CN113955416A - Multiple safety protection system of shuttle - Google Patents
Multiple safety protection system of shuttle Download PDFInfo
- Publication number
- CN113955416A CN113955416A CN202111102318.7A CN202111102318A CN113955416A CN 113955416 A CN113955416 A CN 113955416A CN 202111102318 A CN202111102318 A CN 202111102318A CN 113955416 A CN113955416 A CN 113955416A
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- Prior art keywords
- shuttle
- shuttle car
- collision
- roadway
- protection unit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a shuttle vehicle multiple safety protection system, which is characterized in that reliable safety protection is carried out by taking three measures of a roadway peripheral protection unit, a shuttle vehicle active protection unit and a shuttle vehicle collision protection unit, wherein the roadway peripheral protection unit comprises a door switch and a distance measurement grating device; the distance measuring grating device is connected with an electric signal of the shuttle vehicle control system. The shuttle vehicle active protection unit comprises a laser scanner which is arranged on the shuttle vehicle and is in electric signal connection with a shuttle vehicle control system. The shuttle collision protection unit comprises an anti-collision strip arranged on the convex part of the shuttle, and a plurality of collision sensors connected in series with an emergency stop circuit of the shuttle are arranged between the anti-collision strip and the shuttle. The multiple barriers constructed from outside to inside can effectively detect the illegal invasion condition, can be used for preventing collision in the track, and can greatly reduce the damage after the collision, thereby greatly improving the running safety of the shuttle car.
Description
Technical Field
The invention relates to the field of cigarette processing and manufacturing, in particular to a multiple safety protection system of a shuttle vehicle.
Background
The shuttle car is a common logistics conveying device for cigarette enterprises, stably and quickly operates on a track fixed in a roadway, and a safety protective guard is usually arranged on the periphery of the roadway. However, since cargo is transported to the two side platforms, the roadway barriers are not completely closed, and an opening is usually left at each platform.
Because the tunnel of shuttle car occupies the region long and narrow, often appear to avoid long distance detour, personnel cross the tunnel from the opening of platform or the emergency exit of rail guard and pass through, though can reduce transit time, have very big potential safety hazard.
Disclosure of Invention
In view of this, the present invention provides a multiple safety protection system for a shuttle car to solve the problem of potential safety hazard caused by illegal entry into a roadway.
The technical scheme adopted by the invention is as follows:
a shuttle multi-safety protection system comprising: the system comprises a roadway peripheral protection unit, a shuttle vehicle active protection unit and a shuttle vehicle collision protection unit;
the roadway peripheral protection unit comprises a door switch arranged on a safety door of the roadway guard rail and a distance measurement grating device arranged on one side of the roadway guard rail; the distance measuring grating device is in electrical signal connection with the shuttle control system;
the active protection unit of the shuttle car comprises a laser scanner arranged on the front part of the shuttle car, the laser scanner is in electrical signal connection with a shuttle car control system, and a measurement area of the laser scanner is set according to the shape of a roadway and the speed of the shuttle car;
the shuttle car collision protection unit comprises an anti-collision strip arranged on a protruding part at the front part of the shuttle car, and a plurality of collision sensors are arranged between the anti-collision strip and the shuttle car and are connected in series into an original scram circuit of the shuttle car control system.
In at least one possible implementation manner, the distance measuring grating device comprises a plurality of laser distance measuring instruments installed on a wall of a guardrail on one side of an opening of the roadway guardrail, and a plurality of light reflecting plates arranged on one side opposite to the roadway guardrail, and the laser distance measuring instruments and the light reflecting plates corresponding to the laser distance measuring instruments form gratings in pairs.
In at least one possible implementation, the shuttle control system is configured to: and judging whether an object illegally invades the roadway according to the laser ranging signal and by combining the current running state and the position of the shuttle car.
