Crown block anti-collision method based on radio technology

Abstract

The invention relates to the technical field of crown block control, and discloses a crown block anti-collision method based on a radio technology, which comprises the following steps of: calibrating a unique identity identification code for ground hoisting equipment and constructing a logic safety communication domain; when it is monitored that a short circuit switch on the ground hoisting equipment is closed, an alarm data packet is broadcasted; the metallurgical crown block receives and analyzes the alarm data packet, executes confirmation operation, and returns an alarm confirmation signal; after the ground hoisting equipment receives the information, establishing and indicating a cooperative sensing state; and when the short-circuit switch is detected to be switched off, a safety state reset signal is generated, and the metallurgical crown block clears the corresponding alarm state. According to the method, the closed-loop cooperative working process composed of the alarm data packet, the alarm confirmation signal and the safety state reset signal is constructed, so that the metallurgical crown block can accurately synchronize the cooperative sensing state of the ground hoisting equipment, a direct judgment basis is provided for an operator to avoid collision during operation, and the anti-collision reliability is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of overhead traveling crane control, in particular to an overhead traveling crane anti-collision method based on radio technology. BACKGROUND

[0002] In heavy industrial environments such as metallurgical production workshops, there are usually multiple overhead traveling cranes operating on shared tracks, while providing hoisting services for multiple ground hoisting equipment such as ladle cars, hot metal cars, and slab transfer cars, etc. below. The operating path of the overhead traveling crane frequently intersects with the moving path of the ground hoisting equipment. In order to ensure the continuity and safety of production, close information exchange and operation coordination between the overhead traveling crane operator and the ground equipment personnel are required, especially when the ground equipment needs to temporarily enter the overhead traveling crane operation area or safety area for material loading and unloading or equipment maintenance, etc.

[0003] Currently, the collaborative operation between the overhead traveling crane and the ground hoisting equipment is mainly through wireless intercom voice communication, or unstructured communication methods such as whistles and hand signals used by on-site personnel. Among them, the wireless intercom is prone to mishear or miss the instructions in the high-noise and multi-channel interference environment of the industrial site, and the sender cannot confirm whether the receiver is the intended target. Whistles or hand signals are heavily dependent on the line-of-sight accessibility between operators, and in workshops full of dust, steam, or large equipment obstructions, the visibility and recognizability of the signals cannot be guaranteed. These communication methods generally lack a standardized process and feedback mechanism.

[0004] The unreliability of the above interaction methods results in the inability to ensure real-time synchronization of the collaborative state information between the overhead traveling crane and the ground hoisting equipment. The overhead traveling crane operator lacks a clear and reliable basis to confirm whether a certain ground equipment has entered or has completely withdrawn from the dangerous operation area below, and this inconsistency in state cognition constitutes a collision safety hazard. Therefore, how to establish a structured interaction method to ensure that the overhead traveling crane can accurately synchronize the collaborative operation state of the ground hoisting equipment and provide a reliable basis for anti-collision is a technical problem that needs to be solved by those skilled in the art. SUMMARY

[0005] In view of the deficiencies of the prior art, the present application provides an overhead traveling crane anti-collision method based on radio technology, which solves the problem of low collaborative efficiency and high safety risk caused by relying on manual or unstructured communication methods during the collaborative operation of ground hoisting equipment and overhead traveling cranes in existing metallurgical and other industrial environments.

[0006] To achieve the above purpose, the present application is implemented by the following technical scheme: an overhead traveling crane anti-collision method based on radio technology, comprising the following steps:

[0007] S1, calibrate a unique identity code for ground hoisting equipment that needs to be cooperated, and build a logical safety communication domain composed of the ground hoisting equipment and metallurgical cranes;

[0008] S2, monitor the state of a short-circuit switch for special operation authorization on the ground hoisting equipment, and generate and broadcast an alarm data packet containing the unique identity code when detecting that the short-circuit switch is switched from an open state to a closed state;

[0009] S3, the metallurgical crane receives and analyzes the alarm data packet, and parses an alarm source information from the alarm data packet, and returns an alarm confirmation signal after the operator of the metallurgical crane performs a confirmation operation;

[0010] S4, after the ground hoisting equipment receives the alarm confirmation signal, a cooperative awareness state is established and indicated;

[0011] S5, under the condition that the ground hoisting equipment is in the cooperative awareness state, detect that the short-circuit switch is restored from the closed state to the open state, and generate and broadcast a safety state reset signal accordingly, and the metallurgical crane clears the corresponding alarm state after receiving the safety state reset signal.

