A collision avoidance method, system, equipment and medium for automated rail crane trolley mechanisms

Abstract

This application provides a collision avoidance method, system, device, and medium for an automated rail-mounted crane trolley mechanism, belonging to the field of automation control technology. The method includes: real-time acquisition of operating data of the main crane and its partner crane, including position, speed, acceleration, and anchoring status; triggering position collision avoidance protection when the position difference between the two cranes is less than a preset dynamic safety distance; calculating a speed limit in real time based on the preset dynamic safety distance; and outputting an emergency stop signal to the PLC control system when the main crane's speed exceeds the speed limit. This solves the problem of insufficient reliability of single-point protection.

Description

Technical Field

[0001] This invention belongs to the field of automation control technology, and in particular relates to a method, system, equipment and medium for collision prevention of automated rail crane trolley mechanisms. Background Technology

[0002] Automated rail-mounted gantry cranes are widely used in ports, logistics terminals, and other similar settings, where their trolley mechanisms move along fixed tracks to handle containers. When multiple machines operate in parallel on the same track, the risk of collision becomes a core safety hazard.

[0003] Existing technologies primarily employ a single protection mechanism: some solutions calculate relative distance in real time based on position sensors and trigger deceleration through a preset static threshold; others utilize laser rangefinders to monitor a fixed distance and cut off power output when the limit is exceeded. These methods achieve basic collision avoidance functionality through hardware feedback.

[0004] However, existing technologies have significant shortcomings: Single-point protection has low reliability: failure of either the position or the laser system will lead to protection failure, which cannot meet the redundancy requirements under complex working conditions. Static threshold has poor adaptability: The fixed preset dynamic safety distance does not take into account the dynamic changes in speed and acceleration, which can easily lead to false triggering or protection delay in high-speed operating conditions; High risk of response delay: The process from detection to execution relies on a single-level decision chain, resulting in a long delay in emergency braking, which cannot meet the requirements for high-precision collision avoidance. Summary of the Invention

[0005] This invention provides a collision prevention method, system, equipment, and medium for the trolley mechanism of an automated rail-mounted crane, which at least solves the problem of collision prevention in the automated operation of automated rail-mounted cranes in the prior art, and avoids mechanical damage caused by collisions to a certain extent.

[0006] In a first aspect, embodiments of this application provide a collision avoidance method for an automated rail-mounted crane trolley mechanism, the method comprising: Real-time acquisition of operational data from the local and partner machines, including position, speed, acceleration, and anchoring status; When the position difference between the two vehicles is less than the preset dynamic safety distance, position collision avoidance protection is triggered; Speed ​​limits are calculated in real time based on a preset dynamic safety distance; When the machine speed exceeds the speed limit, an emergency stop signal is output to the PLC control system.

[0007] Furthermore, the location collision protection specifically includes: Determine whether the vehicle is located on the sea side or the land side. If it is located on the land side, define the vehicle as a landside vehicle; if it is located on the sea side, define the vehicle as a seaside vehicle. When the vehicle is a landside vehicle, the operating mode of the vehicle and its partner vehicle is determined. If the two sides travel in opposite directions, it is defined as traveling towards each other. If the two sides travel in the same direction and the vehicle speed is high, it is defined as chasing. When running towards each other, the expression for the preset dynamic safety distance is:

[0008] In the formula, Indicates the preset dynamic safety distance. Indicates the deceleration distance of landside vehicles when traveling in opposite directions. This indicates the deceleration distance of vehicles traveling in opposite directions on the sea side. Indicates the safe distance for deceleration; ,

[0009] In the formula, Indicates the current speed of the landside vehicle. This indicates the current speed of the vehicle on the sea side. Indicates acceleration; During pursuit, the expression for the preset dynamic safe distance is:

[0010] Indicates the preset dynamic safety distance. This indicates the deceleration distance of the land-side vehicle during the pursuit. This indicates the distance traveled by the vehicle on the seaside during the pursuit. Indicates the safe distance for deceleration.

[0011] Furthermore, the expression for the speed limit is:

[0012]

[0013] In the formula, This indicates the speed limit for pursuit or opposite-direction movement. This indicates the deceleration distance of a landside vehicle pursuing or traveling in the opposite direction. This indicates the distance calculated for deceleration. Indicates the safe distance for deceleration. This indicates the positional difference between the landside vehicle and the seaside vehicle.

