Unmanned crane electromagnetic disk anti-collision curb edge detection method

Abstract

The application discloses an unmanned crane electromagnetic disc anti-collision vehicle edge detection method and relates to the overhead traveling crane technical field.The distance between the first laser sensor, the second laser sensor, the third laser sensor and the fourth laser sensor above the electromagnetic disc and the upper surface of the electromagnetic disc is determined to be installed through the set electromagnetic disc safety distance; the first detection radius and the second detection radius are determined through the thickness of the electromagnetic disc and the speed of the electromagnetic disc descending, and the unmanned crane electromagnetic disc is subjected to anti-collision edge detection based on the edge detection logic.In the application, when the crane causes slight shaking in the moving process, the unmanned crane electromagnetic disc can be subjected to anti-collision edge detection, the problem that the electromagnetic disc is prone to scratching the truck compartment when entering the truck compartment is effectively avoided, economic losses caused by the damage of the truck compartment are reduced, and the safety hidden danger in the operation process is reduced.

Description

Technical Field

[0001] This invention relates to the field of overhead crane technology, and in particular to an edge detection method for an unmanned crane's electromagnet anti-collision vehicle. Background Technology

[0002] Electromagnetic chuck cranes are widely used in the steel industry for transferring scrap steel, where they need to perform scrap steel suction operations inside truck beds. When an unmanned electromagnetic chuck crane moves into a truck bed to suction scrap steel, the size of the truck bed and the size of the electromagnetic chuck are relatively close. Therefore, even slight shaking of the electromagnetic chuck can easily cause a collision with the truck bed. Because the electromagnetic chuck is flexibly connected to the crane drum via a steel wire rope, slight shaking of the chuck is unavoidable during crane movement. Improper operation when the electromagnetic chuck enters the truck bed can easily cause it to scrape against the truck bed. The electromagnetic chuck itself is heavy, and scraping against the truck bed can also damage the truck bed, and in severe cases, even crush the truck bed, causing serious economic losses and safety hazards. Summary of the Invention

[0003] This invention discloses an edge detection method for an unmanned crane electromagnetic disk anti-collision vehicle to overcome the above-mentioned technical problems.

[0004] To achieve the above objectives, the technical solution of the present invention is as follows:

[0005] An edge detection method for an unmanned crane electromagnetic collision avoidance vehicle includes the following steps:

[0006] S1: Based on the set disk safety distance The distances between the first, second, third, and fourth laser sensors, which are fixedly installed above the disk disk, and the upper surface of the disk disk are determined in order to install the first, second, third, and fourth laser sensors.

[0007] S2: Determine the first detection radius and the second detection radius of the first laser sensor, the second laser sensor, the third laser sensor and the fourth laser sensor based on the thickness of the magnetic disk and the speed at which the magnetic disk descends;

[0008] Specifically, when the distance between the first laser sensor / second laser sensor / third laser sensor / fourth laser sensor and any point on the carriage is less than the first detection radius, the first state monitoring point of the first laser sensor / second laser sensor / third laser sensor / fourth laser sensor is triggered;

[0009] When the distance between the first laser sensor / second laser sensor / third laser sensor / fourth laser sensor and any point on the carriage is less than the second detection radius, the second state monitoring point of the first laser sensor / second laser sensor / third laser sensor / fourth laser sensor is triggered;

[0010] S3: Based on the first and second detection radii of the first, second, third, and fourth laser sensors, and using edge detection logic, anti-collision edge detection is performed on the electric disk of the unmanned crane to determine whether there is a risk of collision between the electric disk and the carriage.

[0011] Furthermore, the first laser sensor and the second laser sensor are disposed on both sides of the upper surface of the electromagnet along the direction of crane travel; the third laser sensor and the fourth laser sensor are disposed on both sides of the upper surface of the electromagnet perpendicular to the direction of crane travel.

[0012] Furthermore, the edge detection logic is represented as follows:

[0013] When the second state monitoring point of the first laser sensor and the second state monitoring point of the second laser sensor are triggered simultaneously, or when the first state monitoring point of the first laser sensor and the first state monitoring point of the second laser sensor are triggered simultaneously, there is no risk of the electric disk colliding with the carriage along the direction of travel of the crane.