[0012] In the above technical solution, steps S1 to S5 together constitute a complete closed-loop cooperative work flow. Step S1 calibrates a unique identity code and builds a logical safety communication domain, providing a basis for subsequent identification, targeted communication and safety traceability. Step S2 converts the physical operation of ground personnel into a structured wireless signal and broadcasts it, ensuring that all relevant cranes in the work area can receive the cooperative request. Step S3 introduces a manual confirmation link in the process, and the confirmation signal returned by the crane operator makes the ground equipment know that the request has been responded. Step S4 marks the formal establishment of the cooperative relationship between the two parties, and presents the cooperative awareness state through external indication. Step S5 defines the end process of cooperative operation, and triggers the broadcast reset signal by disconnecting the short-circuit switch, ensuring that the system state is synchronized and removed.

[0013] As a preferred embodiment, the step of building a logical safety communication domain includes configuring a uniform network identification and a common wireless communication channel frequency for all ground hoisting equipment and all metallurgical cranes.

[0014] Configuring a uniform network identity and a common wireless communication channel frequency for all devices is a specific implementation of constructing a logically secure communication domain. Through this configuration, the devices in the system can communicate on the designated communication channel, and are isolated from other wireless systems in the region at the physical layer, thereby ensuring the stability and reliability of the communication.

[0015] As a preferred embodiment, the unique identity code is composed of a device type code, a region code, and a serial number.

[0016] The purpose of using a composite identity code is to make the identity code itself carry more information than a single serial number. Among them, the device type code can be used to distinguish different types of ground equipment, such as ladle cars or hot metal cars; the region code can be used to divide the work area; and the serial number ensures the ultimate uniqueness. The receiver can directly obtain the properties of the alarm source device by analyzing the composite identity code without querying an external database.

[0017] As a preferred embodiment, the step of monitoring the state of the shorting switch includes connecting the shorting switch to a general input / output pin of a microcontroller in a wireless communication module of the ground hoisting equipment, periodically sampling the level state of the general input / output pin, and determining the open state or closed state of the shorting switch according to the results of the periodic sampling.

[0018] Connecting the shorting switch to the general input / output pin, i.e. the GPIO pin, of the microcontroller discloses a hardware implementation of converting the mechanical switch signal into a digital system processable signal. The microcontroller can directly determine the on-off state of the shorting switch by periodically reading the level state of the pin.

[0019] Based on the above scheme, as a further preferred embodiment, the determination of the state of the shorting switch further includes a software debouncing algorithm, which confirms an effective state transition only when the same level is sampled for a preset number of times.

[0020] The purpose of introducing the software debouncing algorithm is to solve the problem of unstable level pulses caused by physical jitter at the moment of contact switching of the mechanical switch. This algorithm performs digital filtering at the program level, requiring that the same stable level be read continuously within a specified time window before determining an effective state transition, thereby improving the reliability of state detection.

[0021] As a preferred implementation, the alarm data packet is a structured data packet comprising a plurality of fields, the fields comprising at least: a message type field for identifying the nature of the structured data packet; a source identity field having the unique identity code as its content; a time stamp field recording the time when the alarm event is triggered; and a data check field; wherein the value of the data check field is calculated by performing a cyclic redundancy check algorithm on the content of all fields in the structured data packet except the data check field.

[0022] The structured design of the alarm data packet defines the protocol format of the core communication data. The message type field is used to distinguish data packets of different nature; the source identity field carries the alarm source information; the time stamp field provides the basis for event recording and tracing; the data check field, such as the value generated by the cyclic redundancy check algorithm (CRC algorithm), provides an error detection mechanism, enabling the receiver to determine whether the data packet has been corrupted during wireless transmission.

[0023] As a preferred implementation, the alarm confirmation signal is a unicast signal, and the unicast signal comprises a target address field, the content of the target address field being the unique identity code of the ground hoisting equipment that initiated the alarm.

[0024] Setting the alarm confirmation signal as a unicast signal serves to achieve directional response. Unlike the broadcast mode used when the alarm is triggered, the confirmation signal has a clear single target. Therefore, using point-to-point communication and using the unique identity code of the initiator as the target address can ensure the effective delivery of the signal and reduce the occupation of channel resources.

