Radar ranging anti-collision system of bridge type grab ship unloader

Abstract

The invention belongs to the technical field of ship unloader collision avoidance systems, and provides a bridge type grab ship unloader radar ranging collision avoidance system which comprises a controller, a radar range finder, a material conveying module, a signal transmission module, a collision information detection and analysis module, a data information processing and uploading module, a warning module and a warning analysis processing module. By arranging the warning unit, when the distance between the grab bucket and the cabin is smaller than L and collision is about to happen, a warning module is triggered, then an acousto-optic warning lamp flickers in a delayed mode and is about to flicker for warning, and the acousto-optic warning lamp reminds workers to conduct maintenance when working; and then the warning analysis and processing module is arranged to analyze and process information of the warning module, so that warning generated by an acousto-optic warning lamp due to abnormity of the bridge type grab ship unloader radar ranging collision avoidance system is prevented, and the use effect of the bridge type grab ship unloader radar ranging collision avoidance system is further improved.

Description

Technical Field

[0001] The invention belongs to the technical field of anti-collision systems for ship unloaders, in particular to a radar ranging anti-collision system for a bridge-type grab bucket ship unloader. Background Art

[0002] The bridge grab ship unloader is a material conveying device that grabs loose coal on the ship and unloads it into a conical hopper, then sends it to the belt conveyor on the dock through the hopper outlet, and then sends it to the yard. The bridge grab ship unloader is suitable for unloading coal at medium and small ports or ships at power plant docks. At present, the bridge grab ship unloader is often equipped with a radar ranging anti-collision system when in use to prevent damage caused by the collision between the grab of the ship unloader and the cabin;

[0003] In a Chinese patent with publication number CN202022591508.7, a radar ranging and collision avoidance system for a bridge grab ship unloader is proposed, including a laser ranging radar, a data transmission link, a ship unloader PLC, a ship unloader trolley variable frequency drive system and an early warning device. The laser ranging radar is installed on the left and right door legs on the land side of the ship unloader through a fixed bracket. The laser ranging radar is communicated with the ship unloader PLC through a data transmission link. The ship unloader PLC is respectively communicated with the early warning device and the ship unloader trolley variable frequency drive system. The approach signal around the left and right door legs on the land side of the ship unloader is obtained by monitoring the laser ranging radar, and the approach signal is fed back to the ship unloader PLC through the data transmission link. The ship unloader PLC controls the ship unloader trolley variable frequency drive system to slow down or stop, and the ship unloader PLC controls the early warning device to send an early warning signal. The present invention can effectively prevent collisions with ship unloaders, vehicles, or pedestrians, and reduce safety hazards.

[0004] However, the above patent still has the following problems in actual operation. When the radar ranging and anti-collision system of the bridge-type grab ship unloader has abnormalities after long-term use, it is easy to cause the radar ranging and anti-collision system of the ship unloader to malfunction and cause the warning light to flash abnormally, affecting the normal operation of the ship unloader and reducing the use effect of the radar ranging and anti-collision system of the ship unloader. For this reason, the present staff proposed a radar ranging and anti-collision system for the bridge-type grab ship unloader. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a radar ranging and collision avoidance system for a bridge-type grab bucket ship unloader, so as to solve the problems in the prior art that when the radar ranging and collision avoidance system of the bridge-type grab bucket ship unloader is abnormal after long-term use, it is easy to cause the radar ranging and collision avoidance system of the ship unloader to malfunction, causing the warning light to flash abnormally, affecting the normal operation of the ship unloader, and reducing the use effect of the radar ranging and collision avoidance system of the ship unloader.

[0006] A radar ranging and anti-collision system for a bridge-type grab ship unloader comprises a controller, a radar rangefinder, a material conveying module, a signal transmission module, a collision information detection and analysis module, a data information processing and uploading module, a warning module, and a warning analysis and processing module.

[0007] Preferably, the controller refers to a ship unloader switch, which is the overall controller for the operation of the ship unloader.

[0008] Preferably, there are two radar rangefinders, and the two radar rangefinders are symmetrically fixedly installed on the outermost sides of the two grabs. The radar rangefinder is set to a minimum distance threshold L, and the value of L is 0.1m, which provides a moving distance for the grab to move due to inertia when moving.

[0009] Preferably, the material conveying module is electrically connected to a controller, and the material conveying module is controlled by the controller.

[0010] Preferably, the signal transmission module is used to transmit a collision signal when the distance between the grab bucket and the inner wall of the cabin is less than L.