In at least one possible implementation manner, the determining whether an object illegally invades the roadway according to the laser ranging signal and by combining the current running state and the position of the shuttle car includes:
step S1, monitoring the running state of the shuttle car, wherein the running state comprises running on a track or stopping at a goods conveying platform;
step S2, setting and dynamically updating a standard distance measurement value in real time according to the running state;
and step S3, continuously acquiring the actual ranging value, and if the actual ranging value is smaller than the current standard ranging value, triggering the shuttle car to stop running and outputting an alarm signal, wherein the stop running comprises a moving stop state and a conveying stop state.
In at least one possible implementation, the shuttle car active defense unit further comprises a laser scanner mounted at the rear of the shuttle car.
In at least one possible implementation manner, the measurement area of the laser scanner is set to be a three-stage rectangular area in front of the shuttle vehicle, and the method comprises the following steps: a high-speed deceleration zone, a low-speed deceleration zone and a forced stopping zone.
In at least one possible implementation, the shuttle control system is configured to: and regulating and controlling the running speed of the shuttle according to the running speed of the shuttle and the scanning result of the laser scanner in the high-speed deceleration area or the low-speed deceleration area.
In at least one possible implementation, the shuttle control system is configured to: and triggering the shuttle car to stop running according to the scanning result of the laser scanner in the forced stopping area.
In at least one possible implementation manner, the shuttle vehicle collision protection unit further comprises a collision avoidance strip and a collision sensor which are arranged on the rear protruding part of the shuttle vehicle.
In at least one possible implementation manner, the bumper strip is made of a soft material.
The design concept of the invention is that reliable safety protection is carried out by triple measures of a roadway peripheral protection unit, a shuttle vehicle active protection unit and a shuttle vehicle collision protection unit, and specifically, the roadway peripheral protection unit comprises a door switch arranged on a safety door of a roadway protective guard and a distance measurement grating device arranged on one side of the roadway protective guard; the distance measuring grating device is connected with the shuttle control system through an electric signal. The active protection unit of the shuttle car comprises a laser scanner which is arranged at the front part of the shuttle car and is in electric signal connection with a shuttle car control system, and the measuring area of the laser scanner is set according to the shape of a roadway and the speed of the shuttle car. The shuttle car collision protection unit comprises an anti-collision strip arranged on a protruding part at the front part of the shuttle car, and a plurality of collision sensors are arranged between the anti-collision strip and the shuttle car and are connected in series into an original scram circuit of a shuttle car control system. The multiple barriers constructed from outside to inside can effectively detect the illegal invasion condition, can be used for preventing collision in the track, and can greatly reduce the damage after the collision, thereby greatly improving the running safety of the shuttle car.
Drawings
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the accompanying drawings, in which:
fig. 1 is a schematic view of a shuttle vehicle multiple safety protection system provided by an embodiment of the invention;
fig. 2 is a flowchart of illegal intrusion detection through grating ranging according to an embodiment of the present invention;
fig. 3 is a schematic view of a scanning range of a laser scanner according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
The invention provides an embodiment of a multiple safety protection system of a shuttle vehicle, which is specifically shown in fig. 1 and can comprise the following steps: the system comprises a roadway peripheral protection unit, a shuttle vehicle active protection unit and a shuttle vehicle collision protection unit.
The roadway peripheral protection unit may include a door switch 4 (which may be, but is not limited to, a limit switch) installed on the safety door 3 of the roadway guard rail 2, and the door switch 4 is serially connected to the original emergency stop circuit of the shuttle control system. Thus, when the safety door 3 is opened in any case, the door switch 4 is opened and the emergency stop circuit is activated, causing the shuttle 1 to stop operating immediately.
