Anti-collision system for multiple unmanned grab cranes for collaborative operation

Abstract

The utility model belongs to the technical field of automatic control of hoisting machinery, and particularly relates to an anti-collision system for a plurality of unmanned grab cranes for collaborative operation. Comprising an anti-collision unit between grab bucket cranes, an anti-collision unit between grab buckets of the grab bucket cranes and an aggregate bin wall, an anti-collision unit between the grab buckets and ground pedestrians, control units of the grab bucket cranes and a master control unit. During operation, the cart position detection device and the trolley position detection device continuously detect the positions of the cart and the trolley and transmit information to the grab crane control units and the master control unit, and the control units guarantee timely braking when the distances between the carts, between the cart and a pedestrian path and between the trolley and a guardrail are too close through coordination and cooperation. And collision is prevented.

Description

Technical Field

[0001] The utility model belongs to the technical field of automatic control of lifting machinery, and in particular relates to an anti-collision system for multiple unmanned grab bucket cranes for collaborative operation. Background Art

[0002] A large-scale pit mining filling and mixing station with an annual filling capacity of 140m 3 The supporting sand silo of the filling station is about 150 meters long and 30 meters wide. It transports about 2.4 million tons of filling aggregates such as ground sand, wind sand, and crushed stone annually. The transportation of filling aggregates is undertaken by 4 bridge grab cranes installed in the sand silo. At present, the grab cranes are randomly operated manually by post personnel. This operation mode exposes the following problems: 1. The grab crane cab has a small space and high labor intensity. The operator sits in front of the operating table for a long time and is prone to occupational diseases; 2. The grab crane cab is welded from steel plates with poor thermal insulation, cold in winter and hot in summer, and the working environment is poor; 3. The manual operation has a low level of automation, requires many personnel, has high operating costs, and the inherent safety level of the equipment is not high; 4. Because the filling aggregate contains mud and sand, there is a lot of dust on the operation site, which can easily cause occupational diseases to the operator.

[0003] In recent years, with the development of 5G + With the development of communication technology, computer technology, detection technology, frequency conversion technology and automatic control technology, the intelligent unmanned transformation of sand bin bridge grab cranes has become an effective way to improve the working environment of employees, improve labor efficiency, reduce labor intensity, reduce the number of operators, and reduce costs and increase efficiency. To achieve the automatic operation and unmanned operation of multiple bridge grab cranes operating in the same sand bin, it is necessary to study and solve the anti-collision problem between grab cranes, between grabs and aggregate bin walls, and between grabs and pedestrians on the ground. Therefore, the utility model integrates the preferred detection technology, automation technology and computer technology to develop a set of anti-collision control systems suitable for the automatic operation of multiple grab cranes filling sand bins, to avoid collisions during the automatic operation of grab cranes, and to create conditions for the unmanned transformation of bridge grab cranes. Utility Model Content

[0004] The purpose of the utility model is to provide an anti-collision system for multiple unmanned grab cranes for collaborative operation to solve the problems existing in the prior art. To achieve the above-mentioned invention purpose, the technical solution adopted by the utility model is:

[0005] A collision prevention system for multiple unmanned grab cranes for collaborative operation, comprising collision prevention units between grab cranes, collision prevention units between grab cranes and aggregate bin walls, collision prevention units between grab cranes and pedestrians on the ground, control units of grab cranes and a master control unit; both ends of a main beam of a large vehicle are movably mounted on a large vehicle track, a trolley is movably mounted on the main beam of the large vehicle, a grab bucket is escalably mounted at the bottom of the trolley, and the large vehicle track is perpendicular to the trolley track; the collision prevention units between grab cranes are mounted on the large vehicle to avoid collision between adjacent grab cranes; the grab buckets of each grab crane and the aggregate bin wall are connected to the trolley, and the trolley is ... The anti-collision unit is installed on the main beam of the trolley to avoid collision between each grab crane and the wall of the aggregate silo; the anti-collision unit between each grab crane and ground pedestrians is installed under the trolley to prevent ground personnel from mistakenly entering the grab crane operation area; the control unit of each grab crane is connected to the anti-collision unit between each grab crane, the anti-collision unit between the grab crane and the wall of the aggregate silo, and the anti-collision unit between each grab crane and ground pedestrians, and is used to collect the position information of the grab crane trolley and the trolley and memorize the distance information of two adjacent grab cranes; the general control unit is connected to the control units of each grab crane to regulate the entire system device.