[0014] Furthermore, the position collision protection also includes: Determine whether the vehicle is located on the sea side or the land side. If it is located on the land side, define the vehicle as a landside vehicle; if it is located on the sea side, define the vehicle as a seaside vehicle. When the machine is a side-mounted vehicle, the operating mode of the machine and the partner machine is determined. If the two sides travel in opposite directions, it is defined as running towards each other. If the two sides travel in the same direction and the machine speed is high, it is defined as chasing operation. When running towards each other, the expression for the preset dynamic safety distance is:

[0015] In the formula, Indicates the preset dynamic safety distance. Indicates the deceleration distance of landside vehicles when traveling in opposite directions. This indicates the deceleration distance of vehicles traveling in opposite directions on the sea side. Indicates the safe distance for deceleration; ,

[0016] In the formula, Indicates the current speed of the landside vehicle. This indicates the current speed of the vehicle on the sea side. Indicates acceleration; During pursuit, the expression for the preset dynamic safe distance is:

[0017] Indicates the preset dynamic safety distance. This indicates the deceleration distance of the vehicle on the sea side during the pursuit. This indicates the distance traveled by the land-side vehicle during the pursuit. Indicates the safe distance for deceleration.

[0018] Furthermore, when the position difference between the two vehicles is less than the preset dynamic safety distance, triggering the position collision avoidance protection also includes the following steps: The distance between the outriggers of the machine and its partner machine is detected in real time by a laser scanner, triggering: The buddy's movement distance is calculated using the following expression:

[0019] in, For buddy speed; The maximum permissible speed of this machine is calculated using the following expression:

[0020] in, To preset dynamic safety distance, This refers to the distance between the outriggers of the machine and its partner machine.

[0021] Secondly, embodiments of this application also provide a system for the anti-collision method of the automated rail-mounted crane trolley mechanism as described in the above aspects, the system comprising: The data acquisition module is used to acquire real-time operating data of the local machine and the partner machine, including position, speed, acceleration and anchoring status; The position collision avoidance protection module is used to trigger position collision avoidance protection when the position difference between two vehicles is less than a preset dynamic safety distance; The speed limit calculation module is used to calculate the speed limit in real time based on a preset dynamic safety distance; The emergency stop control module is used to output an emergency stop signal to the PLC control system when the machine speed exceeds the speed limit.

[0022] Furthermore, the location collision avoidance protection module is also used to: determine whether the vehicle is located on the sea side or the land side; if it is located on the land side, define the vehicle as a landside vehicle; if it is located on the sea side, define the vehicle as a seaside vehicle.

[0023] Furthermore, the position collision avoidance protection module is also used to: when the vehicle is a landside vehicle, determine the operating mode of the vehicle and the partner vehicle. If the driving directions on both sides are opposite, it is defined as driving towards each other. If the driving directions on both sides are the same and the vehicle speed is high, it is defined as chasing operation.

[0024] Thirdly, an electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the steps of the automated rail crane trolley mechanism anti-collision method as described in the preceding aspects.

[0025] Fourthly, a storage medium storing a computer program that, when executed by a processor, implements the steps of the anti-collision method for automated rail-mounted crane trolley mechanisms as described in the preceding aspects.

[0026] As can be seen from the above technical solutions, the present invention has the following advantages: The collision avoidance method for automated rail crane trolley mechanisms provided in this application solves the problem of insufficient reliability of single-point protection through dual protection of position and laser. Position collision avoidance calculates the preset dynamic safety distance in real time, while laser collision avoidance achieves redundancy verification through outrigger spacing detection. The parallel decision-making of the dual systems greatly reduces the probability of protection failure.

[0027] This application solves the problem of poor adaptability of static threshold by calculating the preset dynamic safety distance. The preset dynamic safety distance is dynamically generated based on real-time speed and acceleration, and the calculation is differentiated for oncoming / pursuit modes, so that the protection distance is adapted to the actual working conditions.

[0028] This application solves the response delay problem by linking real-time speed limiting with emergency stop, synchronously outputting the speed limit and the maximum allowable laser speed, and using dual-channel verification to trigger the emergency stop signal, greatly reducing decision delay and avoiding collision accidents. Attached Figure Description

[0029] To more clearly illustrate the technical solution of this application, the accompanying drawings used in the description will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a flowchart of an anti-collision method for an automated rail crane trolley mechanism according to the present invention.