[0011] Preferably, the collision information analysis module is electrically connected to the signal transmission module, and the collision information analysis module is used to detect and analyze the collision signal to prevent the warning light from sounding an alarm due to an abnormality in the ship unloader's radar ranging and collision avoidance system, thereby enhancing the use effect of the ship unloader's radar ranging and collision avoidance system.

[0012] Preferably, the data information processing upload module is electrically connected to the collision information detection and analysis module, and the data information processing upload module is used to upload the data information of the collision information detection and analysis module to the cloud.

[0013] Preferably, the data information processing upload module is electrically connected to the warning module, and the warning module includes an audible and visual warning light, which is used to generate a warning when the grab bucket collides with the cabin during the operation of the ship unloader.

[0014] Preferably, the warning module is electrically connected to the warning analysis and processing module, the warning analysis and processing module includes a warning analysis unit and a warning processing unit, the warning analysis unit and the warning processing unit are electrically connected, the warning analysis unit is used to analyze the data of the warning module, and the warning processing unit is used to process the data information of the warning analysis unit.

[0015] Preferably, the system uses an FFT algorithm (Fast Fourier Transform) to perform signal processing to filter the signal band. The FFT algorithm (Fast Fourier Transform) is a fast algorithm of DFT (Discrete Fourier Transform), and its formula steps are as follows:

[0016] Assume the number of points in sequence x(n) is N=2L , L is an integer, N = 2 L , first divide it into two groups according to the parity of n, where r = 0, 1…, N / 2-1, x(2r) = x1(r), x(2r+1) = x2(r), then DFT can be transformed into (Formula 1):

[0017]

[0018] It can be seen from the above formula that an N-point DFT can be divided into two N / 2-point DFTs, which can be combined into an N-point DFT according to the above formula. Here, x1(r) and x2(r) are subsequences of N / 2 points, and X1(k) and X2(k) are the N / 2-point DFTs of x1(r) and x2(r), respectively, that is, r, k = 0, 1, ..., N / 2-1, while X(k) has N points. is the rotation factor, p is the exponent of the rotation factor. The above formula only calculates the result of the first half of X(k), so the value of the second half also needs to be calculated;

[0019]

[0020]

[0021]

[0022] Substituting ①②③ into (Formula 1), X(k) can be expressed as two parts: the first half, X(k), when k=0,1,…,N / 2-1,

[0023]

[0024] The second half, X(k), when k = N / 2,…,N-1,

[0025]

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] 1. The present invention sets a warning unit. When the distance between the grab bucket and the cabin is less than L, a collision is about to occur. At this time, the warning module is triggered, and then the sound and light warning light flashes with a delay, and a warning is about to be given. Then, a warning analysis and processing module is set to analyze and process the information of the warning module, thereby preventing the warning generated by the sound and light warning light due to the abnormality of the radar ranging and collision avoidance system of the bridge-type grab bucket ship unloader, and improving the use effect of the radar ranging and collision avoidance system of the bridge-type grab bucket ship unloader.

[0028] 2. The present invention sets a trigger sensor so that the trigger sensor and the radar rangefinder work simultaneously, thereby enhancing the working effect of the bridge-type grab ship unloader. At the same time, the signal of the radar rangefinder is filtered to improve the measurement accuracy in the distance measurement process, thereby avoiding the convergence of echoes to cause equipment distance judgment errors and causing contact between the grab and the structure during the stop process; and when the radar rangefinder fails, the trigger sensor can work, thereby reducing the damage caused by the collision of the grab of the bridge-type ship unloader and enhancing the working effect of the bridge-type grab ship unloader. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a framework diagram of the radar ranging and anti-collision system of the bridge-type grab ship unloader of the present invention;

[0030] Figure 2 A connection diagram of the controller, material conveying module and radar rangefinder of the present invention;

[0031] Figure 3 It is a warning signal trigger connection relationship diagram of the present invention;

[0032] Figure 4 It is the FFT operation flow chart of the present invention. DETAILED DESCRIPTION

[0033] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0034] As attached Figure 1 To Attachment Figure 4 As shown:

[0035] Embodiment 1: The present invention provides a radar ranging and anti-collision system for a bridge-type grab ship unloader, comprising:

[0036] Controller, the controller refers to the ship unloader switch, which is the main controller for the operation of the ship unloader;

[0037] Radar rangefinders, the number of which is two, and the two radar rangefinders are symmetrically fixedly installed on the outermost sides of the two grabs, and the radar rangefinders are set to a minimum distance threshold L, the value of which is 0.1 m, which provides a moving distance for the grabs to move due to inertia when moving, thereby reducing the probability of damage caused by collision of the grabs;

[0038] By symmetrically installing two radar rangefinders on the outermost side of the grab, the operation is simple and convenient, and less materials are required. Compared with the rangefinder installed inside the cabin, material resources are saved, thereby improving the use effect of the radar rangefinder.