[0006] Furthermore, the anti-collision unit between the grab cranes includes a laser ranging device, a mechanical anti-collision buffer device, a stroke limit device, a PLC controller and a trolley position detection device; the laser ranging device is installed on the main beam of the trolley of two adjacent grab cranes, and is used to detect the distance between the trolleys of two adjacent grab cranes; the output end of the laser ranging device is connected to the input end of the PLC controller; two pairs of mechanical anti-collision buffer devices are respectively installed at both ends of the main beam of the grab crane trolley, and are used to mitigate or release the impact force after the two grab cranes collide; the stroke limit device is installed on the grab end beam, and is used to prevent adjacent grab cranes from colliding, and the input end of the stroke limit device is connected to the output end of the PLC controller; the trolley position detection device is installed on the trolley, and is used to detect the moving position of the trolley.

[0007] Furthermore, the laser ranging device includes a laser emitting device and a laser reflecting plate; the laser emitting device and the laser reflecting plate are respectively arranged at adjacent ends of the main beams of two adjacent vehicles, and the laser emitting device emits laser to the reflecting plate and reflects it back to the laser emitting device.

[0008] Furthermore, the travel limit device 1 includes a travel limit switch and a trigger rod; multiple groups of the travel limit devices 1 are respectively installed on the grab end beams of the grab crane close to the adjacent grab cranes, and the travel limit devices on the adjacent grab end beams are arranged in a pair; the input end of the limit switch is connected to the output end of the PLC controller.

[0009] Furthermore, the trolley position detection device includes a radar positioning detection device and a radar reflector. The radar positioning detection device is installed at one end of the trolley track, the radar reflector is installed on the grab, and the radar positioning detection device is connected to the general control unit.

[0010] Furthermore, the anti-collision unit between each grab bucket and the aggregate silo wall includes a trolley position detection device and a stroke limit device 2; the trolley position detection unit is installed on the main beam of the trolley, and is used to detect the moving position of the trolley; the output end of the trolley position detection unit is connected to the input end of the trolley position detection unit; the stroke limit device 2 is installed at both ends of the trolley main beam to prevent the trolley from colliding with the trolley guardrail.

[0011] Furthermore, the trolley position detection device includes a laser rangefinder and a laser reflecting component; the laser rangefinder is installed on the main beam of the trolley, and the laser reflecting component is installed on the trolley. The laser output by the laser rangefinder is irradiated on the laser reflecting component and reflected back to the laser rangefinder.

[0012] Furthermore, the travel limit device 2 includes a limit switch 2 and a trigger rod 2; multiple groups of the travel limit device 2 are respectively installed at both ends of the trolley main beam; the input end of the limit switch 2 is connected to the output end of each grab crane control unit.

[0013] Furthermore, each grab bucket and ground pedestrian anti-collision unit includes a projection lamp and a radar positioning detection device; the projection lamp is installed under the trolley and projects colored light to the area below the grab bucket to prevent ground personnel from mistakenly entering the grab bucket crane operating area; the projection lamp input end is connected to the output end of each grab bucket crane control unit; the radar positioning detection device is installed at one end of the trolley track to detect the moving position of the trolley.

[0014] The utility model has the following beneficial effects:

[0015] The utility model provides an anti-collision system for multiple unmanned grab cranes for collaborative operation. The utility model comprehensively utilizes radar ranging technology, laser ranging technology, frequency conversion technology, 5G + We have developed an anti-collision control system that is suitable for the automatic operation of multiple grab cranes when filling aggregate silos by integrating communication technology, PLC technology, etc. This system is highly accurate, automated, and responsive, and can promptly avoid collisions when the grab cranes are in automatic operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall device;

[0017] Figure 2 It is a schematic diagram of the anti-collision unit between each grab crane;

[0018] Figure 3 It is a schematic diagram of the circuit connection relationship of the overall device;

[0019] Figure 4 It is the circuit diagram of each system. DETAILED DESCRIPTION

[0020] The following will be combined with the attached embodiment of the present utility model Figure 1-Figure 4 , the technical solutions in the embodiments of the utility model are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Unless otherwise specified, the technical means used in the embodiments are conventional means well known to those skilled in the art.

