CN202838020U - Mobile machine visual sense anti-collision protection system used for bulk goods stockyard - Google Patents

Abstract

The utility model discloses a mobile machine visual sense anti-collision protection system used for a bulk goods stockyard, employing the visual technology to detect a mobile machine. The top of the mobile machine is provided with a distinguishing mark; a camera arranged on a main device is used for collecting stockyard images. An accurate position and direction of the mobile machine can be detected through the distinguishing mark in the images and an anti-collision protection area can be dynamically calculated. When the main device interferes with the anti-collision protection area of the mobile machine, the system can perform anti-collision protection control and raises the alarm to the mobile machine at the same of emitting specific anti-collision instructions so as to make the mobile machine leave as soon as possible.

Description

A kind of mobile handling machinery vision anticollision protection system for bulk storage yard

Technical field

The utility model belongs to the mobile handling machinery anti-collision technique, especially relates to a kind of mobile handling machinery vision anticollision protection system for bulk storage yard.

Background technology

Bulk storage yard often can adopt the situation of main equipment and the common operation of mobile handling machinery when carrying out loading and unloading operation.Such as reclaimer when ground proximity is piled operation clearly, adopt push away the machine of taking off the material of ground proximity is returned poly-, for the reclaimer feeding, perhaps with shovel loader with the leftover materials truck of packing into; The door machine adopts truck that material is transported to the stockyard when the storage yard operation of ground for another example, pushes away the machine of taking off and material is piled stockpile is grasped by the door machine; Perhaps the door machine forms stockpile at the stockyard loading and unloading material, by shovel loader with the material truck of packing into.

For convenience of description, hereinafter the main equipments such as reclaimer, door machine are referred to as main equipment; Equipment such as pushing away the machine of taking off, shovel loader, truck is referred to as mobile handling machinery.Mobile handling machinery is generally by manually-operated, is used for cooperating the main equipment operation, maneuverability but motion has uncertainty.When main equipment and mobile handling machinery work compound, consider Anti-bumping protection problem between the two with regard to needs.

The patent No. is that 200420082442.2 utility model has proposed the clear the ship device of safe early warning of a kind of ship unloaders, at ship unloaders and hold cleaning machine wireless communication apparatus is installed, when ship unloaders grab bucket decline enters cabin, the PLC of ship unloaders launches early warning signal by the wireless device on the cab, wireless device sends sound and light alarm after receiving early warning signal on the hold cleaning machine, prompting hold cleaning machine driver dodges, press danger button in the time of can not dodging and send signal to ship unloaders, the wireless device of ship unloaders cab receives urgent signal and sends sound and light alarm, reminds the ship unloaders driver to stop to descend.This device can only provide early warning for ship unloaders and hold cleaning machine driver, and indirect labor's operation can not participate in PLC control, does not also have the crashproof interlock protection of mobile handling machinery in ship unloaders control software.And this device can not detect the position of hold cleaning machine, and each grab bucket descends and all can send warning, and the hold cleaning machine driver needs frequent response alarm, and for avoiding possible collision, set Guan Luqu is larger, and the place of safety is less, affects operating efficiency.