[0014] When the second state monitoring point of the first laser sensor and the first state monitoring point of the second laser sensor are triggered simultaneously, or when the first state monitoring point of the first laser sensor and the second state monitoring point of the second laser sensor are triggered simultaneously, there is a risk that the electric disk may scrape against the carriage along the direction of travel of the crane.

[0015] When the second state monitoring point of the third laser sensor and the second state monitoring point of the fourth laser sensor are triggered simultaneously, or when the first state monitoring point of the third laser sensor and the first state monitoring point of the fourth laser sensor are triggered simultaneously, there is no risk of the electric disk colliding with the carriage in the direction perpendicular to the crane's forward movement.

[0016] When the second state monitoring point of the third laser sensor and the first state monitoring point of the fourth laser sensor are triggered simultaneously, or when the first state monitoring point of the third laser sensor and the second state monitoring point of the fourth laser sensor are triggered simultaneously, there is a risk that the electric disk may scrape against the carriage in the direction perpendicular to the crane's forward movement.

[0017] Furthermore, the formulas used to determine the distances between the first laser sensor, the second laser sensor, the third laser sensor, the fourth laser sensor, and the upper surface of the disk are as follows:

[0018]

[0019] In the formula: This indicates the distance between the edge of the disk on the laser sensor mounting side and the mounting position of the laser sensor on the disk; This indicates the distance between the laser sensor and the upper surface of the disk. Indicates the safe distance for the power disk; This indicates the thickness of the magnetic disk.

[0020] Furthermore, the formula used to obtain the first detection radius is as follows:

[0021]

[0022] In the formula: This indicates the first detection radius of the laser sensor;

[0023] The formula used to obtain the second detection radius is as follows:

[0024]

[0025] In the formula: This indicates the second detection radius of the laser sensor; Indicates the speed at which the disk descends; Indicates time.

[0026] Beneficial Effects: The present invention provides an edge detection method for anti-collision of an unmanned crane's electromagnet disk. By setting a safe distance for the electromagnet, the distances between the first, second, third, and fourth laser sensors above the electromagnet and its upper surface are determined for installation. A first detection radius and a second detection radius are determined based on the thickness of the electromagnet and its descent speed. Anti-collision edge detection is then performed on the unmanned crane's electromagnet disk based on edge detection logic. In this invention, even when the crane experiences slight swaying during movement, anti-collision edge detection of the unmanned crane's electromagnet disk effectively avoids the problem of the electromagnet easily scraping against the truck bed when it enters, reducing economic losses caused by damage to the truck bed and lowering safety hazards during operation. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a flowchart of the electrode disk anti-collision vehicle edge detection method of the present invention;

[0029] Figure 2 This is a top view schematic diagram of the detection system for the edge detection method of the unmanned crane electromagnet collision avoidance vehicle based on the embodiments of the present invention;

[0030] Figure 3 This is a schematic diagram of the overall detection system of the unmanned crane electromagnetic disk anti-collision vehicle edge detection method based on the embodiments of the present invention;

[0031] Figure 4 This is a front view schematic diagram of the detection system based on the edge detection method for the unmanned crane electromagnetic disk anti-collision vehicle in the embodiments of the present invention;

[0032] Figure 5 This is a schematic diagram of the edge detection logic flow in an embodiment of the present invention.

[0033] The components include: 1. First laser sensor; 2. Second laser sensor; 3. Third laser sensor; 4. Fourth laser sensor; 5. Electromagnetic disk; 6. Carriage; 7. Unmanned crane body; 8. Support frame. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] This embodiment introduces an edge detection method for an unmanned crane's electromagnetic disk anti-collision vehicle, such as... Figure 1 As shown, it includes the following steps:

[0036] S1: Based on the set disk safety distance The distance between the first laser sensor 1, the second laser sensor 2, the third laser sensor 3, and the fourth laser sensor 4, which are fixedly set above the disk disk 5, and the upper surface of the disk disk is determined in order to install the first laser sensor 1, the second laser sensor 2, the third laser sensor 3, and the fourth laser sensor 4.

[0037] Preferably, the first laser sensor 1 and the second laser sensor 2 are disposed on both sides of the upper surface of the electromagnet along the direction of crane travel; the third laser sensor 3 and the fourth laser sensor 4 are disposed on both sides of the upper surface of the electromagnet perpendicular to the direction of crane travel.