[0025] As a preferred implementation, the safety state reset signal is a broadcast signal, and the broadcast signal comprises a message type field for identifying the safety state reset signal as a reset signal, and the unique identity code of the ground hoisting equipment that initiated the reset.

[0026] Sending the safety state reset signal in broadcast mode serves to ensure that all crown blocks in the work area can receive the signal. When a collaborative work is completed, all crown blocks that have received the initial alarm need to be notified, and using the broadcast mode can ensure that the state of all related devices in the system can be restored to the initial state synchronously.

[0027] As a preferred implementation, the step of instructing the collaborative awareness state by the ground hoisting equipment comprises: driving an external indicating device installed on the ground hoisting equipment to change the working state of the external indicating device, wherein the change of the working state comprises a change in color or a change in flashing frequency.

[0028] The driving external indication device changes its working state, which functions to present the logical state inside the system to the outside in a physical form. By binding the change of state with an explicit physical signal, such as a change in light color or a change in flashing frequency, a visual or audible prompt can be provided to the on-site worker.

[0029] As a preferred embodiment, in the S3 step, after resolving the alarm source information, the metallurgical crane presents the alarm source information through a man-machine interactive interface; and the clearing of the corresponding alarm state in the S5 step specifically includes clearing the alarm information corresponding to the alarm source information on the man-machine interactive interface.

[0030] The presentation and clearing operation of the alarm information are both limited on the same man-machine interactive interface, which aims to build a complete interface operation closed loop. This way explicitly shows the specific embodiment of the alarm state on the crane operation terminal, and the operation of clearing the alarm state is specifically realized as clearing the interface information, so that the interactive logic forms a corresponding relationship at the terminal level.

[0031] The present application provides a crane anti-collision method based on radio technology. It has the following beneficial effects:

[0032] 1. The present application constructs a closed-loop cooperative work flow composed of an alarm data packet, an alarm confirmation signal and a safety state reset signal, ensures that the metallurgical crane can accurately synchronize the cooperative sensing state of a specific ground hoisting equipment, provides a direct judgment basis for the crane operator to avoid collision with the ground hoisting equipment during operation, and thus improves the anti-collision ability.

[0033] 2. The present application uses a unique identity code composed of a device type code, a region code and a serial number to label the ground hoisting equipment, and uses the identity code in the alarm data packet and the unicast alarm confirmation signal, so that the metallurgical crane can accurately identify the alarm source information and realize directional communication between devices, avoiding communication confusion caused by unclear target.

[0034] 3. The present application presents and clears the alarm source information on the man-machine interactive interface of the metallurgical crane, and indicates the cooperative sensing state through the working state change of the external indication device on the ground hoisting equipment, providing intuitive and unified two-way state feedback for the crane operator and ground personnel, reducing the judgment confusion of the operating personnel on the current state of the system. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 The method flowchart of an embodiment of the present application. DETAILED DESCRIPTION

[0036] With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0037] Please refer to the accompanying drawings Figure 1 The present application provides a kind of based on radio technology's overhead travelling crane anti-collision method, comprising the following steps:

[0038] S1, the identity code of each ground hoisting equipment needing to be marked for cooperative operation is determined, and a logical safety communication domain composed of all ground hoisting equipment and all metallurgical overhead travelling crane is constructed to establish the information publishing and subscription relationship of broadcast.

[0039] S2, the state of the shorting switch for special operation authorization on the ground hoisting equipment is continuously monitored, and when the shorting switch is in the open state, the silence of wireless communication is maintained, and no alarm signal is sent.

[0040] S3, the shorting switch is switched from the open state to the closed state, and a structured alarm data packet containing the identity code of the source is generated accordingly, and broadcasted to all metallurgical overhead travelling cranes in the safety communication domain.

[0041] S4, the metallurgical overhead travelling crane receives and analyzes the alarm data packet to obtain the alarm source information; after the confirmation operation of the overhead travelling crane operator is executed, an alarm confirmation signal is returned; the ground hoisting equipment establishes and indicates the cooperative perception state of both parties after receiving the confirmation signal.

[0042] S5, the shorting switch is restored from the closed state to the open state, and a safety state reset signal is generated and broadcasted accordingly; the metallurgical overhead travelling crane clears the corresponding alarm state after receiving the signal, and completes the process loop.