Application number is the system and method that 200810201654.5 utility model has proposed a kind of ship unloaders automatic collision, at hold cleaning machine a ultrasonic transmitter is installed, in the position that the ship unloaders cab is fixing two ultrasonic receivers are installed, calculate the range difference of ultrasonic transmitter to two receiver according to hyperacoustic flight time, judge that according to the triangle geometry principle hold cleaning machine is in the safety zone or in grab bucket operating area (Guan Luqu).When hold cleaning machine entered the pass district, control module was to ship unloaders PLC output signal, and the control grab bucket is slowed down, simultaneously send voice suggestion to the hold cleaning machine driver, remind it to dodge, do not dodge such as hold cleaning machine, control module is to ship unloaders PLC output signal, and the control grab bucket stops.This utility model is measured distance between transmitter to two receiver according to the ultrasound wave flight time, but the solution of the position of ultrasonic transmitter is not unique, can only judge that therefore hold cleaning machine whether in the safety zone, can not provide its definite positional information.And, because ultrasound wave has directivity, require ultrasonic receiver to be positioned within the certain limit of transmit direction.This so that above-mentioned patent be only suitable in the ship unloaders operation that clears the ship because the cab of bridge type ship unloader when operation, be positioned at all the time cabin directly over transmit so that ultrasonic receiver can receive all the time.And door machine or heap, this class main equipment of reclaimer are when storage yard operation, the main slew gear that leans on moves back and forth between stockyard and cabin or belt, be not fixed on the mechanism of top, operating area, receiver do not have suitable ultrasonic receiver installation site, so that can receive the signal of ultrasonic transmitter all the time.Therefore this patent is not suitable for the Anti-bumping protection of a machine or heap, reclaimer and mobile handling machinery.

Owing to there not being the definite positional information of hold cleaning machine, therefore above-mentioned two patents all can only be sent to hold cleaning machine and dodge alarm or prompting, and can't indicate the hold cleaning machine operator to dodge to that direction, make the function that clears the ship rapidly and accurately from switch region.

The utility model content

Technical problem to be solved in the utility model provides a kind of mobile handling machinery vision anticollision protection system for bulk storage yard; can determine definite position and the direction of mobile handling machinery; dynamic calculation Anti-bumping protection zone; when main equipment and mobile handling machinery Anti-bumping protection zone interfere, carry out Anti-bumping protection control.

In order to solve the problems of the technologies described above, the utility model adopts following technical scheme:

A kind of mobile handling machinery vision anticollision protection system for bulk storage yard comprises:

Be located at camera head on the main equipment, its visual field covers the zone, stockyard of main equipment operation, to gather the stockyard image;

Be located at the distinguishing mark with direction at the pilothouse top of mobile handling machinery;

And the main equipment controller of image processing apparatus and main equipment, described image processing apparatus all is connected with camera head, main equipment controller.

In addition, also comprise warning device and the voice device be located on the mobile handling machinery, link to each other with the main equipment controller by wireless communication apparatus, receive move and alerting signal that the main equipment controller sends, send to the driver and report to the police and voice suggestion.

Described distinguishing mark is comprised of rectangle A and rectangle B, and two rectangles have a public vertex, and rectangle A and B size have obvious difference; Described distinguishing mark directly is printed on the formed passive markers in mobile handling machinery top for the reflecting coating that adopts light color.

Described distinguishing mark is for adopting active luminophor to be installed in that the mobile handling machinery top is formed a source indicator.

Described Anti-bumping protection zone comprises from inside to outside three layers, be respectively tightly stop the protection zone, stop the protected location, the deceleration protected location.

Adopt the mobile handling machinery vision anticollision protection system for bulk storage yard of the present utility model, have following advantage:

1, not only can determine the position of mobile handling machinery in the stockyard, and can determine the direction of motion of mobile handling machinery;

2, according to detected mobile handling machinery position and direction dynamic calculation Anti-bumping protection zone, the Anti-bumping protection zone of calculating changes along with the motion of mobile handling machinery, therefore can realize the real-time Anti-bumping protection of main equipment; Can guarantee device security by designing three layers of Anti-bumping protection zone and relevant control method, take into account again the needs of main equipment and mobile handling machinery work compound;

3, when the mechanism of main equipment enters the Anti-bumping protection zone; the main equipment controller not only can give the alarm to mobile handling machinery; can also be according to the mobile handling machinery orientation that detects and the movement locus of main equipment; send concrete move to mobile handling machinery; indicate the driver of mobile handling machinery to dodge in the mode of voice, the anticollision protection system that therefore proposes can realize the interactive cooperation operation of main equipment and mobile handling machinery.

Description of drawings

Be elaborated below in conjunction with the drawings and specific embodiments the utility model:

Fig. 1 is the schematic diagram of the vision of camera head of the present utility model.

