CN115924568A - Anti-collision method for cabin of screw ship unloader - Google Patents
Anti-collision method for cabin of screw ship unloader Download PDFInfo
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- CN115924568A CN115924568A CN202211681005.6A CN202211681005A CN115924568A CN 115924568 A CN115924568 A CN 115924568A CN 202211681005 A CN202211681005 A CN 202211681005A CN 115924568 A CN115924568 A CN 115924568A
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Abstract
The invention provides a cabin anti-collision method of a screw ship unloader, which is realized based on a detection system, wherein the detection system is arranged on the ship unloader and is used for detecting the walking distance L of the ship unloader 1 A swivel angle alpha, a horizontal arm inclination beta and a vertical arm inclination gamma, the method comprising the steps of: s1, arbitrarily taking three points in a cabin by a feeding head of a ship unloader; s2, respectively calculating coordinates of the three points; s3, determining the limit space coordinate range in the cabin through the coordinates of the three points; and S4, in the unloading process, enabling the feeding head of the ship unloader to move in the limit space coordinate range all the time. According to the anti-collision method for the cabin of the screw ship unloader, three points are arbitrarily taken in the cabin, and three-point coordinates are calculated through the posture of the ship loader, so that the coordinate range of a limit space is obtained, the movable space of the feeding head is determined, the feeding head is prevented from colliding the inner wall of the cabin in the unloading process to cause loss, and compared with the situation that distance measuring sensors are directly installed on the vertical arm and the horizontal arm of the ship loader, the required sensors are fewer.
Description
Technical Field
The invention relates to the technical field of port equipment, in particular to a cabin anti-collision method of a screw ship unloader.
Background
The mechanical structure of the screw ship unloader mainly comprises a walking device, a rotating device, a horizontal screw device, a vertical screw device, a feeding device and the like, the cabin unloading of various running tracks is realized through the walking and rotating of equipment and the amplitude variation of a horizontal arm and a vertical arm, and in the unloading process, a feeding head of the ship unloader is easy to collide with a wharf and the cabin, so that the equipment is damaged, the normal unloading operation is influenced, and the maintenance cost of the equipment is increased.
In prior art, there is the scheme that carries out the anticollision through adopting mechanical structure cooperation range finding sensor, for example "a shipment machine swift current section of thick bamboo of unloading of taking collision device" that the authorization notice number is CN203767681U, it realizes crashproof function through a plurality of ultrasonic ranging appearance of mechanical structure cooperation, also has a plurality of distance detection device of installation in horizontal arm both sides and vertical arm both sides, detects the scheme of exceeding auto-stop after setting for safe distance, but above-mentioned scheme has following problem: 1) The number of installed distance measuring sensors is large and the price is high; 2) The installation position is complex, the adjustment difficulty is high, and particularly, the sensors on the two sides of the vertical arm are difficult to maintain in the later period; 3) The harsh natural environment conditions on site have certain influence on various types of distance measuring sensors, the stability of an anti-collision system is reduced, and the adaptability is poor.
Disclosure of Invention
In view of the above, the invention provides a method for preventing a cabin of a screw ship unloader from being collided, which limits a feed head of the ship unloader to move within a limit space coordinate range by setting the limit space coordinate range, so as to prevent the feed head of the ship unloader from colliding with the cabin.
The technical scheme of the invention is realized as follows: the invention provides a cabin anti-collision method of a screw ship unloader, which is realized based on a detection system, wherein the detection system is arranged on the ship unloader and is used for detecting the walking distance L of the ship unloader 1 A rotation angle alpha, a horizontal arm inclination angle beta and a vertical arm inclination angle gamma, saidThe method comprises the following steps:
s1, randomly taking three points in a cabin by a feeding head of a ship unloader;
s2, respectively calculating coordinates of the three points;
s3, determining a limit space coordinate range in the cabin through the coordinates of the three points;
and S4, in the unloading process, enabling the feeding head of the ship unloader to move in the limit space coordinate range all the time.
On the basis of the above technical solution, preferably, the traveling direction of the ship unloader is a y-axis, the traveling direction perpendicular to the ship unloader in a horizontal plane is an x-axis, and the horizontal plane perpendicular to the horizontal plane is a z-axis, where a reference origin of the x-axis and the y-axis is a rotation center of the ship unloader, and a reference origin of the z-axis is a dock ground.