In addition, the roadway peripheral protection unit also comprises a distance measurement grating device arranged on one side of the roadway protective guard 2 for protection. Specifically, the distance measuring grating device may include a laser distance measuring instrument 7, 8, 9, 10 of type DT50 mounted on a wall of the roadway guard rail 2 on the side of the opening. Since the rail 14 of the shuttle car 1 is long and the ordinary photoelectric switch is difficult to detect for a long distance area, the laser range finder is one of the preferred implementations of the present invention, and can measure data at least within ten meters. In practical operation, the laser range finders 7, 8, 9, 10 and the reflectors 71, 81, 91, 12 arranged on the opposite side of the roadway barrier 2 form a grating 13 (indicated by dashed lines) in pairs. If the distance value measured by each laser range finder changes, a signal can be transmitted to a PLC of a shuttle vehicle control system, and whether an object illegally invades a roadway is judged according to the current running state and the position of the shuttle vehicle 1.
For example, when the shuttle car 1 travels along the track 14 in a straight line, the standard distance measurement value is X 'or Y', and when the actual distance measurement value < X 'or < Y' is detected, it means that an object touches and blocks the grating 13, that is, an illegal intrusion condition exists, and at this time, the shuttle car 1 may be triggered to stop running immediately and trigger an alarm signal to be output; for another example, when the shuttle car 1 stops at the B station for loading and unloading goods (other A, C, D, E, F, G and H stations are the same, for example, according to the setting of the feeding end and the discharging end, one side of the roadway is feeding, and the other side is discharging, which is not described in detail herein), the standard distance measurement value of the laser distance meter 7 or 8 is B ' (it can be understood that, when loading and unloading goods at other stations, the standard distance measurement value is dynamically changed to the preset values a ', C ', D ', etc., which are shown in the figure, and are not described in detail herein), if a person passes through the roadway from the loading and unloading opening of the a station at this time, the actual distance measurement value < B ' may trigger the shuttle car 1 to alarm and stop running immediately (the stop running may refer to the stop of the conveying chain on the shuttle car 1, and force the shuttle car 1 to stay at the B station). Here, a safety protection control method based on laser ranging is provided as illustrated in fig. 2:
step S1, monitoring the running state of the shuttle car, wherein the running state comprises running on a track or stopping at a goods conveying platform;
step S2, setting and dynamically updating a standard distance measurement value in real time according to the running state;
and step S3, continuously acquiring the actual ranging value, and if the actual ranging value is smaller than the current standard ranging value, triggering the shuttle car to stop running and outputting an alarm signal, wherein the stop running comprises a moving stop state and a conveying stop state.
As for the aforementioned shuttle active defense unit, a laser scanner 6 (for example, but not limited to, a laser scanner with model S300 Mini) installed at the front (and/or rear) of the shuttle 1 may be included, and a measurement area of the laser scanner 6 may be set as needed. As shown in fig. 3, the scanning range of the laser scanner is generally fan-shaped by default, but is not suitable for use in the shuttle scenario to which the present invention is directed. In order to enable the laser scanner to effectively exclude the roadway guard rail 2 and scan only the inside of the roadway, the scanning area of the laser scanner 6 may be set in advance to be a rectangle, specifically, a three-stage rectangular area in front of the shuttle car 1, which may be understood as three kinds of safety distances set according to the traveling speed of the shuttle car 1, may be set. For example, a region 16 from 100cm in front to 220cm in front of the origin (characterizing the laser scanner on the shuttle 1) illustrated in fig. 3 may be set as a high-speed deceleration zone, and the corresponding travel control logic configured: when the speed of the shuttle vehicle is 1 m/s, if the obstacle is detected to exist in the area 16, the deceleration running working condition is triggered; the area 17 50cm in front of the origin to 100cm in front may be set as a low speed deceleration zone and configured with corresponding travel control logic: when the speed of the shuttle vehicle is 0.5 m/s, if the obstacle exists in the area 17, triggering a deceleration running working condition; an area 18 within 50cm of the origin may be set as a forced stop area and configured with corresponding travel control logic to trigger the shuttle to stop moving upon detection of an obstacle within the area 18, regardless of the current speed of the shuttle.