[0021] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0022] An anti-collision system for multiple unmanned grab cranes for collaborative operation, comprising anti-collision units between grab cranes, anti-collision units between grab cranes and aggregate bin walls, anti-collision units between grab cranes and pedestrians on the ground, control units of grab cranes and master control units;

[0023] Both ends of the main beam of the trolley are movably installed on the trolley track, the trolley is movably installed on the main beam of the trolley, the grab bucket is escalably installed at the bottom of the trolley, and the trolley track is perpendicular to the trolley track;

[0024] The anti-collision unit between the grab cranes is installed on the trolley to avoid collision between adjacent grab cranes; the anti-collision unit between the grab buckets of each grab crane and the wall of the aggregate silo is installed on the main beam of the trolley to avoid collision between the grab cranes and the wall of the aggregate silo; the anti-collision unit between each grab bucket and pedestrians on the ground is installed under the trolley to prevent ground personnel from mistakenly entering the working area of ​​the grab crane; the control unit of each grab crane is connected to the anti-collision unit between the grab cranes, the anti-collision unit between the grab buckets of each grab crane and the wall of the aggregate silo, and the anti-collision unit between each grab crane and pedestrians on the ground, and is used to collect the position information of the grab crane trolley and the trolley and memorize the distance information of two adjacent grab cranes; the general control unit is connected to the control units of each grab crane to regulate the entire system device.

[0025] The grab crane control units and the master control unit are both existing technologies, and a PLC controller can be selected, and an S7-15000 Siemens programmable controller can be selected. A 5G communication method is preferably used between the grab crane control units and the master control unit. This connection method allows each component to respond quickly, and each system can be controlled in time to prevent collisions between grab cranes.

[0026] The trolley, the trolley and the grab bucket are existing technologies. The trolley includes a main beam and a trolley track. The trolley track is distributed at both ends of the main beam. The main beam is suspended above the sand bin and moves along the length direction of the sand bin on the trolley track. The trolley track is provided with a motor, a rack and pinion and other components that drive the movement of the main beam. The trolley includes a grab bucket cab, a trolley track and a winch. The trolley track is provided along the length direction of the main beam. The grab bucket cab is provided on the trolley track. The movement of the grab bucket cab is achieved through components such as a motor, a rack and pinion. The winch is arranged at the bottom of the grab bucket cab. The winch is connected to the grab bucket to achieve the lifting and lowering of the grab bucket. The trolley, the trolley and the grab bucket together constitute the structure of the gantry crane. The trolley forms the crossbeam structure of the gantry crane, and the trolley is arranged on the crossbeam.

[0027] The anti-collision units between the grab cranes and the anti-collision units between the grab cranes and pedestrians on the ground can detect the moving positions of the carts in real time, and the anti-collision units between the grab cranes and the aggregate bin wall can detect the moving positions of the trolleys of the grab cranes in real time. Each unit collects the real-time position information of the trolley and the trolley of each grab crane, and then processes the three-dimensional position information through the PLC controller, monitors the distance information between the trolleys of each grab crane and the position information of the trolley on the trolley in real time, and combines the grabbing work instructions given to the grab crane by the sand bin feeding management control system and the operating status of each grab crane at that time. After comprehensive calculation, the PLC of each grab crane control system uniformly controls the reasonable operation of each grab crane to prevent collisions between adjacent grab cranes. When the relative distance between the trolleys reaches the threshold, an alarm will be issued. When the safe distance is reached, the PLC controller will control the grab crane's braking system to brake urgently to prevent collisions. Similarly, the PLC controller will also monitor the position of the trolley in real time, and issue a braking command when the trolley approaches the two ends of the track to prevent the trolley from colliding with the two ends of the track.