Fig. 2 is the structural drawing of distinguishing mark of the present utility model.

Fig. 3 is the schematic diagram in three-layer protection of the present utility model district.

Fig. 4 is the theory diagram of anticollision protection system of the present utility model.

Fig. 5 is the idiographic flow block diagram of avoiding collision of the present utility model.

Fig. 6 is the schematic diagram of calculating R of the present utility model and the coordinate of S point on the plane, stockyard.

Embodiment

Mobile handling machinery vision anticollision protection system for bulk storage yard of the present utility model comprises as shown in Figure 4:

Be located at camera head on the main equipment, such as video camera, its visual field covers the zone, stockyard of main equipment operation, to gather the stockyard image;

Be located at the distinguishing mark at the pilothouse top of mobile handling machinery, be comprised of rectangle A and rectangle B, two rectangles have a public vertex, and rectangle A and B size have obvious difference;

Image processing apparatus receives the image that camera head gathers, and according to the corresponding relation on the plane of delineation and plane, stockyard, position and the direction of distinguishing mark in image is mapped as position and the direction of mobile handling machinery in the plane, stockyard;

The main equipment controller, according to position and direction that image processing apparatus identifies, dynamic calculation goes out the Anti-bumping protection zone, and sends corresponding main equipment Anti-bumping protection steering order;

Be located at warning device and voice device on the mobile handling machinery, link to each other with the main equipment controller by wireless communication apparatus, receive move and alerting signal that the main equipment controller sends, send to the driver and report to the police and voice suggestion.

Concrete principle is as follows:

As shown in Figure 1, the utility model is the position of detecting mobile handling machinery in the operating area according to the principle of computer vision.In main equipment 1 fixing position camera head (video camera 2) is installed and is gathered the stockyard image, video camera 2 is h apart from stockyard 5 floor levels, and optical axis and ground, stockyard is θ at an angle, makes its visual field cover the zone, stockyard of main equipment operation.Among Fig. 19 is track.

Pilothouse top at mobile handling machinery 3 arranges distinguishing mark 4, can be active or passive.Passive distinguishing mark can utilize the reflecting coating of the light color such as white directly to be printed on the mobile handling machinery top, is installed in the mobile handling machinery top after also can making of reflector, utilizes bulk material to be the characteristics of dark system, distinguishes with background, so that identification.Active sign is installed in the mobile handling machinery top after can utilizing the luminophor such as LED to make, from the acquisition power supply of mobile handling machinery.Have source indicator can obtain better recognition effect, can prevent effectively that the weathers such as sunlight, misty rain from disturbing, passive markers is made simple, is convenient to realize, the installation and maintenance cost is low.The shape of this distinguishing mark is as shown in Figure 2: be comprised of rectangle A and rectangle B, two rectangles have a public vertex.Rectangle A and B size have obvious difference, are used for the direction of identification mobile handling machinery.

And the image of camera head collection outputs in the image processing apparatus, when the mobile handling machinery with having identification mark enters the operating area of main equipment, image processing apparatus identifies distinguishing mark from the image of camera head collection, corresponding relation according to the plane of delineation and plane, stockyard is mapped as position and the direction of mobile handling machinery in the plane, stockyard with position and the direction of distinguishing mark in image, and the main equipment controller is exported in resulting position and directional information.

As shown in Figure 3, the main equipment controller is according to the position of identifying and direction dynamic calculation Anti-bumping protection zone, and set protection zone has three layers, and skin is deceleration protection zone 6, and the middle layer is to stop protection zone 7, and internal layer is tightly to stop protection zone 8.Whether the PLC of main equipment interferes with the protection zone existence of mobile handling machinery according to the position feedback dynamic calculation main equipment of associated mechanisms; then take corresponding Anti-bumping protection control measure if exist; namely when PLC judges that the associated mechanisms that main equipment is arranged enters deceleration protection zone 6; send immediately deceleration instruction; main equipment is run slowly according to predetermined mode; when judging the associated mechanisms that main equipment is arranged, PLC enters when stopping protection zone 7; send immediately halt instruction; make main equipment out of service according to predetermined mode; when judging the associated mechanisms that main equipment is arranged, PLC enters when tightly stopping protection zone 8; send immediately tight stop instruction, make main equipment out of service immediately.