Finally, the shuttle collision protection unit may include an anti-collision strip 5 disposed on a protruding portion of the front portion (and/or the rear portion) of the shuttle 1, and a plurality of collision sensors are disposed between the anti-collision strip 5 and the shuttle 1, and the collision sensors may also be serially connected to an original emergency stop circuit of the shuttle control system, so that, once a collision occurs due to an accident, the shuttle 1 may be immediately triggered to stop running, thereby avoiding a serious injury. Preferably, it is also supplemented that the bumper strip 5 is preferably made of a soft material such as rubber, so that damage is further minimized even after a collision.
In summary, the design concept of the invention is that reliable safety protection is performed by three measures of a roadway peripheral protection unit, a shuttle vehicle active protection unit and a shuttle vehicle collision protection unit, specifically, the roadway peripheral protection unit comprises a door switch installed on a safety door of a roadway protective guard and a distance measurement grating device arranged on one side of the roadway protective guard; the distance measuring grating device is connected with the shuttle control system through an electric signal. The active protection unit of the shuttle car comprises a laser scanner which is arranged at the front part of the shuttle car and is in electric signal connection with a shuttle car control system, and the measuring area of the laser scanner is set according to the shape of a roadway and the speed of the shuttle car. The shuttle car collision protection unit comprises an anti-collision strip arranged on a protruding part at the front part of the shuttle car, and a plurality of collision sensors are arranged between the anti-collision strip and the shuttle car and are connected in series into an original scram circuit of a shuttle car control system. The multiple barriers constructed from outside to inside can effectively detect the illegal invasion condition, can be used for preventing collision in the track, and can greatly reduce the damage after the collision, thereby greatly improving the running safety of the shuttle car.
In the embodiments of the present invention, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, and means that there may be three relationships, for example, a and/or B, and may mean that a exists alone, a and B exist simultaneously, and B exists alone. Wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" and similar expressions refer to any combination of these items, including any combination of singular or plural items. For example, at least one of a, b, and c may represent: a, b, c, a and b, a and c, b and c or a and b and c, wherein a, b and c can be single or multiple.
The structure, features and effects of the present invention have been described in detail with reference to the embodiments shown in the drawings, but the above embodiments are merely preferred embodiments of the present invention, and it should be understood that technical features related to the above embodiments and preferred modes thereof can be reasonably combined and configured into various equivalent schemes by those skilled in the art without departing from and changing the design idea and technical effects of the present invention; therefore, the invention is not limited to the embodiments shown in the drawings, and all the modifications and equivalent embodiments that can be made according to the idea of the invention are within the scope of the invention as long as they are not beyond the spirit of the description and the drawings.
Claims (10)
1. A multiple safety protection system of a shuttle car is characterized by comprising: the system comprises a roadway peripheral protection unit, a shuttle vehicle active protection unit and a shuttle vehicle collision protection unit;
the roadway peripheral protection unit comprises a door switch arranged on a safety door of the roadway guard rail and a distance measurement grating device arranged on one side of the roadway guard rail; the distance measuring grating device is in electrical signal connection with the shuttle control system;
the active protection unit of the shuttle car comprises a laser scanner arranged on the front part of the shuttle car, the laser scanner is in electrical signal connection with a shuttle car control system, and a measurement area of the laser scanner is set according to the shape of a roadway and the speed of the shuttle car;
the shuttle car collision protection unit comprises an anti-collision strip arranged on a protruding part at the front part of the shuttle car, and a plurality of collision sensors are arranged between the anti-collision strip and the shuttle car and are connected in series into an original scram circuit of the shuttle car control system.
2. The multiple safety protection system of a shuttle car according to claim 1, wherein the range grating device comprises a plurality of laser range finders mounted on the wall of the guardrail on one side of the opening of the roadway guard rail, and a plurality of reflectors arranged on the opposite side of the roadway guard rail, wherein the laser range finders and the corresponding reflectors form a grating in pairs.
