Anti-collision system for shore and field bridge cart

Abstract

The utility model belongs to the technical field of port mechanical equipment, and particularly relates to an anti-collision system for a shore and field bridge cart, which comprises a multi-line laser radar group arranged at four door legs of a shore bridge or a field bridge and used for detecting a track and surrounding obstacles; the laser range finder is matched with the multi-line laser radar group and assists in detecting the obstacle distance; the calculation unit is used for receiving and processing detection data of the multi-line laser radar group and the laser range finder and generating an early warning signal; and the control system controls the cart to slow down or stop according to the early warning signal. According to the utility model, the multi-line laser radar detects obstacles 7 m ahead of time and triggers deceleration, and triggers stop 5 m ahead of time, so that the traditional'braking after collision 'mode is thoroughly changed, 'hard-to-hard' physical contact is eliminated, and the structural damage of the crane body, the buffer rod and the obstacles is avoided.

Description

Technical Field

[0001] This utility model belongs to the technical field of port machinery and equipment, specifically relating to a collision avoidance system for large vehicles on shore and yard bridges. Background Technology

[0002] The original anti-collision system for shore and yard cranes used proximity switches (or limit switches) at both ends (four corners) of the trolley and anti-collision buffer bars for protection. When the shore or yard crane was moving, if an obstacle collided with the anti-collision buffer bar, the buffer bar would shift, triggering the proximity switch (or limit switch), and the shore or yard crane would stop moving. Under this anti-collision system, when the shore or yard crane stopped moving, it had actually already collided with the obstacle, resulting in a "hard-on-hard" impact. It did not provide the intended anti-collision protection function. Furthermore, due to the enormous inertia of such large equipment as shore or yard cranes, it was very likely that the anti-collision buffer bars and other parts of the shore or yard crane structure had already been damaged, or the obstacle had been damaged. Utility Model Content

[0003] The purpose of this utility model is to provide a collision avoidance system for large vehicles on shore and yard bridges to solve the problems existing in the prior art.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a collision avoidance system for large vehicles on shore and yard bridges, comprising:

[0005] Multi-line lidar arrays are installed at the four gantry legs of the quay crane or yard crane to detect obstacles on the track and in the surrounding area.

[0006] A laser rangefinder, in conjunction with the multi-line lidar array, assists in detecting the distance to obstacles;

[0007] The computing unit receives and processes the detection data from the multi-line lidar group and the laser rangefinder, and generates an early warning signal;

[0008] The control system controls the trolley to decelerate or stop based on the warning signal.

[0009] The installation location of the multi-line lidar group meets the following requirements:

[0010] (1) The radar field of view does not include the buffer column;

[0011] (2) The effective detection distance of obstacles in front of the buffer post is ≥5m;

[0012] (3) Minimize the blind zone range.

[0013] Preferably, the installation angle and height of the multi-line lidar group are determined by the following parameters:

[0014] The angle θ between the uppermost line of the radar and the horizontal line is ≥30.33°;

[0015] The angle θ between the lowest radar line and the horizontal line is ≤2160° (adjusted according to the actual equipment).

[0016] The installation height H meets the requirement that the obstacle detection height is ≥1.37m.

[0017] Preferably, the software architecture of the computing unit includes:

[0018] The point cloud preprocessing module is used for filtering, rain and fog removal, and region of interest selection.

[0019] The obstacle detection module detects obstacles through point cloud segmentation and clustering, and target tracking.

[0020] The warning level judgment module outputs a warning signal by combining a preset threshold and the location information of adjacent cranes.

[0021] Preferably, the warning signal includes:

[0022] A deceleration signal is triggered when the distance to the obstacle is 7m.

[0023] A stop signal is triggered when the distance to the obstacle is 5m.

[0024] Preferably, the multi-line lidar group communicates with the computing unit via a network port, and the laser rangefinder communicates via a serial port.

[0025] The beneficial effects of this invention are as follows: This invention uses multi-line lidar to detect obstacles 7m in advance and trigger deceleration, and triggers a stop 5m in advance, completely changing the traditional "braking after collision" mode, eliminating "hard-on-hard" physical contact, and avoiding structural damage to the crane body, buffer rod, and obstacles. By setting graded braking thresholds (7m deceleration → 5m stop) based on the crane's inertial characteristics, it ensures smooth braking even when large equipment is running at high speed, preventing the risk of mechanical component overload or cargo slippage due to emergency braking. The multi-line lidar works in conjunction with a laser rangefinder to construct a three-dimensional detection network, effectively filtering out interference from rain, fog, reflectors, etc. (e.g., through a point cloud preprocessing module), reducing false alarm rates, and covering radar blind spots (e.g., low obstacles on the side of the track). Compared with traditional anti-collision systems, this solution advances accident prevention time by at least 2 seconds (calculated based on a crane travel speed of 25m / min), reduces impact force by more than 80%, and, according to actual measurements, reduces collision accidents by 90%, extending equipment maintenance cycles by more than 3 times. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of this utility model;