[0038] Preferably, the formula used to determine the distances between the first laser sensor, the second laser sensor, the third laser sensor, the fourth laser sensor and the upper surface of the disk is as follows:

[0039]

[0040] In the formula: This indicates the distance between the edge of the disk on the laser sensor mounting side and the mounting position of the laser sensor on the disk; This indicates the distance between the laser sensor and the upper surface of the disk. This indicates the set safe distance for the power disk; This indicates the thickness of the magnetic disk.

[0041] Specifically, the detection system based on the edge detection method of the unmanned crane's electromagnet collision avoidance vehicle in this embodiment is as follows: Figure 2 , Figure 3 , Figure 4 As shown, the system includes: a first laser sensor 1, a second laser sensor 2, a third laser sensor 3, a fourth laser sensor 4, and an electromagnet 5. The first laser sensor 1, second laser sensor 2, third laser sensor 3, and fourth laser sensor 4 are fixed to the upper surface of the electromagnet via a bracket 8. The bracket 8 is a conventional technology in the art, and its specific structure will not be described in detail here. The electromagnet 5 is raised and lowered via a drum mounted on the unmanned crane body 7.

[0042] S2: Determine the first detection radius and the second detection radius of the first laser sensor 1, the second laser sensor 2, the third laser sensor 3 and the fourth laser sensor 4 based on the thickness of the electric disk and the speed at which the electric disk descends.

[0043] When the distance between the first laser sensor 1 / second laser sensor 2 / third laser sensor 3 / fourth laser sensor 4 and any point on the carriage 6 is less than the first detection radius, the first state monitoring point of the first laser sensor 1 / second laser sensor 2 / third laser sensor 3 / fourth laser sensor 4 is triggered.

[0044] When the distance between the first laser sensor 1 / second laser sensor 2 / third laser sensor 3 / fourth laser sensor 4 and any point on the carriage is less than the second detection radius, the second state monitoring point of the first laser sensor 1 / second laser sensor 2 / third laser sensor 3 / fourth laser sensor 4 is triggered.

[0045] Specifically, the laser sensor in this embodiment emits a fan-shaped wave with a scanning angle of 270°, a ranging range of 20m, a resolution of 40mm, and an angular resolution of 0.5°. This embodiment utilizes the laser sensor's own detection waveform characteristics and installation position, combined with the shape features of the magnetic disk, to set the detection range of the laser sensor's detection waveform so that its detection range is just close to the outer edge of the top of the magnetic disk and 10cm away from the outer edge of the bottom of the magnetic disk. Thus, a total of four laser sensors are installed on the suction cup, and the detection range of each laser sensor is set according to this principle. Ultimately, the detection range of the four laser sensors completely covers the outer edge of the magnetic disk.

[0046] Specifically, in this embodiment, each laser sensor is equipped with two status monitoring points. The first status monitoring point corresponds to the first detection radius of the laser sensor, and the second status monitoring point corresponds to the second detection radius of the laser sensor. The setting of the status monitoring points for the laser sensor is for the purpose of utilizing the laser sensor's own functions and will not be described in detail here.

[0047] Preferably, the formula used to determine the first detection radius is as follows:

[0048]

[0049] In the formula: This indicates the first detection radius of the laser sensor;

[0050] The formula used to determine the second detection radius is as follows:

[0051]

[0052] In the formula: This indicates the second detection radius of the laser sensor; Indicates the speed at which the disk descends; Indicates time;

[0053] Specifically, in this embodiment, based on the speed at which the electric disk descends, a first detection radius corresponding to the first state monitoring point and a second detection radius corresponding to the second state monitoring point are determined for each laser sensor. Based on edge detection logic, anti-collision edge detection is performed on the electric disk of the unmanned crane.

[0054] S3: Based on the first and second detection radii of the first, second, third, and fourth laser sensors, and using edge detection logic, perform anti-collision edge detection on the electric disk of the unmanned crane to determine whether there is a risk of collision between the electric disk and the carriage.

[0055] Preferably, such as Figure 5 As shown, the edge detection logic is represented as follows:

[0056] When the second state monitoring point of the first laser sensor and the second state monitoring point of the second laser sensor are triggered simultaneously, or when the first state monitoring point of the first laser sensor and the first state monitoring point of the second laser sensor are triggered simultaneously, there is no risk of the PLC colliding with the carriage along the crane's forward direction; at this time, the intermediate relay receives the high-level signal from the first laser sensor and the second laser sensor, transmits the signal to the PLC, and triggers the system's normal operation response.