[0043] In order for those skilled in the art to more clearly understand the technical solutions of the present application, the following will describe each step in the embodiments of the present application in detail.

[0044] S1 step is to prepare and initialize the method of the present application, and to establish the identity attribute of each device unit participating in cooperative operation, and to build a communication foundation that can ensure effective information transmission. Specifically, the following sub-steps are included:

[0045] S11, identity information of the cooperative operation unit is calibrated. A globally unique identity code in the operation plant area is assigned to each ground hoisting equipment, and the identity code is written into the communication module of the equipment.

[0046] In the implementation of this step, the identity code is designed as a composite structure to facilitate information analysis and management. For example, it can be composed of three parts: a device type code, a region code, and a serial number. The device type code is used to distinguish different types of equipment such as ground mobile cranes and gantry cranes. The region code is used to indicate the production area where the equipment is stationed or operates, such as the No. 1 continuous casting area and the No. 2 refining area. The serial number is the unique number of the same type of equipment in the region. This structured coding method allows the receiving party not only to confirm the uniqueness of the signal source, but also to preliminarily analyze the basic properties of the equipment from the identity code itself.

[0047] To ensure uniqueness, the allocation of the identity code is maintained and recorded by a central device management account. During the calibration operation, a dedicated configuration software is used to connect with the wireless communication module on the ground hoisting equipment through a physical interface. The identity code allocated from the account is written into the non-volatile memory of the module to ensure that the identity information of the equipment will not be lost after power failure and restart.

[0048] S12, constructing a logically secure communication domain. By configuring a unified network identifier and communication channel for all devices participating in collaborative work, a broadcast communication environment is established in which information can be received by all relevant parties.

[0049] In the implementation of this step, a unique network ID and a common wireless communication channel frequency are set for the entire collaborative work system. The network ID and channel frequency are written into the configuration parameter area of the wireless communication module of each ground hoisting equipment and each metallurgical crane, respectively, through the same dedicated configuration software as in step S11.

[0050] At the ground hoisting equipment end, the wireless transmission function is configured to set the target address field in the data packet header to a specific broadcast address when generating the data packet. At the metallurgical crane end, the wireless reception function is configured to work fixedly on the common channel frequency and enable the address filtering function to receive and process only the data packets whose network ID field matches the preset network ID. Through this way of using broadcast address at the transmitting end and network ID filtering at the receiving end, a logical model of information publishing and subscribing is formed.

[0051] S2 step, the ground hoisting equipment in the general operation mode is monitored for safety. By continuously monitoring the state of the short-circuit switch on the ground hoisting equipment for special operation authorization, and maintaining the silence of wireless communication when the switch is in the open state, no alarm signal is sent. The specific steps include:

[0052] S21, determining the current safe operation mode based on the electrical signal of the shorting switch. The physical on-off state of the shorting switch is converted into a logic signal that can be processed to determine whether the device is in a normal operation mode.

[0053] In the specific implementation of this step, the two contacts of the shorting switch are connected to a general input / output (GPIO) pin of the internal microcontroller of the wireless communication module of the ground hoisting device. To ensure the stability of signal reading, the GPIO pin is configured as an input mode, and an internal pull-up resistor is enabled, or an external pull-up resistor is connected to the positive terminal of the power supply in the external circuit. In this configuration, when the shorting switch is in a physically disconnected state, the GPIO pin is clamped at a high level due to the pull-up resistor; when the shorting switch is physically closed, the pin is directly pulled to the ground terminal, showing a low level.

[0054] The microcontroller periodically samples the level state of the GPIO pin at a fixed time interval, for example, every 10 milliseconds. To prevent false judgments caused by mechanical jitter of the switch contacts during switching or electromagnetic interference in the field, a software debouncing algorithm is included in the method. The algorithm is implemented through a counter, and when the same level is sampled continuously for N times (for example, N can be set to 5), a valid state transition is confirmed. After processing by the debouncing algorithm, when the confirmed pin level is high, the method determines that the device is currently in a normal operation mode.

[0055] S22, maintaining wireless communication silence under the determination of the normal operation mode. Ensure that no wireless alarm signals are generated during routine operations without collision risk.