[0039] A material conveying module, wherein the material conveying module is electrically connected to the controller and is controlled by the controller;

[0040] A signal transmission module, which is used for transmitting a collision signal when the distance between the grab bucket and the inner wall of the cabin is less than L;

[0041] A collision information detection and analysis module, the collision information analysis module is electrically connected to the signal transmission module, and the collision information analysis module is used to detect and analyze the collision signal, to prevent the warning light from generating an alarm due to an abnormality of the ship unloader radar ranging and anti-collision system, and to enhance the use effect of the ship unloader radar ranging and anti-collision system;

[0042] A data information processing upload module, the data information processing upload module is electrically connected to the collision information detection and analysis module, and the data information processing upload module is used to upload the data information of the collision information detection and analysis module to the cloud;

[0043] The warning module, the data information processing upload module is electrically connected to the warning module, the warning module includes an audible and visual warning light, the audible and visual warning light is a delayed warning light, and the audible and visual warning light is used to generate a warning when the grab bucket collides with the cabin when the ship unloader is running.

[0044] An alarm analysis and processing module, wherein the alarm module is electrically connected to the alarm analysis and processing module, the alarm analysis and processing module comprises an alarm analysis unit and an alarm processing unit, the alarm analysis unit and the alarm processing unit are electrically connected, the alarm analysis unit is used to analyze the data of the alarm module, and the alarm processing unit is used to process the data information of the alarm analysis unit.

[0045] In this system, the signal band is filtered by performing signal processing through the FFT algorithm (Fast Fourier Transform). The FFT algorithm (Fast Fourier Transform) is a fast algorithm of DFT (Discrete Fourier Transform), and its formula steps are as follows:

[0046] Assume the number of points in sequence x(n) is N=2 L , L is an integer, N = 2 L , first divide it into two groups according to the parity of n, where r = 0, 1…, N / 2-1, x(2r) = x1(r), x(2r+1) = x2(r), then DFT can be transformed into (Formula 1):

[0047]

[0048] It can be seen from the above formula that an N-point DFT can be divided into two N / 2-point DFTs, which can be combined into an N-point DFT according to the above formula. Here, x1(r) and x2(r) are subsequences of N / 2 points, and X1(k) and X2(k) are the N / 2-point DFTs of x1(r) and x2(r), respectively, that is, r, k = 0, 1, ..., N / 2-1, while X(k) has N points. is the rotation factor, p is the exponent of the rotation factor. The above formula only calculates the result of the first half of X(k), so the value of the second half also needs to be calculated;

[0049]

[0050]

[0051]

[0052] Substituting ①②③ into (Formula 1), X(k) can be expressed as two parts: the first half, X(k), when k=0,1,…,N / 2-1,

[0053]

[0054] The second half, X(k), when k = N / 2,…,N-1,

[0055]

[0056] As can be seen from the above, when the bridge grab ship unloader is needed to work, the staff will operate the material conveying module of the bridge grab ship unloader through the controller, and convey the materials in the cabin through the grab of the bridge grab ship unloader. When the distance between the radar rangefinder on the grab of the bridge grab ship unloader and the cabin is less than L, the grab will collide with the cabin, and then the collision signal will be transmitted through the information transmission module, and then the collision information will be analyzed through the collision information detection and analysis module, and then the analyzed collision information will be transmitted to the warning analysis and processing module through the data information processing upload module, and the warning The analysis and processing module analyzes and processes the collision information. When it affects the operation of the grab bucket of the bridge grab ship unloader, the warning analysis and processing module will transmit the signal to the warning module, causing the sound and light warning lights to flash as a warning to remind the staff to carry out maintenance. When the data information of the warning module has no effect on the operation of the grab bucket of the bridge grab ship unloader, the sound and light warning lights of the warning module will not flash as a warning, so that the system can operate normally, effectively preventing the abnormality of the radar ranging and collision avoidance system of the bridge grab ship unloader from causing the warning of the sound and light warning lights, thereby improving the use effect of the radar ranging and collision avoidance system of the bridge grab ship unloader.