[0028] Furthermore, the anti-collision unit between the grab cranes includes a laser distance measuring device, a mechanical anti-collision buffer device, a travel limit device, a PLC controller and a trolley position detection device; the laser distance measuring device is installed on the main beam of two adjacent grab crane trolleys to detect the distance between the two adjacent grab crane trolleys; the output end of the laser distance measuring device is connected to the input end of the PLC controller. Two pairs of mechanical anti-collision buffer devices are installed at both ends of the main beam of the grab crane trolley respectively to mitigate or release the impact force after the collision of the two grab cranes; the travel limit device is installed on the end beam of the grab bucket to prevent the collision of adjacent grab cranes, and the input end of the travel limit device is connected to the output end of the PLC controller; the trolley position detection device is installed on the trolley to detect the moving position of the trolley. The mechanical anti-collision buffer device can be made of elastic and buffering materials such as springs and rubber.

[0029] Furthermore, the laser ranging device includes a laser emitting device and a laser reflecting plate; the laser emitting device and the laser reflecting plate are respectively arranged at adjacent ends of the main beams of two adjacent vehicles, and the laser emitting device emits laser to the reflecting plate and reflects it back to the laser emitting device.

[0030] The laser distance measuring device is an existing technology, such as laser distance measuring devices of models TS-4000F, SD-C1100, QL-SR1050, etc. The laser emitting device continuously emits signals to the laser reflector, and the distance between the two will change with the relative movement of the grab crane. By real-time monitoring of the distance change between the two, and transmitting the distance change information to the PLC controller, the PLC controller makes instructions according to the settings. When the detection distance between the two grab cranes is less than 5m, the PLC controller of each grab crane will control each grab crane to slow down and alarm. When the detection distance is less than 3m, the PLC controller of each grab crane will control each grab crane to stop running.

[0031] Furthermore, the travel limit device 1 includes a travel limit switch and a trigger rod; multiple groups of the travel limit devices 1 are respectively installed on the grab end beams of the grab crane close to the adjacent grab crane, and the travel limit devices on the adjacent grab end beams are arranged in a pair; the input end of the limit switch is connected to the output end of the PLC controller. When the distance between the two adjacent large trolleys is less than 1.4m, the two travel limit switches installed on the left or right ends of the trolley are triggered by the trigger rods installed on the adjacent grab crane, the travel switch is actuated, and the action signal is transmitted to the PLC controller of the grab crane, and the PLC controller controls the grab crane trolley drive system to lose power and the brake system to engage the brake to prevent the adjacent grab cranes from colliding.

[0032] The limit switch is a prior art one, preferably a LX33-12 single roller travel switch.

[0033] Furthermore, the trolley position detection device includes a radar positioning detection device and a radar reflector. The radar positioning detection device is installed at one end of the trolley track, the radar reflector is installed on the grab, and the radar positioning detection device is connected to the general control unit.

[0034] The radar positioning detection device and the radar reflector are existing technologies. The radar positioning detection device can be a radar rangefinder, such as models TF03, LK-G5000, RPLIDAR, etc.

[0035] Under the joint action of the radar positioning detection device and the radar reflector, the displacement change of the grab bucket (radar reflector) is measured. Since the radar positioning detection device is fixedly set, its output end is facing the movement direction of the trolley, so that the specific position of the grab bucket and the specific position of the trolley on the trolley track can be identified.

[0036] Furthermore, the anti-collision unit between each grab bucket and the aggregate silo wall includes a trolley position detection device and a stroke limit device 2; the trolley position detection unit is installed on the main beam of the trolley, and is used to detect the moving position of the trolley; the output end of the trolley position detection unit is connected to the input end of the trolley position detection unit; the stroke limit device 2 is installed at both ends of the trolley main beam to prevent the trolley from colliding with the trolley guardrail.

[0037] Furthermore, the trolley position detection device includes a laser rangefinder and a laser reflecting component; the laser rangefinder is installed on the main beam of the trolley, and the laser reflecting component is installed on the trolley. The laser output by the laser rangefinder is irradiated on the laser reflecting component and reflected back to the laser rangefinder.

[0038] The laser rangefinder and the laser reflecting component work together to measure the displacement change of the trolley (the laser reflecting component on the grab cab). Since the laser rangefinder is fixedly set, its output end faces the direction of movement of the trolley, so that the specific position of the trolley on the trolley track can be identified.

[0039] Furthermore, the travel limit device 2 includes a limit switch 2 and a trigger rod 2; multiple groups of the travel limit device 2 are respectively installed at both ends of the trolley main beam; the input end of the limit switch 2 is connected to the output end of each grab crane control unit.