[0031] Figure 2 This is a PLC control diagram of an automated rail crane trolley mechanism anti-collision method according to the present invention. Detailed Implementation

[0032] To make the purpose, features, and advantages of this application more apparent and understandable, specific embodiments and accompanying drawings will be used to clearly and completely describe the technical solution protected by this application. Obviously, the embodiments described below are only some embodiments of this application, and not all embodiments. Based on the embodiments in this patent, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this patent.

[0033] This application provides a collision prevention method, system, equipment, and medium for automated rail-mounted crane trolley mechanisms, addressing the urgent need for a collision prevention method for automated rail-mounted crane trolley mechanisms to prevent collisions during automated operation.

[0034] The technical solutions proposed in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0035] Figure 1 A flowchart illustrating a collision avoidance method for an automated rail-mounted crane trolley mechanism provided in this application embodiment. Figure 1 As shown in the figure, an anti-collision method for an automated rail-mounted crane trolley mechanism provided in this application embodiment specifically includes the following steps: Real-time acquisition of operational data from the local and partner machines, including position, speed, acceleration, and anchoring status; When the position difference between the two vehicles is less than the preset dynamic safety distance, position collision avoidance protection is triggered; Speed ​​limits are calculated in real time based on a preset dynamic safety distance; When the machine speed exceeds the speed limit, an emergency stop signal is output to the PLC control system.

[0036] according to Figure 1 The traffic operation logic judgment process includes the following steps: Enter the logical judgment from the "Start" node; Determine whether the current vehicle attribute is landside or seaside; When the current vehicle attribute is landside, determine whether the current operating mode is "heading towards each other" (two vehicles with opposite speeds) or "landside pursuit" (two vehicles with the same speed and a larger landside distance). If the current operating mode is determined to be running in opposite directions, calculate the distance required for deceleration and stopping on the land side and sea side, and generate the value of "preset dynamic safety distance_stop (running in opposite directions)"; When the current operating mode is determined to be land-side pursuit, the required distance for deceleration and stopping on both the land and sea sides is calculated, and the value of "preset dynamic safety distance_stop (sea-side pursuit)" is generated. When it is determined that the current operating mode is neither oncoming movement nor land-side pursuit, the speed limit is reset; The real-time location value is compared with the calculated preset dynamic safety distance threshold: If the location value is less than the preset dynamic safety distance threshold, speed limit calculation is triggered; If the position value is greater than the preset dynamic safety distance threshold, the speed limit will be reset. Speed ​​limit control: When the position value is below the safety threshold: Execute the "Calculate Speed ​​Limit" operation; When the position value is higher than the safety threshold: execute the "speed limit reset" operation; This invention adopts a dual-path parallel architecture (independent branches on the land side and the sea side), and its core logic lies in triggering graded speed control through dynamic distance thresholds.

[0037] Dual-vehicle position collision avoidance protection logic: The positional collision protection of the gantry crane (soft collision protection) limits the operating speed of two automated gantry cranes in the same field based on their adjacent real-time positions (in this patent, one gantry crane is referred to as the main gantry crane and the other as the partner gantry crane), thereby ensuring that the two automated gantry cranes always maintain a certain relative distance and prevent collision hazards.

[0038] The soft collision avoidance of large vehicles mainly relies on the "F4107_Dual-vehicle collision avoidance" function block. This function block will be effective in the control PLCs of both the land-side and sea-side large vehicles, thus ensuring that the outputs of the soft collision avoidance programs of the two vehicles are matched.

[0039] Furthermore, once one vehicle is anchored, the protection distance for the other vehicle will decrease because it needs to operate across the entire area. For example... Figure 2 As shown.

