A vertical arm space anti-collision system of an en-masse ship unloader

Abstract

The application discloses a vertical arm space anti-collision system of an en-masse ship unloader, comprising: a plurality of solid-state laser radars, wherein the first, second, third and fourth solid-state laser radars are respectively used for scanning obstacles on the left side, right side, front side and back side of the vertical arm to obtain first, second, third and fourth point cloud data; a plurality of sensors, wherein the first and second sensors are respectively used for acquiring the luffing angle, slewing angle and arm frame telescoping amount of the vertical arm; a data processing module is used for fusing the point cloud data and the luffing angle, slewing angle and arm frame telescoping amount of the vertical arm to judge the distance between the left side, right side and back side of the vertical arm and the obstacles; and an execution control module is used for issuing a warning signal, a speed reduction signal or a shutdown signal according to the judgment result. The vertical arm space anti-collision system of the en-masse ship unloader provided by the application realizes full-motion trajectory space anti-collision of the vertical arm by fusing the data of the plurality of solid-state laser radars and the plurality of sensors.

Description

Technical Field

[0001] This application relates to the field of buried scraper unloaders, and more particularly to a space anti-collision system for the vertical arm of a buried scraper unloader. Background Technology

[0002] The vertical arm of the scraper unloader is the core load-bearing and conveying component of the entire machine, and its safety directly affects the stability of equipment operation, personnel safety, and work efficiency. Current technologies typically rely on mechanical limit switches or a single laser rangefinder to monitor obstacles, but these can only monitor fixed directions or extreme positions, failing to cover the entire spatial range of the vertical arm's movement.

[0003] Therefore, it is necessary to provide a space collision avoidance system for the vertical arm of a buried scraper unloader to solve the above problems. Utility Model Content

[0004] This application provides a spatial anti-collision system for the vertical arm of a buried scraper unloader, which achieves spatial anti-collision throughout the entire motion trajectory of the vertical arm by integrating data acquired from multiple solid-state lidar and multiple sensors.

[0005] This application provides a space collision avoidance system for the vertical arm of a buried scraper unloader, comprising: Multiple solid-state lidars are provided, wherein a first solid-state lidar is positioned horizontally on the left side of the vertical arm, a second solid-state lidar is positioned horizontally on the right side of the vertical arm, a third solid-state lidar is positioned on the front side of the vertical arm, and a fourth solid-state lidar is positioned on the rear side of the vertical arm. The first solid-state lidar is used to scan obstacles in the horizontal direction on the left side of the vertical arm to obtain first point cloud data, the second solid-state lidar is used to scan obstacles in the horizontal direction on the right side of the vertical arm to obtain second point cloud data, the third solid-state lidar is used to scan obstacles in the front side of the vertical arm to obtain third point cloud data, and the fourth solid-state lidar is used to scan obstacles in the rear side of the vertical arm to obtain fourth point cloud data. Multiple sensors, wherein the first sensor is used to obtain the amplitude angle and slewing angle of the vertical arm, and the second sensor is used to obtain the boom extension amount of the vertical arm; The data processing module is electrically connected to the plurality of solid-state lidars and the plurality of sensors respectively. The data processing module is used to fuse the first point cloud data, the second point cloud data, the third point cloud data, the fourth point cloud data, and the amplitude angle, rotation angle, and boom extension of the vertical arm to determine the distances between the left, right, front, and rear sides of the vertical arm and the obstacles respectively. An execution control module is electrically connected to the data processing module. The execution control module is used to issue a warning signal, a deceleration signal, or a stop signal based on the judgment result of the data processing module.

[0006] Preferably, it also includes a lens dirt monitoring module, which is used to monitor the lenses of the first solid-state lidar, the second solid-state lidar, the third solid-state lidar and the fourth solid-state lidar for dirt cleaning.

[0007] Preferably, it also includes a heating and defogging module, which is used to heat and defog the lenses of the first solid-state lidar, the second solid-state lidar, the third solid-state lidar and the fourth solid-state lidar in a low-temperature environment.

[0008] Preferably, the first sensor is an angle sensor and the second sensor is a displacement sensor.

[0009] Preferably, the housings of the first, second, third, and fourth solid-state lidars are made of 316L stainless steel.

[0010] Preferably, the lenses of the first, second, third, and fourth solid-state lidars are made of sapphire glass.

[0011] Preferably, the cable interfaces of the first, second, third, and fourth solid-state lidars are waterproof aviation plugs, and the cable interfaces are covered with silicone sealant.