[0056] In the specific implementation of this step, the microcontroller firmware program in the wireless communication module is provided with a main control loop. In each cycle, the program checks the determination result of step S21. When the determination result is a normal operation mode, the program will execute a pre-set non-alarm branch, in which all code instructions related to alarm data packet generation, packaging and sending will be skipped. At the same time, the control program can send instructions to the wireless RF transceiver chip to enter a low-power standby or sleep mode, only keeping the microcontroller core unit running to continue state monitoring. This silent state is a basic working state of the method, which makes the method only enter the subsequent alarm process when the physical condition changes.

[0057] S3, generating and broadcasting alarm information when a special operation is detected. When the shorting switch on the ground hoisting device is switched from an open state to a closed state, a structured alarm data packet containing the identity code of the source is generated and broadcasted to all metallurgical overhead cranes in the safety communication domain established in step S12. The specific steps include the following sub-steps:

[0058] S31, detecting the triggering condition of the special operation starting event. A legal special operation starting event is confirmed by capturing the specific transition of the shorting switch state.

[0059] In the specific implementation of this step, the microcontroller on the ground hoisting equipment continuously performs the level sampling and de-bouncing algorithm of S21 step. A state machine is defined in the method to track the stable state of the shorting switch. Only when the state machine detects that the previous stable state is high (corresponding to the shorting switch being open) and the next stable state is switched to low (corresponding to the shorting switch being closed), this falling edge event from high to low is determined as a valid special operation starting trigger. This trigger event will serve as a command to start the subsequent S32 step and S33 step.

[0060] S32, generating and packaging a structured alarm data packet according to the trigger event. The relevant information of the alarm event is organized into a standard format data frame to facilitate wireless transmission and receiver parsing.

[0061] The specific data structure of the alarm data packet is defined as a byte sequence containing multiple fields. In one embodiment, the data packet at least contains the following fields: a message type field occupying 1 byte, for the alarm trigger event, the field is assigned a preset fixed value, such as 0x01; a source identity field occupying N bytes, whose content is the unique identity code of the ground equipment that has been fixed in the local storage in S11 step, the field is used to realize the tracing of the alarm source; a timestamp field occupying 4 bytes, recording the time of the triggering of the alarm event; a data verification field occupying 2 bytes, whose value is calculated by performing cyclic redundancy check (such as CRC-16 algorithm) on the content of all other fields in the data packet except this field.

[0062] S33, wireless broadcasting of the packaged alarm data packet. The generated data byte sequence is transmitted through the wireless radio frequency module.

[0063] In the specific implementation of this step, the microcontroller loads the complete data packet generated in S32 step as a byte array into the transmission buffer register of the wireless radio frequency transceiver chip. Then, the microcontroller instructs the chip to transmit the data on the public communication channel set in S12 step according to the preset modulation mode (such as GFSK) and transmission power. In order to improve the success rate of information transmission, repeated broadcasting strategy can be used, that is, after the first broadcast, a fixed time interval (such as 100 milliseconds) is set, and the same alarm data packet is broadcasted again or multiple times. The receiver can identify and discard the repeated data packet according to the timestamp and source identity field in the data packet.

[0064] S4 step performs bidirectional confirmation and collaborative sensing of alarm information, so that the metallurgical crane responds to the alarm broadcast and returns the confirmation status to the alarm source, and the ground equipment completes the establishment of the collaborative state after receiving the confirmation. Specifically, the following sub-steps are included:

[0065] S41, the metallurgical crane end receives, verifies and analyzes the alarm data packet broadcast in S3 step. This step is the basis for the crane end to respond to the collaborative operation request.

[0066] In the specific implementation of this step, the wireless communication module on the metallurgical crane continuously works on the public channel frequency set in S12 step and uses the same network ID for listening. After receiving the data, the microcontroller first performs integrity verification on it. It reads the data verification field at the end of the data packet, and re-executes the same cyclic redundancy check algorithm on all other bytes of the data packet. If the new check code calculated is consistent with the received check code, the data packet is valid; otherwise, it is discarded. For valid data packets, the microcontroller checks whether the message type field is the preset value (such as 0x01) of the alarm signal according to the structure defined in S32 step, and extracts the source identity field and the timestamp field.

[0067] S42, the parsed alarm source information is presented through the human-computer interaction interface, and the crane operator is prompted to confirm. This step converts the data into an alarm event that the operator can perceive.

[0068] In the specific implementation of this step, a device information comparison table is pre-stored in the control unit in the crane cab. The table establishes a mapping relationship between the unique identity code of all ground equipment and its popular name (such as No. 2 machine of No. 1 continuous casting area ground operator). The control unit uses the source identity field parsed from the data packet to perform a lookup in the table to obtain the corresponding device name.