It is further preferred that before step S1, the method comprises measuring the fixed length L of the horizontal arm 2 Length L of vertical arm 3 Distance L between the hinge point of the horizontal arm and the ground 0 。
Further preferably, the three-point coordinates taken by the feeding head of the ship unloader are respectively (x) 1 ，y 1 ，z 1 )、(x 2 ，y 2 ，z 2 ) And (x) 3 ，y 3 ，z 3 ) The allowable operation limit value of the x-axis of the feeding head of the ship unloader is max (x) 1 ，x 2 ，x 3 )-min(x 1 ，x 2 ，x 3 ) The allowable limit value of the y-axis running of the feeding head of the ship unloader is max (y) 1 ，y 2 ，y 3 )-min(y 1 ，y 2 ，y 3 ) The limit space coordinate range in step S3 is composed of the allowable operation limit values of the x, y axes.
On the basis of the above technical solution, preferably, the detection system includes a rotary encoder, the rotary encoder is installed on the ship unloader and is used for detecting a rotation angle α of the ship unloader, and the rotation angle α = N of the ship unloader 1 *360/N 0 In which N is 0 Total number of pulses, N, given for one revolution of the rotary encoder 1 The number of pulses issued for the rotary encoder to rotate from the initial position to the current angle.
On the basis of the technical scheme, preferably, the detection system comprises a walking encoder, and the walking encoder is installed on the ship unloader and used for detecting the walking distance L of the ship unloader 1 The ship unloader travels a distance L 1 ＝N 3 *π*D/N 2 In which N is 2 Total number of pulses given for one revolution of the running encoder, N 3 The number of pulses emitted by the walking encoder when the walking encoder rotates to the current angle from the initial position is D, and the radius of the ship unloader walking wheel is D.
On the basis of the technical scheme, preferably, the detection system comprises a horizontal arm inclination angle sensor and a vertical arm inclination angle sensor, the horizontal arm inclination angle sensor and the vertical arm inclination angle sensor are both installed on the ship unloader, the horizontal arm inclination angle sensor is used for detecting the up-down pitch angle beta of the ship unloader, and the vertical arm inclination angle sensor is used for detecting the front-back pitch angle gamma of the ship unloader.
Still more preferably, in step S2, the x, y, z axis coordinates of the point to be taken are x = (L), respectively 2 *cosβ+L 3 *sinγ)*cosα，y＝L 1 -(L 2 *cosβ+L 3 *sinγ)*sinα，Z＝L 0 +L 2 sinβ-L 3 *cosγ。
Further preferably, before step S1, the method includes measuring a distance L between the x-axis reference origin and the dock edge 4 When the z-axis coordinate of the feeding head of the ship unloader is less than 0, the x-axis coordinate value of the feeding head of the ship unloader is greater than L 4 。
On the basis of the technical scheme, preferably, in step S4, the x, y and z-axis coordinates of the feeding head of the ship unloader are calculated in real time, and when the feeding head of the ship unloader reaches the edge of the limit space coordinate range, the ship unloader is stopped and an alarm signal is sent out.
Compared with the prior art, the anti-collision method for the ship cabin of the screw ship unloader has the following beneficial effects:
(1) Three points are arbitrarily selected in the cabin, and three-point coordinates are calculated through the posture of the ship loader, so that the coordinate range of a limit space is obtained, the movable space of the feeding head is determined, the loss caused by the fact that the feeding head impacts the inner wall of the cabin in the unloading process is prevented, and meanwhile, compared with the situation that distance measuring sensors are directly arranged on a vertical arm and a horizontal arm of the ship loader, the required sensors are fewer, and the cost performance is higher;
(2) Compared with the traditional distance measuring sensor, the attitude position of the ship loader is detected by arranging the rotary encoder, the walking encoder, the horizontal arm inclination angle sensor and the vertical arm inclination angle sensor, and because the detection objects are different, and the encoder and the angle sensor are not influenced by dirt, the encoder and the angle sensor are basically not influenced under the severe natural environment of a wharf, the stability of the whole set of anti-collision system is greatly improved, and the maintenance is not needed during the later operation period;
(3) The distance between the reference origin and the edge of the wharf is measured, real-time judgment is carried out, the feeding head is prevented from colliding with the wharf when the feeding head is lower than the wharf, normal operation of the ship unloader is further protected, and maintenance cost is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for preventing collision of a cabin of a screw ship unloader according to the present invention;
FIG. 2 is a schematic view of a point picking-up point of a ship loader for the anti-collision method of the cabin of the screw ship unloader;