[0040] The second travel limit device is installed at both ends of the trolley running track on the main beam, and the two limit switches are respectively installed on the left and right sides of the rear end of the trolley running track, 3m away from the rear end end beam of the grab crane trolley. When the trolley runs to the action area of ​​the travel limit switch at both ends of the trolley track, the trigger bar rolls the travel limit switch roller, the switch is actuated, and the action signal is transmitted to the PLC controller of the grab crane. The PLC controller controls the trolley drive device to lose power and the brake system to stop the car, thereby avoiding collision between the trolley and the trolley guardrail or the grab and the side wall of the aggregate bin.

[0041] Furthermore, each grab bucket and ground pedestrian anti-collision unit includes a projection lamp and a radar positioning detection device; the projection lamp is installed under the trolley and projects colored light to the area below the grab bucket to prevent ground personnel from mistakenly entering the grab bucket crane operating area; the projection lamp input end is connected to the output end of each grab bucket crane control unit; the radar positioning detection device is installed at one end of the trolley track to detect the moving position of the trolley.

[0042] When the grab crane is running, the projection lamp installed under the grab crane trolley automatically lights up and projects colored lights to the area below the grab crane to remind ground personnel who have mistakenly entered the grab crane operation area. At the same time, the master control unit continuously compares the position information of each grab crane with the pedestrian passage boundary data. When the difference between the two is less than 5m, the master control unit sends instructions to each grab crane control unit through 5G communication, causing the grab crane to slow down, sound the horn, and stop. The grab crane automatically stops when it approaches the area, realizing the isolation of man and machine, avoiding collision between man and machine, and causing personal injury.

[0043] Working process: When the grab crane is running on the track of the sand bin trolley, the radar positioning detection device installed at one end of the main beam of the trolley in the aggregate bin continuously transmits detection signals to the aggregate bin, and the radar reflector installed on the grab crane reflects the signal emitted by the transmitter to the radar positioning detection device. The radar positioning detection device measures the position of each grab crane in the aggregate bin by capturing the reflected signal, and sends the position information of the grab crane to the main control unit by communication. The main control unit calculates the grabbing work instructions given to the grab crane by the aggregate bin feeding management control system and the operating status of each grab crane at that time according to the specific position of each grab crane, and then controls the reasonable operation of each grab crane through the PLC of each grab crane control system to prevent collision between adjacent grab crane trolleys; at the same time, the laser ranging device installed on each grab crane trolley detects the distance between adjacent grab crane trolleys in real time, and transmits the detection data to each grab crane control unit through cables. When the detection distance between the two grab cranes is less than 5m, each grab crane control unit controls each The grab crane connects to the trolley deceleration relay and starts to decelerate. When the detection distance between the two grab cranes is less than 3m, the control unit of each grab crane controls the PLC to connect the trolley parking relay to stop the operation or wait. When the two protection links mentioned above fail to slow down and stop the grab crane as planned, the grab crane trolley continues to slide. When the distance between the two adjacent trolleys is less than 1.4m, the two limit switches installed on the left or right ends of the trolley are triggered by the trigger rods installed on the adjacent grab cranes, the travel switch is actuated, and the action signal is transmitted to the grab crane PLC controller. The PLC controller controls the grab crane trolley drive system to lose power and the brake system to prevent the adjacent grab cranes from colliding. When the system control and braking are not accurate, the grab cranes fail to decelerate and stop in time during the parking process, causing the grab crane trolley to slip on the trolley track. When the distance between the two adjacent grab cranes is less than 1.2m, the mechanical anti-collision buffer devices at the two ends of the main beams of the two grab crane trolleys slow down or release the impact force through contact to avoid harmful collisions.When the grab crane trolley runs on the trolley track, the laser distance measuring device installed at the front end of the trolley track detects the trolley position in real time, and transmits the detection data to the grab crane PLC controller through the cable. The PLC controller compares the trolley position with the position of the aggregate bin side wall preset in the PLC controller. When the trolley position differs from the position of the aggregate bin side wall by 3m, the trolley deceleration relay and the trolley parking relay are connected to control the trolley to decelerate and stop, so as to achieve collision prevention between the grab bucket and the side wall of the aggregate bin; the front and rear end travel limit devices of each grab crane trolley running track are used as redundant protection for the trolley travel limit. The two limit switches at the front end of the trolley running track are respectively installed on the left and right sides of the front end of the trolley running track at a distance of 1.5m from the front end beam of the grab crane trolley, and the two limit switches at the rear end of the trolley running track are respectively installed on the left and right sides of the rear end of the trolley running track at a distance of 3m from the rear end beam of the grab crane trolley. When the trolley runs to the action area of ​​the limit switches at both ends of the trolley track, the trigger The second trigger rod rolls over the second roller of the limit switch, the switch moves, and the action signal is uploaded to the PLC controller of the grab crane through the cable, which controls the grab crane trolley drive system to lose power, the brake system to engage, and the car stops, so as to avoid collision between the trolley and the truck guardrail or the grab and the side wall of the aggregate bin; when the grab crane is running, the projection lamp installed under the grab crane trolley automatically lights up, and projects colored lights to the area below the grab bucket to remind ground personnel to accidentally enter the grab crane operation area; at the same time, the main control unit continuously compares the grab crane position information with the sand bin pedestrian passage boundary data set in the system. When the difference between the two is less than 5m, the main control unit sends instructions to the PLC controller through 5G communication to control the grab crane to connect the trolley deceleration relay to slow down, the alarm relay to sound, and the trolley parking relay to stop, so as to avoid the grab crane from entering the area above the pedestrian passage on the left and right ends of the sand bin to operate, and realize automatic parking of the grab crane when it approaches the area, so as to achieve isolation between man and machine, avoid collision between man and machine, and cause personal injury.