[0069] Subsequently, the control unit drives the display screen in the cab, such as by popping up a red background dialog box, to display text information containing the ground equipment name and the content of the collaborative operation request. At the same time, the control unit triggers the buzzer to emit a specific sound, and guides the operator to perform the confirmation operation by lighting or flashing an indicator light on a physical confirmation button bound to this function.

[0070] S43, after the crane operator performs the confirmation operation, an alarm confirmation signal carrying the target address is generated and returned.

[0071] This step completes the response from broadcast alarm to single-point acknowledgement. When the crane operator presses the physical acknowledgement button that is lit, the crane control unit captures this key input event and encapsulates an alarm acknowledgement packet. The message type field of this acknowledgement packet is assigned a new value (e.g. 0x02) representing that the alarm has been acknowledged, the source identity field is filled with the unique identity code of the crane itself, and the destination address field is filled with the content of the source identity field in the alarm packet received from S41 step. The sending mode of this acknowledgement packet is unicast, and the crane control unit sets the content of the destination address field as the target sending address of the wireless module, and then transmits the packet through the same public channel.

[0072] S44, the ground hoisting equipment receives the alarm acknowledgement signal and establishes a cooperative awareness state locally, and gives feedback through the indicating device.

[0073] This step marks the establishment of a cooperative relationship between the ground and the air specific equipment. After the broadcast alarm in S3 step, the wireless module of the ground equipment switches to the receiving mode and listens to the unicast signal for its own unique identity code. When receiving the acknowledgement signal returned in S43 step, it also performs CRC check. After passing the check, it parses the packet, and when it finds that the message type field is the specific value of the acknowledgement signal, the microcontroller of the ground end determines that the response of the crane has been obtained.

[0074] After the determination is successful, the microcontroller updates an internal state variable to mark the device state as cooperative established. At the same time, it drives one or more external indicating devices to provide physical feedback. For example, a status indicating lamp installed on the control box of the ground equipment can change its color from yellow flashing to green constant. This state change enables the ground operating personnel to know that their cooperative request has been confirmed by the crane.

[0075] S5 step performs automatic reset of the safety state after the special operation is completed. When detecting that the short-circuit switch on the ground hoisting equipment is restored from the closed state to the open state, a safety state reset signal is generated and broadcasted, and the metallurgical crane clears the corresponding alarm state after receiving the signal. The specific steps include:

[0076] S51, detect the trigger condition of the safety reset event, and confirm the end event of a special operation by capturing the specific transition of the short-circuit switch state from closed to open.

[0077] In the specific implementation of this step, the microcontroller on the ground hoisting equipment continues to perform the GPIO pin level sampling and software debouncing algorithm of S21 step after entering the cooperative operation state. The state machine in the method enters the special operation in progress state after S31 step. This rising edge event from low to high is determined as an effective safety reset trigger only when the state machine detects that the previous stable state is low (corresponding to the closing of the short-circuit switch) and the next stable state switches to high (corresponding to the opening of the short-circuit switch).

[0078] S52, a safety state reset signal is generated and broadcasted according to the reset event, and the end-of-operation state information is packaged into a standard data packet and announced to all overhead traveling cranes in the communication domain.

[0079] In the specific implementation of this step, after receiving the trigger command of S51 step, the microcontroller of the ground equipment immediately packages a safety state reset data packet. The message type field of the data packet is assigned a brand-new preset value (for example, 0x03) identifying the reset signal, and also contains the source identity field, the timestamp field and the data verification field. After packaging, the microcontroller transmits the reset data packet in a broadcast manner, and a repeated broadcast strategy can also be adopted to improve the reception success rate.

[0080] S53, the metallurgical overhead traveling crane receives the reset signal and clears the corresponding alarm state, so that the alarm state at the crane end is synchronized with the actual operation state of the ground equipment.

[0081] In the specific implementation of this step, after receiving the reset data packet, the wireless communication module of the metallurgical overhead traveling crane performs CRC verification. After verification, the microcontroller of the module parses the data packet, and when it identifies that the value of the message type field is the preset value of the reset signal, it performs an alarm clearing operation.