[0012] This application offers the following advantages over existing technologies: The vertical arm anti-collision system for a scraper unloader provided in this application includes: multiple solid-state lidars, wherein a first solid-state lidar is positioned horizontally on the left side of the vertical arm, a second solid-state lidar is positioned horizontally on the right side of the vertical arm, a third solid-state lidar is positioned on the front side of the vertical arm, and a fourth solid-state lidar is positioned on the rear side of the vertical arm. The first solid-state lidar is used to scan obstacles on the left side of the vertical arm to obtain first point cloud data; the second solid-state lidar is used to scan obstacles on the right side of the vertical arm to obtain second point cloud data; the third solid-state lidar is used to scan obstacles on the front side of the vertical arm to obtain third point cloud data; and the fourth solid-state lidar is used to scan the vertical arm... The system includes: a rear obstacle detection module for acquiring fourth point cloud data; multiple sensors, including a first sensor for acquiring the amplitude and rotation angles of the vertical arm, and a second sensor for acquiring the boom extension / retraction amount of the vertical arm; a data processing module electrically connected to the multiple solid-state lidars and the multiple sensors, which fuses the first, second, third, and fourth point cloud data with the amplitude, rotation, and boom extension / retraction amounts of the vertical arm to determine the distances between the left, right, front, and rear sides of the vertical arm and the obstacles; and an execution control module that issues warning signals, deceleration signals, or stop signals based on the judgment results of the data processing module. By fusing data from multiple solid-state lidars and multiple sensors, the system achieves full-trajectory spatial collision avoidance for the vertical arm. Furthermore, it also includes a lens dirt monitoring module, which is used to monitor the lenses of the first solid-state lidar, the second solid-state lidar, the third solid-state lidar and the fourth solid-state lidar for dirt cleaning, thereby ensuring the light transmittance of the lenses of multiple solid-state lidars. Furthermore, it also includes a heating and defogging module, which is used to heat and defog the lenses of the first, second, third, and fourth solid-state lidars in a low-temperature environment, thereby ensuring the detection accuracy of multiple solid-state lidars. Attached Figure Description

[0013] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0014] Figure 1 This is a schematic diagram of the structure of a space anti-collision system for the vertical arm of a buried scraper unloader according to an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a space anti-collision system for the vertical arm of a buried scraper unloader according to another embodiment of this application.

[0015] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0016] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0017] This application provides a spatial anti-collision system for the vertical arm of a buried scraper unloader, which achieves spatial anti-collision throughout the entire motion trajectory of the vertical arm by integrating data acquired from multiple solid-state lidar and multiple sensors.

[0018] Figure 1 This is a schematic diagram of the structure of a space anti-collision system for the vertical arm of a buried scraper unloader according to an embodiment of this application; Figure 2 This is a schematic diagram of a space collision avoidance system for the vertical arm of a buried scraper unloader, according to another embodiment of this application. Now refer to... Figure 1 and Figure 2 This application provides a space collision avoidance system for the vertical arm of a buried scraper unloader, comprising: Multiple solid-state lidars 11 are provided, wherein a first solid-state lidar 111 is disposed on the left horizontal direction of the vertical arm, a second solid-state lidar 112 is disposed on the right horizontal direction of the vertical arm, a third solid-state lidar 113 is disposed on the front side of the vertical arm, and a fourth solid-state lidar 114 is disposed on the rear side of the vertical arm. The first solid-state lidar 111 is used to scan obstacles on the left horizontal direction of the vertical arm to obtain first point cloud data, the second solid-state lidar 112 is used to scan obstacles on the right horizontal direction of the vertical arm to obtain second point cloud data, the third solid-state lidar 113 is used to scan obstacles on the front side of the vertical arm to obtain third point cloud data, and the fourth solid-state lidar 114 is used to scan obstacles on the rear side of the vertical arm to obtain fourth point cloud data. Multiple sensors 12, wherein the first sensor 121 is used to acquire the amplitude angle and slewing angle of the vertical arm, and the second sensor 122 is used to acquire the boom extension amount of the vertical arm; The data processing module 2 is electrically connected to the plurality of solid-state lidars 11 and the plurality of sensors 12 respectively. The data processing module 2 is used to fuse the first point cloud data, the second point cloud data, the third point cloud data, the fourth point cloud data, and the amplitude angle, rotation angle, and boom extension of the vertical arm to determine the distances between the left, right, front, and rear sides of the vertical arm and the obstacles respectively. The execution control module 3 is electrically connected to the data processing module 2. The execution control module 3 is used to issue a warning signal, a deceleration signal or a stop signal based on the judgment result of the data processing module.

[0019] In specific implementation, it also includes a lens dirt monitoring module, which is used to monitor the lenses of the first solid-state lidar 111, the second solid-state lidar 112, the third solid-state lidar 113 and the fourth solid-state lidar 114 for dirt cleaning.

[0020] In specific implementation, a heating and defogging module is also included, which is used to heat and defog the lenses of the first solid-state lidar 111, the second solid-state lidar 112, the third solid-state lidar 113 and the fourth solid-state lidar 114 in a low-temperature environment.

[0021] In a specific implementation, the first sensor 121 is an angle sensor, and the second sensor 122 is a displacement sensor.

[0022] In specific implementation, the housings of the first solid-state lidar 111, the second solid-state lidar 112, the third solid-state lidar 113, and the fourth solid-state lidar 114 are made of 316L stainless steel.

[0023] In specific implementations, the lenses of the first solid-state lidar 111, the second solid-state lidar 112, the third solid-state lidar 113, and the fourth solid-state lidar 114 are made of sapphire glass.