[0057] Embodiment 2: This embodiment is basically the same as the previous embodiment, except that trigger sensors are arranged around the inner wall of the cabin.

[0058] Since the radar rangefinder is prone to multiple collisions with the materials in the ship's hold during operation, causing damage to the radar rangefinder, and the bridge grab ship unloader still needs to work normally, the grab bucket of the bridge grab ship unloader may be damaged by multiple collisions, affecting the working effect of the bridge grab ship unloader;

[0059] In this embodiment, a trigger sensor is provided so that the trigger sensor and the radar rangefinder work simultaneously, thereby enhancing the working effect of the bridge-type grab ship unloader; and when the radar rangefinder fails, the trigger sensor can work, thereby reducing the damage caused by the collision of the grab bucket of the bridge-type ship unloader and enhancing the working effect of the bridge-type grab ship unloader.

[0060] The embodiments of the present invention are provided for the purpose of illustration and description. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A radar ranging and anti-collision system for a bridge-type grab ship unloader, characterized in that: It includes a controller, a radar rangefinder, a material conveying module, a signal transmission module, a collision information detection and analysis module, a data information processing and uploading module, a warning module, and a warning analysis and processing module. The material conveying module is electrically connected to the controller, and the material conveying module is controlled by the controller. The signal transmission module is used to transmit a collision signal when the distance between the grab bucket and the inner wall of the cabin is less than L. The collision information analysis module is electrically connected to the signal transmission module, and is used to detect and analyze the collision signal to prevent the warning light from generating an alarm due to an abnormality of the ship unloader radar ranging and anti-collision system, thereby enhancing the use effect of the ship unloader radar ranging and anti-collision system. The data information processing upload module is electrically connected to the collision information detection and analysis module, and the data information processing upload module is used to upload the data information of the collision information detection and analysis module to the cloud. The data information processing upload module is electrically connected to the warning module, and the warning module includes an audible and visual warning light, which is used to generate a warning when the grab bucket collides with the cabin when the ship unloader is running. The warning module is electrically connected to the warning analysis and processing module, and the warning analysis and processing module includes a warning analysis unit and a warning processing unit. The warning analysis unit and the warning processing unit are electrically connected. The warning analysis unit is used to analyze the data of the warning module, and the warning processing unit is used to process the data information of the warning analysis unit.

2. The radar ranging and anti-collision system for bridge grab ship unloader according to claim 1, characterized in that: The controller refers to the ship unloader switch and is the overall controller for the operation of the ship unloader.

3. The radar ranging and anti-collision system for bridge grab ship unloader according to claim 1, characterized in that: The number of the radar rangefinders is two, and the two radar rangefinders are symmetrically fixedly installed at the outermost sides of the two grab buckets, and the radar rangefinders are set to a minimum distance threshold value L.

4. The radar ranging and anti-collision system for bridge grab ship unloader according to claim 3, characterized in that: The threshold value of L is 0.1m.

5. The radar ranging and anti-collision system for bridge grab ship unloader according to claim 1, characterized in that: The anti-collision system also includes trigger sensors, which are arranged around the inner side walls of the cabin.

6. The radar ranging and anti-collision system for bridge grab ship unloader according to claim 1, characterized in that: The anti-collision system performs signal processing to filter the signal band through the FFT algorithm, i.e., the fast Fourier transform. The FFT algorithm is a fast algorithm of discrete Fourier transform (DFT), and its formula steps are as follows: Assume the number of points in sequence x(n) is N=2 L , L is an integer, N = 2 L , first divide it into two groups according to the parity of n, where r = 0, 1…, N / 2-1, x(2r) = x1(r), x(2r+1) = x2(r), then DFT can be transformed into (Formula 1): It can be seen from the above formula that an N-point DFT can be divided into two N / 2-point DFTs, which can be combined into an N-point DFT according to the above formula. Here, x1(r) and x2(r) are subsequences of N / 2 points, and X1(k) and X2(k) are the N / 2-point DFTs of x1(r) and x2(r), respectively, that is, r, k = 0, 1, ..., N / 2-1, while X(k) has N points. is the rotation factor, p is the exponent of the rotation factor. The above formula only calculates the result of the first half of X(k), so the value of the second half also needs to be calculated; Substituting ①②③ into (Formula 1), X(k) can be expressed as two parts: the first half, X(k), when k=0,1,…,N / 2-1, The second half, X(k), when k = N / 2,…,N-1,

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