[0027] Figure 2 This is a schematic diagram of the installation principle of the multi-line lidar group in this utility model. Detailed Implementation

[0028] It should be noted that, without conflict, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0029] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0030] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixed connection," and "fixed connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0031] The specific embodiments of this utility model are described in detail below with reference to the accompanying drawings and preferred embodiments.

[0032] like Figure 1 As shown, a collision avoidance system for large vehicles on shore and yard bridges mainly consists of a multi-line lidar array, a laser rangefinder, a computing unit, and a control system. It achieves its collision avoidance function through a reasonable installation layout, effective data processing, and control logic. The specific implementation steps are as follows:

[0033] like Figure 2As shown, the multi-line lidar array is installed at the four gantry legs of the quay crane or yard crane. During installation, it must be ensured that the radar's field of view does not include buffer pillars, the effective detection distance for obstacles in front of the buffer pillars is ≥5m, and the blind zone is minimized. For quay crane installation, the angle θ between the uppermost line and the horizontal line should be adjusted to ≥30.33°, and the angle θ between the lowermost line and the horizontal line should be ≤2160° (adjusted according to the actual equipment). The installation height H should meet the obstacle detection height requirement of ≥1.37m. The installation method for yard cranes is similar, but the position needs to be optimized based on its own gantry structure. Laser rangefinders are installed in conjunction with the lidar array to assist in detecting obstacle distances.

[0034] In terms of hardware connectivity, the multi-line lidar array communicates with the computing unit via Ethernet, while the laser rangefinder transmits data via serial port. After receiving the data, the computing unit performs filtering, rain / fog removal, and region of interest selection on the point cloud. The obstacle detection module identifies obstacles through point cloud segmentation and clustering, and target tracking. The warning level judgment module outputs a warning signal based on a preset threshold (deceleration at 7m / stop at 5m) and the position information of adjacent cranes. Upon receiving the signal, the control system triggers deceleration of the trolley at 7m and a stop at 5m, achieving precise braking through PLC control.

[0035] During system debugging, it is necessary to simulate obstacle scenarios at different distances to verify the deceleration / stop signal triggering logic. Based on the test results, the algorithm parameters or hardware layout should be optimized to ensure detection accuracy and communication stability. This solution effectively avoids the "hard-on-hard" collision problem of traditional collision avoidance systems through graded control with a 7m early warning and a 5m braking distance.

[0036] It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model.

Claims

1. A shore, gantry trolley anti-collision system, characterized in that, include: Multi-line lidar arrays are installed at the four gantry legs of the quay crane or yard crane to detect obstacles on the track and in the surrounding area. A laser rangefinder, in conjunction with the multi-line lidar array, assists in detecting the distance to obstacles; The computing unit receives and processes the detection data from the multi-line lidar group and the laser rangefinder, and generates an early warning signal; The control system controls the trolley to decelerate or stop based on the warning signal. The installation location of the multi-line lidar group meets the following requirements: (1) The radar field of view does not include the buffer column; (2) The effective detection distance of obstacles in front of the buffer post is ≥5m; (3) Minimize the blind zone.

2. The collision avoidance system of claim 1, wherein, The installation angle and height of the multi-line lidar array are determined by the following parameters: The angle θ between the uppermost line of the radar and the horizontal line is ≥30.33°; The angle θ between the lowest radar line and the horizontal line is ≤2160°; The installation height H meets the obstacle detection height requirement of ≥1.37m.

3. The collision avoidance system of claim 1, wherein, The software architecture of the computing unit includes: The point cloud preprocessing module is used for filtering, rain and fog removal, and region of interest selection. The obstacle detection module detects obstacles through point cloud segmentation and clustering, and target tracking. The warning level judgment module outputs a warning signal by combining a preset threshold and the location information of adjacent cranes.

4. The collision avoidance system of claim 1, wherein, The warning signals include: A deceleration signal is triggered when the distance to the obstacle is 7m. A stop signal is triggered when the distance to the obstacle is 5m.

5. The collision avoidance system of claim 1, wherein, The multi-line lidar group communicates with the computing unit via a network port, and the laser rangefinder communicates via a serial port.

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