[0040] according to Figure 2 The core process steps of the program function block F4107_Large Vehicle Dual-Vehicle Collision Avoidance are as follows: Function activation: The function block is activated by inputting the enable signal EN; Parameter input: Get local parameters: r 大车当前位置_m ; r 大车当前速度_ms ; Obtain buddy machine parameters: r 伙伴大车当前位置_m ; r 伙伴大车当前速度_ms ; Get system parameters: r 加速度_ms2 ; r 减速安全距离_m ; UI 起重机位置类_IN ; Location calculation: r 大车前方位置_m ; Location logic is processed based on location type (value 4.5 / 13.5); Speed ​​control: The limit speed value and the maximum speed of the vehicle in _ms are dynamically calculated and output based on the real-time position difference and speed difference. Preset dynamic safety distance verification: Continuously compare the location relationship between the local machine and its partner machine; If the position difference is less than the preset emergency stop distance for large vehicles _m, the emergency stop protection mechanism will be triggered. Command output: Output speed limit value to the actuator; Output forward / reverse stop signal x Dual-vehicle collision avoidance forward stop; Feedback on the operation completion status (ENO); Loop monitoring: The speed feedback from the lane changer is r, which is the speed feedback _ms_IN. Continuously update position and velocity parameters to form a closed-loop control; The entire process achieves dynamic collision avoidance protection through dual position-speed judgment, and the output commands directly control the device's start / stop and speed limit. The left and right ports of the function blocks correspond to the input and output signal streams, and the central logic completes the core calculations and decisions.

[0041] It should be noted that the aforementioned positional collision protection specifically includes: Determine whether the vehicle is located on the sea side or the land side. If it is located on the land side, define the vehicle as a landside vehicle; if it is located on the sea side, define the vehicle as a seaside vehicle. When the vehicle is a landside vehicle, the operating mode of the vehicle and its partner vehicle is determined. If the two sides travel in opposite directions, it is defined as traveling towards each other. If the two sides travel in the same direction and the vehicle speed is high, it is defined as chasing. When running towards each other, the expression for the preset dynamic safety distance is:

[0042] In the formula, Indicates the preset dynamic safety distance. Indicates the deceleration distance of landside vehicles when traveling in opposite directions. This indicates the deceleration distance of vehicles traveling in opposite directions on the sea side. Indicates the safe distance for deceleration; ,

[0043] In the formula, Indicates the current speed of the landside vehicle. This indicates the current speed of the vehicle on the sea side. Indicates acceleration; During pursuit, the expression for the preset dynamic safe distance is:

[0044] Indicates the preset dynamic safety distance. This indicates the deceleration distance of the land-side vehicle during the pursuit. This indicates the distance traveled by the vehicle on the seaside during the pursuit. Indicates the safe distance for deceleration.

[0045] Combination Figure 2 Only when the "difference in position between the two vehicles" is less than "r" 预设动态安全距离_停机 The speed limit calculation will only take effect when the "difference between the positions of the two vehicles" is less than "r". 预设动态安全距离_停机 When this situation occurs, the position difference between the landside vehicle and the seaside vehicle, as well as the deceleration distance of the landside vehicle that is chasing or moving in the opposite direction, will be recorded for subsequent calculations.

[0046] Subsequently, the function block calculates the corresponding deceleration limit speed for the large vehicle based on the current state. Taking oncoming roadside vehicles as an example, the deceleration distance for the landside vehicle can be calculated in real time. The expression for the speed limit is:

[0047]

[0048] In the formula, This indicates the speed limit for pursuit or opposite-direction movement. This indicates the deceleration distance of a landside vehicle pursuing or traveling in the opposite direction. This indicates the distance calculated for deceleration. Indicates the safe distance for deceleration. This indicates the positional difference between the landside vehicle and the seaside vehicle.

[0049] The coefficient 1.2 is a safety margin to prevent the system from overshooting due to insufficient response. After the "deceleration distance of the roadside vehicle" is calculated, the current speed limit of the roadside vehicle is deduced from the acceleration.

[0050] Furthermore, once the speed limit is set, it should be ensured that the speed limit only decreases monotonically to prevent sudden acceleration or deceleration. The speed limit will be automatically lifted once the two vehicles are no longer in a state of oncoming traffic, seaside pursuit, or landside pursuit.

[0051] In one exemplary embodiment, the position collision avoidance protection further includes: Determine whether the vehicle is located on the sea side or the land side. If it is located on the land side, define the vehicle as a landside vehicle; if it is located on the sea side, define the vehicle as a seaside vehicle. When the machine is a side-mounted vehicle, the operating mode of the machine and the partner machine is determined. If the two sides travel in opposite directions, it is defined as running towards each other. If the two sides travel in the same direction and the machine speed is high, it is defined as chasing operation. When running towards each other, the expression for the preset dynamic safety distance is:

[0052] In the formula, Indicates the preset dynamic safety distance. Indicates the deceleration distance of landside vehicles when traveling in opposite directions. This indicates the deceleration distance of vehicles traveling in opposite directions on the sea side. Indicates the safe distance for deceleration; ,

[0053] In the formula, Indicates the current speed of the landside vehicle. This indicates the current speed of the vehicle on the sea side. Indicates acceleration; During pursuit, the expression for the preset dynamic safe distance is:

[0054] Indicates the preset dynamic safety distance. This indicates the deceleration distance of the vehicle on the sea side during the pursuit. This indicates the distance traveled by the land-side vehicle during the pursuit. Indicates the safe distance for deceleration.