[0024] In specific implementation, the cable interfaces of the first solid-state lidar 111, the second solid-state lidar 112, the third solid-state lidar 113, and the fourth solid-state lidar 114 are waterproof aviation plugs, and the cable interfaces are covered with silicone sealant.

[0025] This application offers the following advantages over existing technologies: The vertical arm anti-collision system for a scraper unloader provided in this application includes: multiple solid-state lidars, wherein a first solid-state lidar is positioned horizontally on the left side of the vertical arm, a second solid-state lidar is positioned horizontally on the right side of the vertical arm, a third solid-state lidar is positioned on the front side of the vertical arm, and a fourth solid-state lidar is positioned on the rear side of the vertical arm. The first solid-state lidar is used to scan obstacles on the left side of the vertical arm to obtain first point cloud data; the second solid-state lidar is used to scan obstacles on the right side of the vertical arm to obtain second point cloud data; the third solid-state lidar is used to scan obstacles on the front side of the vertical arm to obtain third point cloud data; and the fourth solid-state lidar is used to scan the vertical arm... The system includes: a rear obstacle detection module for acquiring fourth point cloud data; multiple sensors, including a first sensor for acquiring the amplitude and rotation angles of the vertical arm, and a second sensor for acquiring the boom extension / retraction amount of the vertical arm; a data processing module electrically connected to the multiple solid-state lidars and the multiple sensors, which fuses the first, second, third, and fourth point cloud data with the amplitude, rotation, and boom extension / retraction amounts of the vertical arm to determine the distances between the left, right, front, and rear sides of the vertical arm and the obstacles; and an execution control module that issues warning signals, deceleration signals, or stop signals based on the judgment results of the data processing module. By fusing data from multiple solid-state lidars and multiple sensors, the system achieves full-trajectory spatial collision avoidance for the vertical arm. Furthermore, it also includes a lens dirt monitoring module, which is used to monitor the lenses of the first solid-state lidar, the second solid-state lidar, the third solid-state lidar and the fourth solid-state lidar for dirt cleaning, thereby ensuring the light transmittance of the lenses of multiple solid-state lidars. Furthermore, it also includes a heating and defogging module, which is used to heat and defog the lenses of the first, second, third, and fourth solid-state lidars in a low-temperature environment, thereby ensuring the detection accuracy of multiple solid-state lidars.

[0026] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the claims.

[0027] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A space collision avoidance system for the vertical arm of a buried scraper unloader, characterized in that, include: Multiple solid-state lidars are provided, wherein a first solid-state lidar is positioned horizontally on the left side of the vertical arm, a second solid-state lidar is positioned horizontally on the right side of the vertical arm, a third solid-state lidar is positioned on the front side of the vertical arm, and a fourth solid-state lidar is positioned on the rear side of the vertical arm. The first solid-state lidar is used to scan obstacles in the horizontal direction on the left side of the vertical arm to obtain first point cloud data, the second solid-state lidar is used to scan obstacles in the horizontal direction on the right side of the vertical arm to obtain second point cloud data, the third solid-state lidar is used to scan obstacles in the front side of the vertical arm to obtain third point cloud data, and the fourth solid-state lidar is used to scan obstacles in the rear side of the vertical arm to obtain fourth point cloud data. Multiple sensors, wherein the first sensor is used to obtain the amplitude angle and slewing angle of the vertical arm, and the second sensor is used to obtain the boom extension amount of the vertical arm; The data processing module is electrically connected to the plurality of solid-state lidars and the plurality of sensors respectively. The data processing module is used to fuse the first point cloud data, the second point cloud data, the third point cloud data, the fourth point cloud data, and the amplitude angle, rotation angle, and boom extension of the vertical arm to determine the distances between the left, right, front, and rear sides of the vertical arm and the obstacles respectively. An execution control module is electrically connected to the data processing module. The execution control module is used to issue a warning signal, a deceleration signal, or a stop signal based on the judgment result of the data processing module.

2. The anti-collision system for the vertical arm of the buried scraper unloader according to claim 1, characterized in that, It also includes a lens dirt monitoring module, which is used to monitor the lenses of the first, second, third and fourth solid-state lidars for dirt cleaning.

3. The anti-collision system for the vertical arm of the buried scraper unloader according to claim 2, characterized in that, It also includes a heating and defogging module, which is used to heat and defog the lenses of the first, second, third and fourth solid-state lidars in a low-temperature environment.

4. The anti-collision system for the vertical arm of a scraper unloader according to claim 1, characterized in that, The first sensor is an angle sensor, and the second sensor is a displacement sensor.

5. The anti-collision system for the vertical arm of a scraper unloader according to claim 1, characterized in that, The housings of the first, second, third, and fourth solid-state lidars are made of 316L stainless steel.

6. The anti-collision system for the vertical arm of a scraper unloader according to claim 1, characterized in that, The lenses of the first, second, third, and fourth solid-state lidars are made of sapphire glass.

7. The anti-collision system for the vertical arm of a scraper unloader according to claim 1, characterized in that, The cable interfaces of the first, second, third, and fourth solid-state lidars are waterproof aviation plugs, and the cable interfaces are covered with silicone sealant.

Images