[0082] This clearing operation is targeted. The crane control unit reads the source identity field in the reset data packet and searches for an alarm item matching the identity in the alarm list currently maintained in the control unit. After finding the alarm item, the control unit closes the alarm information display box corresponding to the alarm source on the display screen in the cab, stops the buzzer associated with the alarm from sounding, and turns off the indicator light on the physical button for alarm confirmation. Finally, the alarm item is removed from the internal alarm list. At this point, the human-machine interface and the internal state of the crane return to the normal state before receiving the alarm, and the system returns to the silent monitoring state of S2 step.

Claims

1. A radio technology-based overhead traveling crane collision avoidance method, characterized by, The method comprises the following steps: S1, a unique identity code is marked for ground hoisting equipment which needs to be cooperated, and a logical safety communication domain composed of the ground hoisting equipment and metallurgical overhead traveling crane is constructed; S2, the state of a short-circuit switch for special operation authorization on the ground hoisting equipment is monitored, and when the short-circuit switch is detected to be switched from an open state to a closed state, an alarm data packet containing the unique identity code is generated and broadcasted; S3, the metallurgical overhead traveling crane receives and analyzes the alarm data packet, and an alarm source information is parsed from the alarm data packet, and an alarm confirmation signal is returned after the operator of the metallurgical overhead traveling crane performs a confirmation operation; S4, after the ground hoisting equipment receives the alarm confirmation signal, a cooperative awareness state is established and indicated; S5, under the condition that the ground hoisting equipment is in the cooperative awareness state, the state of the short-circuit switch is detected to be restored from the closed state to the open state, and a safety state reset signal is generated and broadcasted accordingly, and the metallurgical overhead traveling crane clears the corresponding alarm state after receiving the safety state reset signal.

2. The radio technology-based overhead traveling crane collision avoidance method according to claim 1, characterized by, The step of constructing the logical safety communication domain comprises: configuring uniform network identification and a common wireless communication channel frequency for all the ground hoisting equipment and all the metallurgical overhead traveling cranes.

3. The radio technology based overhead traveling crane collision avoidance method according to claim 1, characterized in that, The unique identity code is composed of a device type code, a region code and a serial number.

4. The radio technology based overhead traveling crane collision avoidance method according to claim 1, characterized in that, The step of monitoring the state of the short-circuit switch comprises: connecting the short-circuit switch to a general input / output pin of a microcontroller in a wireless communication module of the ground hoisting equipment, periodically sampling the level state of the general input / output pin, and determining the open state or the closed state of the short-circuit switch according to the result of the periodic sampling.

5. The radio technology based overhead collision avoidance method of claim 4, wherein, The determination of the state of the short-circuit switch further comprises a software debouncing algorithm, which confirms an effective state transition only when the same level is sampled for a preset number of times in succession.

6. The radio technology based overhead collision avoidance method of claim 1, wherein, The alarm data packet is a structured data packet containing multiple fields, and the fields at least include: a message type field for identifying the nature of the structured data packet; a source identity field with the unique identity code as the content; a timestamp field recording the time when the alarm event is triggered; a data verification field; wherein the value of the data verification field is calculated by performing a cyclic redundancy check algorithm on the content of all other fields in the structured data packet except the data verification field.

7. The radio technology based overhead traveling crane collision avoidance method according to claim 1, characterized in that, The alarm confirmation signal is a unicast signal, and the unicast signal contains a target address field, and the content of the target address field is the unique identity code of the ground hoisting equipment which initiates the alarm.

8. The radio technology based overhead collision avoidance method of claim 1, wherein, The safety state reset signal is a broadcast signal, and the broadcast signal contains a message type field for identifying the safety state reset signal as a reset signal, and the unique identity code of the ground hoisting equipment which initiates the reset.

9. The radio technology based overhead traveling crane collision avoidance method according to claim 1, characterized in that, The ground hoisting equipment indicates the cooperative perception state, which includes driving an external indicating device installed on the ground hoisting equipment to change the working state of the external indicating device, wherein the change of the working state includes color change or flicker frequency change.

10. The radio technology based overhead collision avoidance method of claim 1, wherein, In the S3 step, after the metallurgical overhead crane resolves the alarm source information, the metallurgical overhead crane also presents the alarm source information in a directional manner through a man-machine interactive interface. The S5 step of clearing the corresponding alarm state specifically includes clearing alarm information corresponding to the alarm source information on the man-machine interactive interface.

Images