[0055] In an exemplary embodiment, when the position difference between the two vehicles is less than a preset dynamic safety distance, triggering position collision avoidance protection further includes the following steps: The distance between the outriggers of the machine and its partner machine is detected in real time by a laser scanner, triggering: The buddy's movement distance is calculated using the following expression:

[0056] in, For buddy speed; The maximum permissible speed of this machine is calculated using the following expression:

[0057] in, To preset dynamic safety distance, This refers to the distance between the outriggers of the machine and its partner machine.

[0058] Similarly, the above formula is used to calculate the current reaction distance of the current machine. Maximum permissible speed The speed limit value is transmitted to the PLC and compared with the currently acquired local speed. Compare, if: a) ,normal; b) If the current deceleration fails, output an emergency stop control word.

[0059] This invention also provides an automated rail-mounted crane trolley mechanism anti-collision system, the system comprising: The data acquisition module is used to acquire real-time operating data of the local machine and the partner machine, including position, speed, acceleration and anchoring status; The position collision avoidance protection module is used to trigger position collision avoidance protection when the position difference between two vehicles is less than a preset dynamic safety distance; The speed limit calculation module is used to calculate the speed limit in real time based on a preset dynamic safety distance; The emergency stop control module is used to output an emergency stop signal to the PLC control system when the machine speed exceeds the speed limit.

[0060] The collision avoidance method for automated rail-mounted crane trolley mechanisms provided in this application embodiment can be applied to electronic devices. Those skilled in the art will understand that the electronic device structure involved in the embodiments of this invention does not constitute a limitation on the electronic device. An electronic device may include more or fewer components than illustrated, or combine certain components, or have different component arrangements. In the embodiments of this invention, electronic devices include, but are not limited to, laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the embodiments of this application described and / or claimed herein.

[0061] Electronic devices may include processors, external memory interfaces, internal memory, universal serial bus (USB) interfaces, charging management modules, power management modules, batteries, wireless communication modules, audio modules, speakers, microphones, sensor modules, buttons, cameras, displays, and SIM card interfaces, etc.

[0062] It is understood that the structures illustrated in the embodiments of this application do not constitute a specific limitation on the electronic device. In other embodiments of this application, the electronic device may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0063] A processor may include one or more processing units, such as: a central processing unit (CPU), an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, memory, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural network processing unit (NPU). Different processing units may be independent devices or integrated into one or more processors.

[0064] The processor can serve as the nerve center and command center of an electronic device. The controller can generate operation control signals based on the instruction opcode and timing signals to control the fetching and execution of instructions.

[0065] The processor may also include memory for storing instructions and data. In some embodiments, the memory in the processor is a cache memory. This memory can store instructions or data that the processor has just used or that are used repeatedly. If the processor needs to use the instruction or data again, it can retrieve it directly from this memory. This avoids repeated accesses, reduces processor latency, and thus improves system efficiency.

[0066] An external storage interface (ESI) can be used to connect external memory cards, such as microSD cards, to expand the storage capacity of electronic devices. The external memory card communicates with the processor through the ESI to perform data storage functions, such as saving music and video files on the external memory card.

[0067] Internal memory can be used to store computer executable program code, which includes instructions. The processor executes various functional applications and data processing of electronic devices by running the instructions stored in internal memory. Internal memory can include a program storage area and a data storage area. Internal memory can include high-speed random access memory, and can also include non-volatile memory, such as at least one disk storage device, flash memory device, universal flash storage (UFS), etc.

[0068] Wireless communication functionality in electronic devices can be achieved through antennas, wireless communication modules, modem processors, and baseband processors.

[0069] Wireless communication modules can provide solutions for wireless communication applications in electronic devices, including wireless local area networks (WLANs) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), and infrared (IR) technologies.