[0044] In addition, the connection diagram of each module and single chip microcomputer of the utility model is as follows Figure 4 shown.

[0045] DO0 terminal is connected to the trolley deceleration relay

[0046] DO1 terminal is connected to the car deceleration relay

[0047] DO2 terminal is connected to the vehicle parking relay

[0048] DO3 terminal is connected to the car parking relay

[0049] DO4 terminal connected to the projection lamp

[0050] DO5 terminal connected to alarm relay

[0051] DI0 terminal is connected to the left limit switch of the trolley

[0052] DI1 terminal is connected to the right limit switch of the trolley

[0053] The left and right limit switches of the trolley are the specific implementation of the travel limit device 1.

[0054] DI2 terminal is connected to the front limit switch of the trolley

[0055] DI3 terminal is connected to the rear limit switch of the trolley

[0056] The left and right limit switches of the trolley are the specific implementation of the second travel limit device.

[0057] DI4 terminal is connected to the trolley position check switch

[0058] DI5 terminal is connected to the grab position check switch

[0059] AI0 terminal is connected to the right displacement laser rangefinder of the vehicle

[0060] AI1 end is connected to the left displacement laser rangefinder of the vehicle

[0061] The left and right side displacement laser rangefinders of the large vehicle are the specific implementation of the laser rangefinder.

[0062] AI2 end connects to the car displacement laser rangefinder

[0063] The trolley displacement laser rangefinder is a specific implementation of the trolley position detection device.

[0064] The input port of the high-speed counting board is connected to the grab position sensor

[0065] The embodiments described above are only descriptions of the preferred methods of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations, modifications, and substitutions made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. An anti-collision system for multiple unmanned grab cranes for collaborative operation, characterized in that: It includes anti-collision units between grab buckets, anti-collision units between grab buckets and aggregate bin walls, anti-collision units between grab buckets and pedestrians on the ground, control units of grab buckets and cranes, and a master control unit; Both ends of the main beam of the trolley are movably installed on the trolley track, the trolley is movably installed on the main beam of the trolley, the grab bucket is escalably installed at the bottom of the trolley, and the trolley track is perpendicular to the trolley track; The anti-collision unit between the grab cranes is installed on the trolley to avoid collision between adjacent grab cranes; the anti-collision unit between the grab crane and the aggregate silo wall is installed on the main beam of the trolley to avoid collision between the grab crane and the aggregate silo wall; the anti-collision unit between the grab crane and the pedestrian on the ground is installed under the trolley to prevent ground personnel from mistakenly entering the grab crane operation area; the control unit of each grab crane is connected to the anti-collision unit between the grab cranes, the anti-collision unit between the grab crane and the aggregate silo wall, and the anti-collision unit between the grab crane and the pedestrian on the ground, and is used to collect the position information of the grab crane trolley and the trolley to memorize the distance information of two adjacent grab cranes; The master control unit is connected to each grab crane control unit and is used to regulate the entire system device.