3. The shuttle vehicle multiple safety shield system of claim 2, wherein the shuttle vehicle control system is configured to: and judging whether an object illegally invades the roadway according to the laser ranging signal and by combining the current running state and the position of the shuttle car.
4. The multiple safety protection system of the shuttle vehicle according to claim 3, wherein the determining whether the object illegally invades the roadway according to the laser ranging signal and by combining the current running state and the position of the shuttle vehicle comprises:
step S1, monitoring the running state of the shuttle car, wherein the running state comprises running on a track or stopping at a goods conveying platform;
step S2, setting and dynamically updating a standard distance measurement value in real time according to the running state;
and step S3, continuously acquiring the actual ranging value, and if the actual ranging value is smaller than the current standard ranging value, triggering the shuttle car to stop running and outputting an alarm signal, wherein the stop running comprises a moving stop state and a conveying stop state.
5. The shuttle car multiple safety shield system of claim 1 wherein the shuttle car active shield unit further comprises a laser scanner mounted on a rear portion of the shuttle car.
6. The shuttle car multiple safety shield system of claim 1, wherein the measurement area of the laser scanner is set to a three-stage rectangular area in front of the shuttle car, comprising: a high-speed deceleration zone, a low-speed deceleration zone and a forced stopping zone.
7. The shuttle vehicle multiple safety shield system of claim 6, wherein the shuttle vehicle control system is configured to: and regulating and controlling the running speed of the shuttle according to the running speed of the shuttle and the scanning result of the laser scanner in the high-speed deceleration area or the low-speed deceleration area.
8. The shuttle vehicle multiple safety shield system of claim 6, wherein the shuttle vehicle control system is configured to: and triggering the shuttle car to stop running according to the scanning result of the laser scanner in the forced stopping area.
9. The shuttle vehicle multiple safety protection system according to any one of claims 1 to 8, wherein the shuttle vehicle collision protection unit further comprises a bumper strip and a collision sensor arranged on a rear convex part of the shuttle vehicle.
10. The multiple safety protection system of the shuttle car according to any one of claims 1 to 8, wherein the bumper strip is made of soft material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111102318.7A CN113955416B (en) | 2021-09-19 | 2021-09-19 | Shuttle multiple safety protection system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111102318.7A CN113955416B (en) | 2021-09-19 | 2021-09-19 | Shuttle multiple safety protection system |
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| CN113955416A true CN113955416A (en) | 2022-01-21 |
| CN113955416B CN113955416B (en) | 2023-05-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111102318.7A Active CN113955416B (en) | 2021-09-19 | 2021-09-19 | Shuttle multiple safety protection system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114684521A (en) * | 2022-04-12 | 2022-07-01 | 北京京东乾石科技有限公司 | Three-dimensional goods shelf system and protection device |
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| JP2011223008A (en) * | 2010-04-06 | 2011-11-04 | Murata Mach Ltd | Material handling system |
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| CN206287964U (en) * | 2016-12-20 | 2017-06-30 | 山东科技大学 | Shuttle safety system |
| CN108860174A (en) * | 2017-05-09 | 2018-11-23 | 株式会社大福 | Goods transport vehicle |
| CN111273657A (en) * | 2020-01-10 | 2020-06-12 | 江苏森蓝智能***有限公司 | Automatic laser positioning mode of RGV (gas insulated switchgear) trolley by adopting frequency converter |
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2021
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH10161745A (en) * | 1996-11-29 | 1998-06-19 | Murata Mach Ltd | Controller of unmanned running vehicle |
| JP2011223008A (en) * | 2010-04-06 | 2011-11-04 | Murata Mach Ltd | Material handling system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114684521A (en) * | 2022-04-12 | 2022-07-01 | 北京京东乾石科技有限公司 | Three-dimensional goods shelf system and protection device |
| CN114684521B (en) * | 2022-04-12 | 2024-01-12 | 北京京东乾石科技有限公司 | Three-dimensional goods shelf system and protection device |
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| CN113955416B (en) | 2023-05-16 |
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