[0070] Electronic devices can implement audio functions through audio modules, speakers, receivers, microphones, headphone jacks, and application processors.

[0071] Electronic devices can achieve shooting functions through ISPs, cameras, video codecs, GPUs, displays, and application processors.

[0072] Electronic devices can achieve display functions through GPUs, displays, and application processors.

[0073] A GPU is a microprocessor for image processing, connected to the display screen and application processor. GPUs are used to perform mathematical and geometric calculations for graphics rendering. A processor may include one or more GPUs, which execute program instructions to generate or modify display information.

[0074] A display screen is used to display images, videos, etc. A display screen includes a display panel.

[0075] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0076] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of devices, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0077] In the embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the couplings or direct couplings or communication connections shown or discussed may be indirect couplings or communication connections through some interfaces, apparatuses, or units, or they may be electrical, mechanical, or other forms of connection.

[0078] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a full understanding of embodiments of the invention. However, those skilled in the art will recognize that the technical solutions of the invention can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of the invention.

[0079] The aforementioned electronic equipment enables the real-time acquisition of operating data of the main unit and the partner unit in the anti-collision method of the automated rail crane trolley mechanism of this application. The operating data includes position, speed, acceleration, and anchoring status. When the position difference between the two units is less than a preset dynamic safety distance, position anti-collision protection is triggered. The speed limit is calculated in real time based on the preset dynamic safety distance. When the speed of the main unit exceeds the speed limit, an emergency stop signal is output to the PLC control system. Through dual protection of position and laser, the problem of insufficient reliability of single-point protection is solved.

[0080] The storage medium provided in this application stores a program product capable of implementing an anti-collision method for automated rail-mounted crane trolley mechanisms.

[0081] The collision avoidance method for the automated rail-mounted crane trolley mechanism includes: real-time acquisition of the operating data of the main crane and the partner crane, the operating data including position, speed, acceleration and anchoring status; triggering position collision avoidance protection when the position difference between the two cranes is less than a preset dynamic safety distance; calculating the speed limit in real time based on the preset dynamic safety distance; and outputting an emergency stop signal to the PLC control system when the speed of the main crane exceeds the speed limit.

[0082] The collision avoidance method for automated rail crane trolley mechanisms provided in this application solves the problem of insufficient reliability of single-point protection through dual protection of position and laser. Position collision avoidance calculates the preset dynamic safety distance in real time, while laser collision avoidance achieves redundancy verification through outrigger spacing detection. The parallel decision-making of the dual systems greatly reduces the probability of protection failure.

[0083] This application solves the problem of poor adaptability of static threshold by calculating the preset dynamic safety distance. The preset dynamic safety distance is dynamically generated based on real-time speed and acceleration, and the calculation is differentiated for oncoming / pursuit modes, so that the protection distance is adapted to the actual working conditions.

[0084] This application solves the response delay problem by linking real-time speed limiting with emergency stop, synchronously outputting the speed limit and the maximum allowable laser speed, and using dual-channel verification to trigger the emergency stop signal, greatly reducing decision delay and avoiding collision accidents.

[0085] In some possible implementations, the collision avoidance method for automated rail-mounted crane trolley mechanisms of this disclosure can be implemented as a program product comprising program code that, when the program product is run on a terminal device, causes the terminal device to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this disclosure.

[0086] The storage medium disclosed herein may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0087] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0088] Any changes, modifications, substitutions, and variations made to the embodiments without departing from the principles and spirit of the present invention still fall within the protection scope of the present invention.

Claims

1. A collision avoidance method for an automated rail-mounted crane trolley mechanism, characterized in that, The method includes: Real-time acquisition of operational data from the local and partner machines, including position, speed, acceleration, and anchoring status; When the position difference between the two vehicles is less than the preset dynamic safety distance, position collision avoidance protection is triggered; Speed ​​limits are calculated in real time based on a preset dynamic safety distance; When the machine speed exceeds the speed limit, an emergency stop signal is output to the PLC control system.

