Multi-device operation anti-collision system based on millimeter wave radar sensor

Abstract

A multi-equipment operation anti-collision system based on millimeter wave radar sensors comprises a master control cab anti-collision system information display system, the master control cab anti-collision system information display system is electrically connected with a rotary crane anti-collision subsystem, and the rotary crane anti-collision subsystem is electrically connected with a radar array and a signal acquisition module. The signal acquisition module is electrically connected with the rotation angle sensor and the lifting hook height sensor. The anti-collision device can effectively avoid collision danger existing in the portal crane rotating mechanisms of the same track or different tracks, avoids equipment loss and safety accidents, can set anti-collision of multiple portal crane equipment and anti-collision among multiple portal crane equipment rotating cranes according to operation conditions of field equipment, and improves the safety of the portal crane equipment. And a group anti-collision control system can be achieved through data interaction.

Description

TECHNICAL FIELD

[0001] The utility model belongs to mobile hoisting equipment field, especially relate to a kind of multi-device operation anti-collision system based on millimeter wave radar sensor. BACKGROUND

[0002] Three mobile portal hoist equipment, two small two-way portal machines share track, 1 large two-way portal machine independent track, there is collision danger in the same track and different track portal machine slewing mechanism in use process, cause equipment loss and safety accident, need to set up the anti-collision of two-way portal machine of two same tracks and the anti-collision between the slewing crane of two-way portal machine of different tracks according to the field equipment operating condition, and can be interacted by data to reach group anti-collision control system.

[0003] Therefore, the main technical problem to be solved by the utility model is: when multiple large hoisting equipment (such as main portal machine and small two-way portal machine) work cooperatively, how to effectively prevent the collision accidents between these equipment. SUMMARY

[0004] The technical problem to be solved by the utility model is to provide a kind of multi-device operation anti-collision system based on millimeter wave radar sensor, which can effectively avoid the collision danger of the same track or different track portal machine slewing mechanism, avoid causing equipment loss and safety accident, can set up the anti-collision of multiple portal machines and the anti-collision between the slewing crane of multiple portal machines according to the field equipment operating condition, and can be interacted by data to reach group anti-collision control system.

[0005] To solve the above technical problems, the technical scheme adopted by the utility model is:

[0006] A kind of multi-device operation anti-collision system based on millimeter wave radar sensor, including main control cab anti-collision system information display system, main control cab anti-collision system information display system is electrically connected with slewing crane anti-collision subsystem, slewing crane anti-collision subsystem is electrically connected with radar array and signal acquisition module respectively, signal acquisition module is electrically connected with slewing angle sensor and hook height sensor respectively.

[0007] Preferably, slewing crane anti-collision subsystem includes left slewing crane anti-collision subsystem and right slewing crane anti-collision subsystem, main control cab anti-collision system information display system is electrically connected with left slewing crane anti-collision subsystem and right slewing crane anti-collision subsystem respectively, left slewing crane anti-collision subsystem and right slewing crane anti-collision subsystem are interconnected by signal distributor.

[0008] Preferably, signal distributor is electrically connected with car travel sensor.

[0009] Preferably, left slewing crane anti-collision subsystem and right slewing crane anti-collision subsystem are both connected with data radio.

[0010] Preferably, the radar array comprises a plurality of millimeter wave radar sensors, which are installed at the highest point of the portal frame of the small bidirectional gantry crane near the side of the main gantry crane, and at the trolley room of the small bidirectional gantry crane near the side of the main gantry crane.

[0011] Preferably, the laser anti-collision sensor is installed on the running area of the small bidirectional gantry crane.

[0012] Preferably, the millimeter wave radar sensors are installed on both sides of the rotary suspension arm frame of the main gantry crane.

[0013] Preferably, the anti-collision system of the main control cab is installed in the main control cab of the main gantry crane, the hook height sensor is installed on the hook of the main gantry crane, and the rotation angle sensor is installed on the rotating seat of the main gantry crane.

[0014] The utility model can achieve the following beneficial effects:

[0015] 1. When any one of the two small bidirectional gantry cranes runs to the proximity of the main gantry crane, the small bidirectional gantry crane can detect the collision area distance position of the main gantry crane, and immediately starts the collision direction action control; at the same time, data is sent to the relative gantry (main gantry crane) through wireless communication, and the relative collision direction action control is also started, the two gantries cannot run in the relative direction, but can run in the opposite direction. When the main gantry crane rotates to the locking position or the small bidirectional gantry crane runs to the anti-collision safety distance, the anti-collision control of the two gantries is released.