fig. 3 is a three-point distribution illustration of the screw ship unloader cabin collision avoidance method of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
As shown in figures 1-3, the invention relates to a method for preventing collision of ship cabin of screw ship unloader, which is realized based on a detection system, the mechanical structure of the screw ship unloader mainly comprises a walking device, a revolving device, a horizontal spiral device, a vertical spiral device, a feeding device and the like, the walking device can make the ship unloader move along a specific track on a wharf corridor, the revolving device is arranged on the walking device and can make the main operation part of the ship unloader rotate on the walking device on a horizontal plane, the horizontal spiral device is arranged on the revolving device and can carry out material transmission in the horizontal direction, the horizontal spiral device is hinged with the revolving device and can carry out vertical pitching action on the revolving device, the vertical spiral device is arranged on the horizontal spiral device and can carry out vertical ship unloading operation and can unload the material to be transmitted into the horizontal spiral device, the vertical spiral device can rotate towards or away from the revolving device on the horizontal spiral device, wherein the horizontal arm of the horizontal spiral device has a fixed length of L 2 The vertical arm of the vertical screw device has a fixed length of L 3 The distance between the horizontal arm of the horizontal spiral device and the hinge point of the rotating device is L 0 。
The detection system is arranged on the ship unloader and used for detecting the walking distance L of the ship unloader 1 The ship unloader comprises a base, a rotary angle alpha, a horizontal arm inclination angle beta and a vertical arm inclination angle gamma, wherein the traveling direction of the ship unloader is a y axis, the traveling direction perpendicular to the ship unloader in a horizontal plane is an x axis, the horizontal plane is a z axis, the reference origin of the x axis and the y axis is the rotation center of the ship unloader, the reference origin of the z axis is wharf ground, and the fixed length L of the horizontal arm is equal to the fixed length L of the horizontal arm 2 Length L of vertical arm 3 Distance L between the hinge point of the horizontal arm and the ground 0 The method comprises steps S1-S4.
Step S1: three points are arbitrarily taken in the cabin by the feeding head of the ship unloader.
After the ship unloader moves to the side face of the cabin, the ship unloader is placed into the cabin through the feeding head, three points are selected from the inner part of the cabin, in the point selection process, the three points are close to different side edges of the cabin as much as possible, and meanwhile, the three points are not selected as three points in the same horizontal plane, so that the space which can be subsequently determined and can move in the cabin is as maximum as possible, the materials in the cabin are unloaded to the maximum, and the time for subsequent manual cleaning is shortened.
Step S2: the coordinates of the three points are calculated separately.
In this step, the x, y, z-axis coordinates of the points are x = (L) respectively 2 *cosβ+L 3 *sinγ)*cosα，y＝L 1 -(L 2 *cosβ+L 3 *sinγ)*sinα，Z＝L 0 +L 2 sinβ-L 3 * cos gamma, wherein L 2 、L 3 And L 0 Are all of a known fixed value, the walking distance L 1 The rotation angle alpha, the horizontal arm inclination angle beta and the vertical arm inclination angle gamma are required detection values and are obtained by detection of a detection system.
The detection system is provided with a rotary encoder, a walking encoder, a horizontal arm inclination angle sensor and a vertical arm inclination angle sensor, wherein the rotary encoder is arranged on the ship unloader and used for detecting the rotary angle alpha of the ship unloader, and the rotary angle alpha = N of the ship unloader 1 *360/N 0 In which N is 0 Total number of pulses, N, given for one revolution of a rotary encoder 1 The number of pulses issued for the rotary encoder to rotate from the initial position to the current angle.
The walking encoder is arranged on the ship unloader and used for detecting the walking distance L of the ship unloader 1 The ship unloader travels a distance L 1 ＝N 3 *π*D/N 2 In which N is 2 Total number of pulses given for one revolution of the running encoder, N 3 The pulse number is sent for the walking encoder to rotate from the initial position to the current angle, and D is the radius of the ship unloader walking wheel.
The horizontal arm inclination angle sensor and the vertical arm inclination angle sensor are both arranged on the ship unloader, the horizontal arm inclination angle sensor is used for detecting the vertical pitching angle beta of the ship unloader, and the vertical arm inclination angle sensor is used for detecting the front and back pitching angle gamma of the ship unloader.