2. The method as described in claim 1, characterized in that, The location collision protection specifically includes: Determine whether the vehicle is located on the sea side or the land side. If it is located on the land side, define the vehicle as a landside vehicle; if it is located on the sea side, define the vehicle as a seaside vehicle. When the vehicle is a landside vehicle, the operating mode of the vehicle and its partner vehicle is determined. If the two sides travel in opposite directions, it is defined as traveling towards each other. If the two sides travel in the same direction and the vehicle speed is high, it is defined as chasing. When running towards each other, the expression for the preset dynamic safety distance is: In the formula, Indicates the preset dynamic safety distance. Indicates the deceleration distance of landside vehicles when traveling in opposite directions. This indicates the deceleration distance of vehicles traveling in opposite directions on the sea side. Indicates the safe distance for deceleration; ， In the formula, Indicates the current speed of the landside vehicle. This indicates the current speed of the vehicle on the sea side. Indicates acceleration; During pursuit, the expression for the preset dynamic safe distance is: Indicates the preset dynamic safety distance. This indicates the deceleration distance of the land-side vehicle during the pursuit. This indicates the distance traveled by the vehicle on the seaside during the pursuit. Indicates the safe distance for deceleration.

3. The method as described in claim 2, characterized in that, The expression for limiting the speed is: In the formula, This indicates the speed limit for pursuit or opposite-direction movement. This indicates the deceleration distance of a landside vehicle pursuing or traveling in the opposite direction. This indicates the distance calculated for deceleration. Indicates the safe distance for deceleration. This indicates the positional difference between the landside vehicle and the seaside vehicle.

4. The method as described in claim 1, characterized in that, The location collision protection also includes: Determine whether the vehicle is located on the sea side or the land side. If it is located on the land side, define the vehicle as a landside vehicle; if it is located on the sea side, define the vehicle as a seaside vehicle. When the machine is a side-mounted vehicle, the operating mode of the machine and the partner machine is determined. If the two sides travel in opposite directions, it is defined as running towards each other. If the two sides travel in the same direction and the machine speed is high, it is defined as chasing operation. When running towards each other, the expression for the preset dynamic safety distance is: In the formula, Indicates the preset dynamic safety distance. Indicates the deceleration distance of landside vehicles when traveling in opposite directions. This indicates the deceleration distance of vehicles traveling in opposite directions on the sea side. Indicates the safe distance for deceleration; ， In the formula, Indicates the current speed of the landside vehicle. This indicates the current speed of the vehicle on the sea side. Indicates acceleration; During pursuit, the expression for the preset dynamic safe distance is: Indicates the preset dynamic safety distance. This indicates the deceleration distance of the vehicle on the sea side during the pursuit. This indicates the distance traveled by the land-side vehicle during the pursuit. Indicates the safe distance for deceleration.

5. The method according to any one of claims 1-4, characterized in that, When the position difference between the two vehicles is less than the preset dynamic safety distance, the position collision avoidance protection is triggered, which also includes the following steps: The distance between the outriggers of the machine and its partner machine is detected in real time by a laser scanner, triggering: The buddy's movement distance is calculated using the following expression: in, For buddy speed; The maximum permissible speed of this machine is calculated using the following expression: in, To preset dynamic safety distance, This refers to the distance between the outriggers of the machine and its partner machine.

6. A system applied to the anti-collision method for the automated rail-mounted crane trolley mechanism as described in any one of claims 1-5, characterized in that, The system includes: The data acquisition module is used to acquire real-time operating data of the local machine and the partner machine, including position, speed, acceleration and anchoring status; The position collision avoidance protection module is used to trigger position collision avoidance protection when the position difference between two vehicles is less than a preset dynamic safety distance; The speed limit calculation module is used to calculate the speed limit in real time based on a preset dynamic safety distance; The emergency stop control module is used to output an emergency stop signal to the PLC control system when the machine speed exceeds the speed limit.

7. The system as described in claim 6, characterized in that, The location collision avoidance protection module is also used to: determine whether the vehicle is located on the sea side or the land side; if it is located on the land side, define the vehicle as a landside vehicle; if it is located on the sea side, define the vehicle as a seaside vehicle.

8. The system as described in claim 7, characterized in that, The position collision avoidance protection module is also used to: when the vehicle is a landside vehicle, determine the operating mode of the vehicle and the partner vehicle. If the driving directions on both sides are opposite, it is defined as driving towards each other. If the driving directions on both sides are the same and the vehicle speed is high, it is defined as chasing operation.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the anti-collision method for the automated rail crane trolley mechanism as described in any one of claims 1-5.

10. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the anti-collision method for the automated rail crane trolley mechanism as described in any one of claims 1-5.

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