At main equipment wireless communication apparatus is installed and is linked to each other with the main equipment controller, at mobile handling machinery wireless communication apparatus and warning device are installed.When the judgement of main equipment controller has the main equipment associated mechanisms to enter any one deck protection zone; in protection control that main equipment is correlated with; motion path and direction of motion according to the main equipment associated mechanisms; and the position of mobile handling machinery and orientation; send simultaneously alerting signal and move, the move of sending is so that mobile handling machinery sails out of the zone with the main equipment movement interference rapidly and accurately.Mobile handling machinery receives alerting signal and move, sends to the driver and reports to the police and voice suggestion, requires the driver to dodge by instruction.

Image processing apparatus adopts the image processing methods such as threshold process, image segmentation, edge finding to identify two corresponding zones of rectangle of distinguishing mark from the image of catching, calculate respectively the image area of two rectangles, utilize the size of area to distinguish rectangle A and rectangle B, position take the central point S of the central point R of rectangle A and rectangle B as unique point.Find out rectangle A and the centre of form of rectangle B on image, according to the image coordinate of the centre of form, utilize the principle of pin hole shooting to determine R and the position of S point in the stockyard.The line that R point and S are ordered can be used for determining the direction of mobile handling machinery.

Fig. 5 is the idiographic flow block diagram of avoiding collision of the present utility model, and its principle is identical with above-mentioned anti-collision protection device of the present utility model with flesh and blood, does not repeat them here.

In addition, utilize method that pin hole shooting principle calculates R and the coordinate of S point on the plane, stockyard as shown in Figure 6:

Suppose that XYZ is the stockyard absolute coordinate system, camera is installed on the height apart from plane, stockyard h=OC, and downtilt angles is θ, and C is the optical centre of camera, ABC and camera optical axis coincidence, and camera focus f=BC, xy are imaging plane, B (x _B, y _B) be image center, process optical centre C projects the A point on the plane, stockyard.P point on the plane, stockyard is corresponding to the point of the Q on the image.Obtain the coordinate (x of unique point Q from image _Q, y _Q), can calculate the position of P point in the coordinate system of stockyard by the geometric relationship of upper figure.

$\left\{\begin{array}{cc}\frac{\mathrm{PM}}{\mathrm{QN}}=\frac{\mathrm{MC}}{\mathrm{CN}}=\frac{\mathrm{MV}}{\mathrm{NB}}& \left(1\right)\\ \frac{\mathrm{MV}}{\mathrm{NB}}=\frac{\mathrm{CV}}{\mathrm{BC}}& \left(2\right)\end{array}\right.$

Above-mentioned (2) formula cocoa gets

$\mathrm{AM}=\frac{h(y_Q-y_B)}{f{\sin }^2\mathrm{\θ}+(y_Q-y_B)\sin \mathrm{\θ}\cos \mathrm{\θ}}---\left(3\right)$

$\mathrm{OM}=\mathrm{OA}-\mathrm{AM}=\frac{h[f\cos \mathrm{\θ}-(y_Q-y_B)\sin \mathrm{\θ}]}{f\sin \mathrm{\θ}+(y_Q-y_B)\cos \mathrm{\θ}}---\left(4\right)$

By (1) formula and (3) Shi Kede

$\mathrm{PM}=\frac{h(x_Q-x_B)}{f\sin \mathrm{\θ}+(y_Q-y_B)\cos \mathrm{\θ}}---\left(5\right)$

Therefore, the coordinate of P point in the coordinate system of stockyard is:

$\left\{\begin{array}{c}{X}_P=\frac{h(x_Q-x_B)}{f\sin \mathrm{\θ}+(y_Q-y_B)\sin \mathrm{\θ}}\\ Y_P=\frac{h[f\cos \mathrm{\θ}-(y_Q-y_B)\sin \mathrm{\θ}]}{f\sin \mathrm{\θ}+(y_Q-y_B)\cos \mathrm{\θ}}\\ Z_P=0\end{array}\right.---\left(6\right)$

And the direction of mobile handling machinery can be calculated with following formula:

$\mathrm{\φ}=\∠\stackrel{\→}{\mathrm{RS}}-\frac{\mathrm{\π}}{4}=a\tan \frac{Y_R-Y_s}{X_R-X_S}-\frac{\mathrm{\π}}{4}---\left(7\right)$

In sum, the utility model adopts vision technique to detect mobile handling machinery, and distinguishing mark is installed at the mobile handling machinery top, by being installed in the camera acquisition stockyard image on the main equipment, detects mobile handling machinery according to the distinguishing mark in the image; Designed distinguishing mark has two kinds of source indicator and passive markers, and passive distinguishing mark utilizes the reflecting coating of light color to make, and cost is low, installation and maintenance is convenient.Active distinguishing mark utilizes active illuminating device to make, and can prevent effectively that the weathers such as sunlight, misty rain from disturbing, and obtains better recognition effect.Designed distinguishing mark is comprised of two rectangles that vary in size, distinguish two rectangles by image area, take two rectangular centre points as unique point, the image coordinate of unique point is used for determining the position of mobile handling machinery in the plane, stockyard, and the straight line of two unique point formations is used for determining the direction of mobile handling machinery; Utilize the pin-hole imaging principle to determine the position of unique point in the stockyard of distinguishing mark; The main equipment controller is according to the position of mobile handling machinery and the Anti-bumping protection zone of direction dynamic calculation mobile handling machinery, designed protection zone has three layers: the deceleration protection zone, stop the protection zone and tightly stop the protection zone, no protection control method is adopted in different protection zones; When main equipment enters the Anti-bumping protection zone; the main equipment controller is according to the orientation of mobile handling machinery and the movement locus of main equipment; give the alarm and move to mobile handling machinery, the mobile handling machinery driver presses command operating, leaves fast the zone with main equipment motion interference.Therefore, can guarantee main equipment and the mobile handling machinery job safety of bulk storage yard fully.

But, those of ordinary skill in the art will be appreciated that, above embodiment illustrates the utility model, and be not to be used as restriction of the present utility model, as long as in connotation scope of the present utility model, all will drop in claims scope of the present utility model variation, the modification of the above embodiment.

Claims (5)

1. a mobile handling machinery vision anticollision protection system that is used for bulk storage yard is characterized in that, comprising:

Be located at camera head on the main equipment, its visual field covers the zone, stockyard of main equipment operation, to gather the stockyard image;

Be located at the distinguishing mark with direction at the pilothouse top of mobile handling machinery,

And the main equipment controller of image processing apparatus and main equipment, described image processing apparatus all is connected with camera head, main equipment controller.

2. the mobile handling machinery vision anticollision protection system for bulk storage yard according to claim 1; it is characterized in that: also be provided with warning device and voice device on the described mobile handling machinery; link to each other with the main equipment controller by wireless communication apparatus; receive move and alerting signal that the main equipment controller sends, send to the driver and report to the police and voice suggestion.

3. the mobile handling machinery vision anticollision protection system for bulk storage yard according to claim 1 and 2, it is characterized in that: described distinguishing mark is comprised of rectangle A and rectangle B, and two rectangles have a public vertex, and rectangle A and B size have obvious difference;

4. the mobile handling machinery vision anticollision protection system for bulk storage yard according to claim 3 is characterized in that: described distinguishing mark directly is printed on the formed passive markers in mobile handling machinery top for the reflecting coating that adopts light color.

5. the mobile handling machinery vision anticollision protection system for bulk storage yard according to claim 3 is characterized in that: described distinguishing mark is for adopting active luminophor to be installed in that the mobile handling machinery top is formed a source indicator.

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