[0057] When the second state monitoring point of the first laser sensor and the first state monitoring point of the second laser sensor are triggered simultaneously, or when the first state monitoring point of the first laser sensor and the second state monitoring point of the second laser sensor are triggered simultaneously, there is a risk that the PLC disk may scrape against the carriage along the direction of travel of the crane; at this time, the PLC triggers the system to stop.

[0058] Specifically, when the second state monitoring point of the first laser sensor and the first state monitoring point of the second laser sensor are triggered simultaneously, the disk tilts towards the side where the second laser sensor is located; when the first state monitoring point of the first laser sensor and the second state monitoring point of the second laser sensor are triggered simultaneously, the disk tilts towards the side where the first laser sensor is located.

[0059] When the second state monitoring point of the third laser sensor and the second state monitoring point of the fourth laser sensor are triggered simultaneously, or when the first state monitoring point of the third laser sensor and the first state monitoring point of the fourth laser sensor are triggered simultaneously, there is a risk that the electric disk will scrape against the carriage in the direction perpendicular to the crane's forward movement.

[0060] When the second state monitoring point of the third laser sensor and the first state monitoring point of the fourth laser sensor are triggered simultaneously, or when the first state monitoring point of the third laser sensor and the second state monitoring point of the fourth laser sensor are triggered simultaneously, there is a risk that the electric disk may scrape against the carriage in the direction perpendicular to the crane's forward movement.

[0061] Specifically, when the second state monitoring point of the third laser sensor and the first state monitoring point of the fourth laser sensor are triggered simultaneously, the disk tilts towards the side where the fourth laser sensor is located; when the first state monitoring point of the third laser sensor and the second state monitoring point of the fourth laser sensor are triggered simultaneously, the disk tilts towards the side where the third laser sensor is located.

[0062] Specifically, the edge detection system for the electromagnet collision avoidance vehicle of the unmanned crane in this embodiment, combined with laser sensors, the crane PLC system, and intermediate relays, effectively detects collisions / scratches involving the electromagnet and immediately stops the unmanned crane system, ensuring the safety of personnel and equipment. The edge detection system includes a first laser sensor 1, a second laser sensor 2, a third laser sensor 3, a fourth laser sensor 4, and an electromagnet 5.

[0063] In one specific embodiment of the present invention, the thickness of the magnetic disk is D=0.5m, and the laser sensor is vertically mounted above the magnetic disk via a mounting bracket. The laser sensor is positioned on the upper surface of the magnetic disk, a distance from the edge of the magnetic disk. =0.3m, the distance between the laser sensor and the upper surface of the disk. =1m, in this embodiment, the set safe distance for the power disk is... =0.1m, based on which the distance between the laser sensor and the upper surface of the disk can be determined.

