the top of the sampling head frame to measure the distance Z from the top of the sampling head rotating motor to the top of the sampling head frame. 测量值 When the sampling head is at the origin, record the measured value Z of the depth ranging sensor 原点 =Z 测量值 , Z during the sampling descent process 测量值 It will continue to increase, and the sampling head descends by mathematical calculation. 采深 = Z 测量值 -Z 原点。

[0023] ③ Expression of sampling depth at sampling point Since the height of the bottom of the vehicle compartment from the ground varies greatly, this height value cannot be used as the calculation value of the sampling head bottoming out condition. For the convenience of expression, the minimum height of the sampling head from the ground during the sampling process is usually expressed as the sampling depth of the sampling head, that is, Z 地高 , we can get Z by calculating 地高 The value of Z 地高 = Z max -Z 采深 .

[0024] Since the bottom of the carriage of different vehicles will not exceed 1.75 meters, when the Z of the sampling point 地高 When the bottoming rebound condition is triggered when the height is ≤1.75m, it is considered that the full-section sampling requirement is met. 地高 When the bottoming rebound condition is triggered when the height is >1.75 meters, the sampling at this point is considered to have failed. (The above data are for reference only, and the specific function implementation is subject to the actual situation on site).

[0025] The invention relates to a detection system for the conditions for the sampling head to achieve bottoming out and rebounding, and is used for the detection basis and means for the sampling head to achieve bottoming out and rebounding.

Claims

1. A vehicle detection and positioning system for a sampling machine, characterized by: The system includes a fuel transport vehicle parking position detection system for preventing the vehicle from parking diagonally in the sampling area and preventing the vehicle from parking in an inappropriate position; The vehicle engine operation detection system is used to set up a vehicle flameout detection device, and immediately start the sampling machine to perform sampling tasks after the vehicle is turned off; The vehicle position detection system in the sampling area is used to detect the position of large and small vehicles during the sampling process; The sampling depth detection system during the sampling head drilling process is used to determine the maximum sampling depth and measure the sampling head descent distance; The invention relates to a detection system for the conditions for the sampling head to achieve bottoming out and rebounding, and is used for the detection basis and means for the sampling head to achieve bottoming out and rebounding.

2. The vehicle detection and positioning system of a sampling machine according to claim 1 is characterized in that: The vehicle position detection system in the sampling area includes four laser distance measuring sensors, namely a large vehicle distance measuring sensor, a small vehicle distance measuring sensor, a vehicle side distance measuring sensor and a sampling depth distance measuring sensor.

3. A detection and positioning method of a vehicle detection and positioning system of a sampling machine according to any one of claims 1-2, characterized in that: The method includes vehicle engine operation detection, vehicle position detection in the sampling area, detection of the positions of large and small vehicles during the sampling process, detection of the sampling depth during the drilling process of the sampling head, and detection of the bottoming rebound condition of the sampling head.

4. The detection and positioning method of a vehicle detection and positioning system of a sampling machine according to claim 3 is characterized by: The specific process of the vehicle engine operation detection is as follows: when the fuel transport vehicle arrives at the specified location in the sampling area, the vehicle must be turned off before the sampling task can be carried out safely, so the vehicle engine operation must be detected, and the supplier must set up a vehicle shutdown detection device to start the sampler immediately after the vehicle is turned off to perform the sampling task.

5. The detection and positioning method of a vehicle detection and positioning system of a sampling machine according to claim 3 is characterized by: The specific process of the vehicle position detection in the sampling area is as follows: the initial position of the driving mechanism of the sampling truck is at the unloading stop position. When the vehicle is detected to be stopped, the system determines that sampling has started. A laser scanner is installed in front and behind the sampling truck. After the truck moves to the forward limit, it completes a comprehensive scan of the road surface area of ​​the sampler vehicle below it, forms a 3D model and analyzes the specific position of the sampling vehicle, identifies whether the position of the front part of the vehicle is within the mechanical limit of the sampling head, and only if the conditions are met can the sampling head downward movement be executed; Before the sampling task is started, the location information of the vehicle sampling area and the size of the vehicle body are obtained from the three-dimensional model of the vehicle, and compared with the vehicle body size obtained from the plant-side fuel management information system. After the verification is consistent, the sampling task will proceed to the next step, otherwise the error information will be reported to the on-duty personnel.