2. The anti-collision system for multiple unmanned grab cranes for collaborative operation according to claim 1, characterized in that: The anti-collision unit between the grab bucket cranes includes a laser distance measuring device, a mechanical anti-collision buffer device, a travel limit device, a PLC controller and a trolley position detection device; The laser distance measuring device is installed on the main beams of two adjacent grab crane trolleys and is used to detect the distance between the two adjacent grab crane trolleys; The output end of the laser distance measuring device is connected to the input end of the PLC controller; Two pairs of mechanical anti-collision buffer devices are respectively installed at the two ends of the main beam of the grab crane trolley to mitigate or release the impact force after the two grab cranes collide; The travel limit device 1 is installed on the grab bucket end beam to prevent collision between adjacent grab buckets, and the input end of the travel limit device 1 is connected to the output end of the PLC controller; The trolley position detection device is installed on the trolley and is used to detect the moving position of the trolley.

3. The anti-collision system for multiple unmanned grab cranes for collaborative operation according to claim 2, characterized in that: The laser distance measuring device comprises a laser emitting device and a laser reflecting plate; The laser emitting device and the laser reflecting plate are respectively arranged at adjacent ends of the main beams of two adjacent vehicles. The laser emitting device emits laser to the reflecting plate, and the laser is reflected back to the laser emitting device.

4. The anti-collision system for multiple unmanned grab cranes for collaborative operation according to claim 2, characterized in that: The travel limit device 1 includes a travel limit switch and a trigger rod; A plurality of sets of the travel limit devices are respectively installed on the grab bucket end beams of the grab bucket cranes close to the adjacent grab bucket cranes, and the travel limit devices on the adjacent grab bucket end beams are arranged in pairs; The limit switch input end is connected to the output end of the PLC controller.

5. The anti-collision system for multiple unmanned grab cranes for collaborative operation according to claim 2, characterized in that: The trolley position detection device includes a radar positioning detection device and a radar reflector. The radar positioning detection device is installed at one end of the trolley track, the radar reflector is installed on the grab bucket, and the radar positioning detection device is connected to the master control unit.

6. The anti-collision system for multiple unmanned grab cranes for collaborative operation according to claim 1, characterized in that: The anti-collision unit between each grab bucket and the aggregate silo wall includes a trolley position detection device and a travel limit device; The trolley position detection unit is installed on the main beam of the vehicle and is used to detect the moving position of the trolley; The output end of the trolley position detection unit is connected to the input end of the trolley position detection unit; The travel limit device 2 is installed at both ends of the main beam of the large vehicle to prevent the small vehicle from colliding with the guardrail of the large vehicle.

7. The anti-collision system for multiple unmanned grab cranes for collaborative operation according to claim 6, characterized in that: The trolley position detection device includes a laser rangefinder and a laser reflection component; The laser rangefinder is installed on the main beam of the large vehicle, and the laser reflecting component is installed on the small vehicle. The laser output by the laser rangefinder irradiates the laser reflecting component and is reflected back to the laser rangefinder.

8. The anti-collision system for multiple unmanned grab cranes for collaborative operation according to claim 6, characterized in that: The second travel limit device comprises a second limit switch and a second trigger rod; A plurality of sets of travel limit devices 2 are respectively installed at both ends of the main beam of the trolley; The input end of the second limit switch is connected to the output end of each grab crane control unit.

9. The anti-collision system for multiple unmanned grab cranes for collaborative operation according to claim 1, characterized in that: Each grab bucket and ground pedestrian anti-collision unit includes a projection lamp and a radar positioning detection device; The projection lamp is installed under the trolley and projects colored light to the area under the grab bucket to prevent ground personnel from mistakenly entering the grab bucket crane operation area; The input end of the projection lamp is connected to the output end of each grab crane control unit; The radar positioning detection device is installed at one end of the trolley track and is used to detect the moving position of the trolley.

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