[0016] 2. When the main gantry crane rotates to the proximity of any one of the two small bidirectional gantry cranes, the main gantry crane can detect the collision area distance position of the small bidirectional gantry crane, and immediately starts the collision direction action control; at the same time, data is sent to the relative gantry (small bidirectional gantry crane) through wireless communication, and the relative collision direction action control is also started, the two gantries cannot run in the relative direction, but can run in the opposite direction. When the main gantry crane rotates to the locking position or the small bidirectional gantry crane runs to the anti-collision safety distance, the anti-collision control of the two gantries is released. 3. The anti-collision between the two small bidirectional gantry cranes, when any one of the two gantries detects the distance position of the opposite direction, the anti-collision control system immediately gives the control of the opposite direction of the gantry, and at the same time, data is sent to the opposite small bidirectional gantry crane through wireless communication, and the relative collision direction action control is also started, the two gantries cannot run in the relative direction, but can run in the opposite direction. When the two small bidirectional gantries run to the anti-collision safety distance, the anti-collision control of the two gantries is released. BRIEF DESCRIPTION OF DRAWINGS

[0017] The utility model will be further described in connection with the drawings and embodiments:

[0018] Figure 1 The system connection diagram of the utility model;

[0019] Figure 2 The installation schematic diagram of the utility model

[0020] Figure 3 The signal transmission schematic diagram of the laser ranging sensor and the millimeter wave radar sensor of the utility model. DETAILED DESCRIPTION

[0021] Embodiment 1:

[0022] According to the distance between the two tracks on the dam surface and the structure size of the portal crane, the equipment cross working area range is determined, and the three-dimensional space of the portal crane is positioned in a three-coordinate positioning mode.

[0023] The large bidirectional portal crane is set as the main portal crane, when any one of the portal cranes is in the cross working area, the working travel or rotation range of the other portal cranes is limited through coordinates. In order to avoid collision between the portal crane and the equipment during the lifting of the hook, the running space area of the hook is limited through the relative coordinates of the real-time height (Z) direction of the hook detected by the sensor and the equipment; the millimeter wave radar sensors are installed on both sides of the rotary arm of the main portal crane, and the millimeter wave radar sensors are assisted by the calculation of the main machine and the software, which is to actively detect the obstacles entering the detection area, so as to prevent the boom and the hook from colliding with the small bidirectional portal crane.

[0024] The equipment is equipped with position detection, information exchange system, operation processing system and man-machine interaction system; the position sensor is installed on the corresponding equipment.

[0025] Collision avoidance system is constructed:

[0026] 1. Laser anti-collision sensors are installed on the walking area surface of the two small bidirectional portal cranes facing each other on the same track;

[0027] 2. Millimeter wave radar sensors are installed at the highest point of the portal frame on the side of the small bidirectional portal crane close to the main portal crane, and millimeter wave radar sensors are installed on the side of the small bidirectional portal crane trolley room close to the main portal crane;

[0028] 3. Millimeter wave radar sensors are installed on both sides of the rotary arm of the main portal crane;

[0029] 4. The hook height sensor and the rotation sensor are increased to detect the height, horizontal position (X / Y / Z axis space range) of the hook, establish the networking of the equipment, and communicate with each other;

[0030] 5. Millimeter wave radar sensors are installed at important parts of the small bidirectional portal crane and the main portal crane to prevent collision between the equipment and the equipment and large buildings.

[0031] The system needs to limit the operation space of the door machine through three coordinates according to the corresponding spatial coordinate range. The data exchange between devices achieves the anti-collision purpose between each other.

[0032] The millimeter wave radar sensor is used between the door machine (including the main door machine and the small bidirectional door machine) and the object to detect the horizontal distance obstacle. Through data feedback, the horizontal two sides of the arm rod are monitored to prevent collision. The anti-collision relationship is established between the door machines, and the data is exchanged. The operation space of the door machine is limited through three coordinates, so as to avoid collision between the door machines.

[0033] The anti-collision system is achieved by networking between the main door machine and the two small bidirectional door machines, and the data is exchanged between each other. The position of the door machine on the XYZ axis is detected through the corresponding sensor, and the area where the door machine is located and the anti-collision range are displayed in real time through the calculation of the system software. The millimeter wave radar sensor is used to increase the horizontal anti-collision of the device and the large obstacle, which is a direct way without data exchange and fast processing speed. The complementary form is adopted to achieve omnidirectional anti-collision.

[0034] The latest millimeter wave radar sensor is used in this embodiment. It actively detects the obstacle entering the detection area, sends an alarm information to the main control room, so that the operator can take measures to avoid in time, or provides a control signal to directly instruct the lifting equipment. The data is connected through CAN signal, and the data connection is stable. The horizontal distance obstacle is detected through data feedback, the horizontal two sides of the arm rod are detected, and the collision with buildings and other lifting equipment is prevented.

[0035] The millimeter wave radar sensor installed on the rotating arm of the door machine is fixed on the arm through a U-shaped clamp. The sensor is installed on the arm, the data is connected, and the relative distance is set. Then it can be used. The millimeter wave radar sensor has flexible installation position and is suitable for various anti-collision application platforms. According to the application requirements, 12 or more modules can be installed to emit low-power electromagnetic beams around to capture the return signal and calculate the distance, speed and angle of the obstacle. Through the calculation of the host, early warning is achieved to prevent collision.