On a ship loader, the horizontal arm has a fixed length L 2 =18m, vertical arm fixed length L 3 =16m, distance L of horizontal arm hinge point from ground 0 =12m, half travelling wheelThe diameter D =0.55m, the total number of pulses emitted by the rotary encoder and the walking encoder in one rotation is the same, and is 8192, and then alpha = N 1 *360/8192，L 1 ＝N 2 * And pi x D/8192, and substituting the coordinate into the x and y coordinate calculation formula to obtain the final space coordinate function of the feeding head as x = (18 x cos beta +16 x sin gamma) cos (N1 x 360/8192), and y = N 2 *π*0.55/8192-(18*cosβ+16*sinγ)*sin(N 1 * 360/8192), Z =12+18sin β -16 + cos γ, at a certain moment, N 1 =683 (rotation angle α =30 °), N 2 =47411 (travel distance L) 1 And the angular values are substituted into the formula to obtain x = (18 × cos0 ° +16 × sin (-30 °)) cos30 ° = -8.66m, y = -10- (18 × cos0 ° +16 × sin (-30 °)) sin30=5m, z = -12 +18 × sin0 ° -16 × cos (-30 °) = -1.85m, so as to obtain the final spatial coordinate value of the feeding head of the ship loader at the moment, thereby performing coordinate calculation of three points in the cabin and the position of the feeding head in the motion process.
And step S3: and determining the limit space coordinate range in the cabin through the coordinates of the three points.
Assuming that three-point coordinates taken by a feeding head of the ship unloader are respectively (x) 1 ，y 1 ，z 1 )、(x 2 ，y 2 ，z 2 ) And (x) 3 ，y 3 ，z 3 ) Then the x-axis allowable operation limit value of the feeding head of the ship unloader is max (x) 1 ，x 2 ，x 3 )-min(x 1 ，x 2 ，x 3 ) That is, the allowable operation range of the x-axis of the feeding head of the ship unloader is between the maximum x-axis value and the minimum x-axis value in three points, and the allowable operation limit value of the y-axis of the feeding head of the ship unloader is max (y) 1 ，y 2 ，y 3 )-min(y 1 ，y 2 ，y 3 ) Namely, the allowable operation range of the y-axis of the feeding head of the ship unloader ranges from the maximum y-axis value to the minimum y-axis value in three points, and the limit space coordinate range in the cost step is combined by the allowable operation limit values of the x-axis and the y-axis.
And step S4: in the unloading process, the feeding head of the ship unloader can move in the limit space coordinate range all the time.
When the feeding head is below the upper plane of the cabin, in the operation process, the x-axis and y-axis spatial coordinate values of the feeding head are not lower than the minimum value and are not larger than the maximum value, and the z-axis spatial coordinate value is not lower than the minimum value, if the x-axis and y-axis spatial coordinate values of the feeding head are lower than the minimum value or higher than the maximum value, the collision accident of the cabin can be caused.
The method is characterized in that a PLC control system is arranged on a ship loader, space vector coordinate calculation is constantly carried out by the PLC control system in the unloading process, the real-time position of a feeding head is obtained, when a vector calculation result is crossed with the boundary of a limit space coordinate range, the PLC control system enables the ship loader to stop running in the related direction, operation of an operator is invalid, and an alarm signal is sent out, so that the feeding head of the ship unloader is always controlled in the limit space coordinate range, after the ship loader is stopped, the feeding head can be controlled to enter the limit space coordinate range, and the alarm signal is stopped sending out after the feeding head enters the limit space coordinate range.
In this embodiment, before step S1, the distance L between the x-axis reference origin and the dock edge needs to be measured 4 According to the coordinate position of the feeding head of a certain ship loader at a certain moment, the z-axis coordinate of the feeding head is a negative value, namely the feeding head is positioned below the wharf surface, the y-axis coordinate of the feeding head is 5m, and if the reference origin is away from the extreme edge of the wharf by a distance L 4 If the distance is more than 5m, no collision accident occurs; if the reference origin is at a distance L from the edge of the wharf 4 And if the distance between the y-axis coordinate value and the reference origin is less than 5m, the y-axis coordinate value is not less than the distance from the reference origin to the extreme edge of the wharf (a safety threshold is set according to the actual situation), and if the distance exceeds the safety threshold, the ship loader automatically stops running in the direction, and the operation related action of an operator is invalid, so that the purpose of collision protection is achieved.
It should be noted that before the unloading process, the worker may obtain the depth data of the cabin, and the vertical spiral arm may have a related height mark, so that the operator may roughly know the depth of the inserted material, that is, the z-axis data, so that the operator may not easily collide with the bottom of the cabin, and the unloading machine does not need to completely unload the material inside the cabin, and may leave a surplus material for manual cleaning.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention, which is intended to cover any modifications, equivalents, improvements, etc. within the spirit and scope of the present invention.