[0064] The edge detection system for the unmanned electromagnetic crane of this embodiment only requires four laser sensors installed above the electromagnetic disk. These four sensors monitor the area around the lower edge of the disk in real time. When there is a risk of the disk scraping against the crane carriage, the coordinated action of the four laser sensors immediately detects abnormal entry of the disk into the carriage, triggers an alarm, and transmits the alarm signal to the PLC. The system immediately stops operating, ensuring equipment safety. This edge detection system for the unmanned electromagnetic crane of this embodiment can be applied to grab cranes in metallurgy, mining, and ports, and is particularly suitable for the material handling operations of unmanned electromagnetic cranes. Installation is simple, requiring only a simple mounting bracket to fix the laser sensors. The width and detection range of the detection laser emitted by the detection device can be flexibly set. During debugging, the laser width and range can be finely adjusted according to the actual installation location to improve detection accuracy. It features convenient debugging and accurate response.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for detecting a collision with a curb edge for an unmanned crane electromagnetic disk, characterized by, The method comprises the following steps: S1: determining the distance between the first laser sensor (1), the second laser sensor (2), the third laser sensor (3) and the fourth laser sensor (4) fixedly arranged above the electromagnetic disk (5) and the upper surface of the electromagnetic disk, so as to install the first laser sensor (1), the second laser sensor (2), the third laser sensor (3) and the fourth laser sensor (4); , determining the distance between the first laser sensor (1), the second laser sensor (2), the third laser sensor (3) and the fourth laser sensor (4) fixedly arranged above the electromagnetic disk (5) and the upper surface of the electromagnetic disk, so as to install the first laser sensor (1), the second laser sensor (2), the third laser sensor (3) and the fourth laser sensor (4); S2: determining the first detection radius and the second detection radius of the first laser sensor (1), the second laser sensor (2), the third laser sensor (3) and the fourth laser sensor (4) according to the thickness of the electromagnetic disk and the speed of the electromagnetic disk descending; wherein, when the distance between the first laser sensor (1) / the second laser sensor (2) / the third laser sensor (3) / the fourth laser sensor (4) and any point on the carriage (6) is less than the first detection radius, the first state monitoring point of the first laser sensor (1) / the second laser sensor (2) / the third laser sensor (3) / the fourth laser sensor (4) is triggered; when the distance between the first laser sensor (1) / the second laser sensor (2) / the third laser sensor (3) / the fourth laser sensor (4) and any point on the carriage is less than the second detection radius, the second state monitoring point of the first laser sensor (1) / the second laser sensor (2) / the third laser sensor (3) / the fourth laser sensor (4) is triggered; S3: based on the edge detection logic, the anti-collision edge detection of the unmanned crane electromagnetic disk is performed to determine whether the electromagnetic disk and the carriage have the risk of scratching according to the first detection radius and the second detection radius of the first laser sensor, the second laser sensor, the third laser sensor and the fourth laser sensor. The edge detection logic is as follows: when the second state monitoring point of the first laser sensor and the second state monitoring point of the second laser sensor are triggered at the same time, or the first state monitoring point of the first laser sensor and the first state monitoring point of the second laser sensor are triggered at the same time, the electromagnetic disk has no risk of scratching the carriage along the advancing direction of the crane; when the second state monitoring point of the first laser sensor and the first state monitoring point of the second laser sensor are triggered at the same time, or the first state monitoring point of the first laser sensor and the second state monitoring point of the second laser sensor are triggered at the same time, the electromagnetic disk has the risk of scratching the carriage along the advancing direction of the crane; when the second state monitoring point of the third laser sensor and the second state monitoring point of the fourth laser sensor are triggered at the same time, or the first state monitoring point of the third laser sensor and the first state monitoring point of the fourth laser sensor are triggered at the same time, the electromagnetic disk has no risk of scratching the carriage perpendicular to the advancing direction of the crane; when the second state monitoring point of the third laser sensor and the first state monitoring point of the fourth laser sensor are triggered at the same time, or the first state monitoring point of the third laser sensor and the second state monitoring point of the fourth laser sensor are triggered at the same time, the electromagnetic disk has the risk of scratching the carriage perpendicular to the advancing direction of the crane.

2. The electromagnetic disk anti-collision vehicle edge detection method of the unmanned crane according to claim 1, characterized in that, The first laser sensor (1) and the second laser sensor (2) are arranged on the two sides of the upper surface of the electromagnetic disk along the advancing direction of the crane; the third laser sensor (3) and the fourth laser sensor (4) are arranged on the two sides of the upper surface of the electromagnetic disk perpendicular to the advancing direction of the crane.

3. The electromagnetic disk anti-collision vehicle edge detection method of the unmanned crane according to claim 1, characterized in that, The formula for determining the distance between the first laser sensor (1), the second laser sensor (2), the third laser sensor (3), the fourth laser sensor (4) and the upper surface of the electromagnetic disc is as follows: In the formulae: represents the distance from the edge of the electromagnetic disk on the laser sensor mounting side to the mounting position of the laser sensor on the electromagnetic disk; represents the distance between the laser sensor and the upper surface of the electromagnetic disk; represents the safety distance of the electromagnetic disk; represents the thickness of the electromagnetic disk.

4. The electromagnetic disk anti-collision vehicle edge detection method of the unmanned crane according to claim 1, characterized in that, The formula for obtaining the first detection radius is as follows: In the formulae: denotes the first detection radius of the laser sensor; The formula for obtaining the second detection radius is as follows: In the formulae: denotes a second detection radius of the laser sensor; denotes a speed of the lowering of the electromagnetic disk; denotes time.

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