[0036] Hardware device

[0037] 1. Hardware configuration of a small bidirectional door machine

[0038] ① One set of industrial control host: used for processing the position signal of the sensor, processing data and data exchange between other door machines.

[0039] ② One industrial computer display screen: displays the parameters of the millimeter wave radar sensor, anti-collision range and alarm parameter setting.

[0040] ③ Touch screen 1: used to display the dynamic position and state of the anti-collision system.

[0041] ④ Data acquisition processor 1: with sensor signal acquisition and processing.

[0042] ⑤ Wireless communication equipment 1 set: based on wireless bridge communication; used for data exchange between door machines.

[0043] ⑥ Laser sensor for large car 1: used to detect the distance and position between two cars.

[0044] ⑦ Car travel encoder 1: used to detect the travel position of the car.

[0045] ⑧ Millimeter wave radar sensor 10: used to detect the distance between the equipment and objects on both sides of the door machine.

[0046] ⑨ CAN conversion module 2 sets: used to process data between millimeter wave radar sensors.

[0047] ⑩ Control box 1: used for anti-collision system control signal output.

[0048] 2, Hardware configuration of the door machine:

[0049] ① Industrial control host 2 sets: used to process sensor position signals, process data and data exchange between other door machines.

[0050] ② Industrial control machine display screen 2: display millimeter wave radar sensor parameters, anti-collision range; alarm parameter setting.

[0051] ③ Touch screen 2: used to display the dynamic position and state of the anti-collision system.

[0052] ④ Data acquisition processor 2: used for all sensor signal acquisition and processing.

[0053] ⑤ Wireless communication equipment 2 sets: based on 5G wireless bridge communication; used for data exchange between door machines

[0054] ⑥ Height encoder 2: used to detect the height position of the hook.

[0055] ⑦ Rotary encoder 2: used to detect the rotary position of the door machine.

[0056] ⑧ Large car travel encoder 2: used to detect the travel position of the large car.

[0057] ⑨ Sensor signal conversion module 2 sets: used to process data between millimeter wave radar sensors.

[0058] ⑩ Millimeter wave radar sensor 24: used to detect the distance between the equipment and objects.

[0059] Control box 2: for anti-collision system control signal output.

[0060] The above-mentioned embodiments are only preferred technical solutions of the present application, and should not be regarded as limitations of the present application. The protection scope of the present application should be based on the technical solutions recorded in the claims, including the equivalent replacement solutions of the technical features recorded in the claims. That is, the equivalent replacement improvements within this range are also within the protection scope of the present application.

Claims

1. A multi-device collision avoidance system based on millimeter-wave radar sensors, characterized in that: It includes a main control cab anti-collision system information display system, which is electrically connected to the slewing crane anti-collision subsystem. The slewing crane anti-collision subsystem is electrically connected to the radar array and the signal acquisition module, respectively. The signal acquisition module is electrically connected to the slewing angle sensor and the hook height sensor, respectively.

2. The multi-device collision avoidance system based on millimeter-wave radar sensors according to claim 1, characterized in that: The slewing crane anti-collision subsystem includes a left slewing crane anti-collision subsystem and a right slewing crane anti-collision subsystem. The main control cab anti-collision system information display system is electrically connected to the left slewing crane anti-collision subsystem and the right slewing crane anti-collision subsystem, respectively. The left slewing crane anti-collision subsystem and the right slewing crane anti-collision subsystem are interconnected through a signal distributor.

3. A multi-device collision avoidance system based on a millimeter-wave radar sensor according to claim 2, characterized in that: The signal distributor is electrically connected to the trolley travel sensor.

4. A multi-device collision avoidance system based on a millimeter-wave radar sensor according to claim 2, characterized in that: Both the left-hand slewing crane anti-collision subsystem and the right-hand slewing crane anti-collision subsystem are connected to the data radio.

5. A multi-device collision avoidance system based on a millimeter-wave radar sensor according to claim 1, characterized in that: The radar array includes multiple millimeter-wave radar sensors, which are installed at the highest point of the gantry on the side of the small bidirectional gantry crane closest to the main gantry crane, and also on the side of the small bidirectional gantry crane trolley room closest to the main gantry crane.

6. A multi-device collision avoidance system based on a millimeter-wave radar sensor according to claim 5, characterized in that: The travel area of ​​the small bidirectional gantry crane is equipped with laser anti-collision sensors.

7. A multi-device collision avoidance system based on a millimeter-wave radar sensor according to claim 5, characterized in that: Millimeter-wave radar sensors are installed on both sides of the slewing boom of the main gantry crane.

8. A multi-device collision avoidance system based on a millimeter-wave radar sensor according to claim 5, characterized in that: The main control cab anti-collision system is installed in the main control cab of the gantry crane, the hook height sensor is installed on the hook of the gantry crane, and the slewing angle sensor is installed on the swivel of the gantry crane.

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