Claims (10)
1. The anti-collision method for the cabin of the screw ship unloader is characterized by being realized based on a detection system, wherein the detection system is arranged on the ship unloader and used for detecting the walking distance L of the ship unloader 1 A rotation angle alpha, a horizontal arm inclination angle beta and a vertical arm inclination angle gamma, the method comprises the following steps:
s1, arbitrarily taking three points in a cabin by a feeding head of a ship unloader;
s2, respectively calculating coordinates of the three points;
s3, determining the limit space coordinate range in the cabin through the coordinates of the three points;
and S4, in the unloading process, enabling the feeding head of the ship unloader to move in the limit space coordinate range all the time.
2. The method for preventing collision of a cabin of a screw ship unloader as claimed in claim 1, wherein the walking direction of the ship unloader is a y-axis, the walking direction perpendicular to the ship unloader in a horizontal plane is an x-axis, and the walking direction perpendicular to the horizontal plane is a z-axis, wherein a reference origin point of the x-axis and the y-axis is a rotation center of the ship unloader, and a reference origin point of the z-axis is a dock ground.
3. The screw ship unloader hold collision avoidance method according to claim 2, wherein the step S1 is preceded by measuring a fixed length L of the horizontal arm 2 Fixed length L of vertical arm 3 Distance L between the hinge point of the horizontal arm and the ground 0 。
4. The screw ship unloader hold collision avoidance method according to claim 2, wherein the feeder head of the ship unloader takes outThe three point coordinates are respectively (x) 1 ，y 1 ，z 1 )、(x 2 ，y 2 ，z 2 ) And (x) 3 ，y 3 ，z 3 ) The allowable operation limit value of the x-axis of the feeding head of the ship unloader is max (x) 1 ，x 2 ，x 3 )-min(x 1 ，x 2 ，x 3 ) The allowable limit value of the y-axis running of the feeding head of the ship unloader is max (y) 1 ，y 2 ，y 3 )-min(y 1 ，y 2 ，y 3 ) The limit space coordinate range in step S3 is composed of the allowable operation limit values of the x, y axes.
5. The method of claim 1 wherein the detection system comprises a rotary encoder mounted on the ship unloader for detecting a ship unloader rotation angle α, the ship unloader rotation angle α = N 1 *360/N 0 In which N is 0 Total number of pulses, N, given for one revolution of a rotary encoder 1 The number of pulses issued for the rotary encoder to rotate from the initial position to the current angle.
6. The method of claim 1, wherein the detection system comprises a travel encoder mounted on the ship unloader for detecting the ship unloader travel distance L 1 The ship unloader travels a distance L 1 ＝N 3 *π*D/N 2 In which N is 2 Total number of pulses given for one revolution of the running encoder, N 3 The pulse number is sent for the walking encoder to rotate from the initial position to the current angle, and D is the radius of the ship unloader walking wheel.
7. The method of claim 1, wherein the detection system comprises a horizontal arm tilt sensor and a vertical arm tilt sensor, the horizontal arm tilt sensor and the vertical arm tilt sensor are both mounted on the unloader, the horizontal arm tilt sensor is configured to detect an up-down pitch angle β of the unloader, and the vertical arm tilt sensor is configured to detect a front-back pitch angle γ of the unloader.
8. The screw ship unloader cabin collision avoidance method according to claim 3, wherein in step S2, x, y, z-axis coordinates of the points taken are x = (L), respectively 2 *cosβ+L 3 *sinγ)*cosα，y＝L 1 -(L 2 *cosβ+L 3 *sinγ)*sinα，Z＝L 0 +L 2 sinβ-L 3 *cosγ。
9. The method of claim 2, wherein the step S1 is preceded by measuring a distance L between the x-axis reference origin and the dock edge 4 When the z-axis coordinate of the feeding head of the ship unloader is less than 0, the x-axis coordinate value of the feeding head of the ship unloader is greater than L 4 。
10. The screw ship unloader cabin collision avoidance method according to claim 1, wherein x, y, z-axis coordinates of a feeder head of the ship unloader are calculated in real time in step S4, and when the feeder head of the ship unloader reaches the edge of the limit space coordinate range, the ship unloader is stopped and an alarm signal is issued.
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| CN202211681005.6A CN115924568A (en) | 2022-12-27 | 2022-12-27 | Anti-collision method for cabin of screw ship unloader |
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| CN202211681005.6A CN115924568A (en) | 2022-12-27 | 2022-12-27 | Anti-collision method for cabin of screw ship unloader |
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