CN110255384A - A kind of interior dock anti-collision system - Google Patents

Abstract

The invention discloses an indoor dock anti-collision system, comprising: equipment position detection subsystem, equipment active anti-collision protection subsystem, equipment position management software subsystem, personnel positioning management subsystem, equipment position detection subsystem, used for identification and Control the actual position of goods, tools, and rigging to avoid collisions. The equipment location management software subsystem is used for the anti-collision function between equipment and equipment, mainly to avoid collisions between crane equipment running in three dimensions on the same track or parallel tracks. , the personnel positioning management subsystem, used for the collision avoidance function between the equipment running route and personnel, including equipment active collision avoidance and personnel offside reminder. The indoor dock anti-collision system is complete and mature, which can effectively prevent the collision between equipment, workpieces and shipbuilding hulls. It has the characteristics of safety, reliability, clear display, easy operation and high efficiency.

Description

An Indoor Dock Anti-collision System

technical field

The invention relates to an indoor shipyard anti-collision system.

Background technique

In the process of shipbuilding, the working environment in the dock is complex, and collisions between equipment, workpieces and shipbuilding hulls are prone to occur. Previously, there was no very effective anti-collision means to solve the occurrence of this type of situation. Relying on manual observation and intervention is not only inefficient but also takes a lot of man-hours. Collision accidents often occur due to negligent observation or insufficient information transmission, which leads to the obstruction of project progress due to equipment damage and brings direct economic losses to enterprises.

Contents of the invention

In order to solve the above problems, the present invention discloses an indoor shipyard anti-collision system.

The technical solution of the present invention is: an indoor dock anti-collision system, including: equipment position detection subsystem, equipment active anti-collision protection subsystem, equipment position management software subsystem, personnel positioning management subsystem,

The equipment position detection subsystem is used to identify and control the actual position of goods, tools and rigging to avoid collisions. The equipment position detection subsystem includes the position detection device of the cart, the positioning device of the upper and lower trolleys, the position detection device of the lifting mechanism and the rotation Positioning means;

The active anti-collision protection subsystem of the equipment uses 3D scanning to detect the edge area and top height of the hoisted objects, so as to judge the relative position and range of the hoisted heavy objects, find objects with overlapping heights around them, and check the distance between them to realize active anti-collision protection. bump function;

The equipment location management software subsystem is used for the anti-collision function between equipment, mainly to avoid collisions between crane equipment running in three dimensions on the same track or parallel tracks;

The personnel positioning management subsystem is used for the collision avoidance function between the equipment running route and personnel, including equipment active collision avoidance and personnel alerting;

Further, 3D scanning finds the upper edge of the hoisted object, and calculates the height of the bottom surface of the hoisted object from the ground based on the 3D model data stored in the system, and obtains the complete situation of the hoisted object in space. The space attitude is compared to prevent the collision between the crane load and the ground.

Furthermore, the cart position detection device adopts the absolute value encoder method, and uses the RFID magnetic nail method to verify and detect the absolute value code. The special read-write scanning laser completes the position detection work, the position detection device of the hoisting mechanism adopts the built-in absolute value encoder method, and the rotary positioning device uses the laser barcode tape method for accurate positioning.

Furthermore, the personnel positioning management subsystem is connected to the software management platform, and the content of the sub-module can be recorded and displayed on the corresponding terminal, and the UWB ultra-wideband wireless positioning method is used to locate the mobile personnel.

Furthermore, the equipment location management software subsystem judges the location of the collision in advance and gives an early warning based on the relevant location data collected by the equipment location detection subsystem and the equipment active collision protection subsystem, the positioning device data of each mechanism, the operating data and the direction. and issue a stop command.

Advantages of the present invention: the indoor dock anti-collision system is complete and mature, can effectively prevent collisions between equipment, workpieces, and shipbuilding bodies, and has the characteristics of safety, reliability, clear display, simple operation, and efficient work.

Description of drawings

Figure 1 is a schematic diagram of the present invention.

Detailed ways

In order to deepen the understanding of the present invention, the specific implementation of the present invention will be described in detail below in conjunction with the accompanying drawings. This embodiment is only used to explain the present invention and does not constitute a limitation to the protection scope of the present invention.

An indoor shipyard anti-collision system, including: equipment position detection subsystem, equipment active anti-collision protection subsystem, equipment position management software subsystem, personnel positioning management subsystem,

The equipment position detection subsystem is used to identify and control the actual position of goods, tools and rigging to avoid collisions. The equipment position detection subsystem includes the position detection device of the cart, the positioning device of the upper and lower trolleys, the position detection device of the lifting mechanism and the rotation The positioning device, the cart position detection device adopts the absolute value encoder method, and uses the RFID magnetic nail method to verify and detect the absolute value code, and judge whether the absolute value encoder is detected accurately. The crane with a small track base distance only needs to It can be installed on the side rails, but for cranes with large spans, absolute encoders and correcting RFID magnetic nails must be installed on both sides.

The upper and lower trolley positioning device adopts the laser barcode belt positioning method to realize the position detection, and installs a special read-write scanning laser on the moving part to complete the position detection work.

The position detection device of the hoisting mechanism adopts its own absolute value encoder. The absolute value encoder is installed at the end of the lifting drum to detect the length of the wire rope and convert the position and height according to the winding method.

The rotary positioning device chooses to use the laser barcode belt method for accurate positioning. The laser barcode scanner emits a continuous oscillating linear laser to scan the one-dimensional barcode, and recognize the barcode according to the light and dark changes of the scanned barcode. To use a laser barcode scanner for positioning, you must use a special barcode with a standard number. According to the content analysis of the barcode, you can get the current position of the laser barcode scanner relative to the barcode, and then get the current rotation position.

The active anti-collision protection subsystem of the equipment uses 3D scanning to detect the edge area and top height of the hoisted objects, so as to judge the relative position and range of the hoisted heavy objects, find objects with overlapping heights around them, and check the distance between them to realize active anti-collision protection. Collision function, 3D scanning finds the upper edge of the hoisted object, and calculates the height of the bottom surface of the hoisted object from the ground according to the 3D model data stored in the system, and obtains the complete situation of the hoisted object in space, through the 3D mapping with the software The spatial attitude is compared to prevent the collision between the crane load and the ground. In order to ensure accuracy, several 3D scanners are installed on the ceiling of the indoor dock for modeling and imaging of objects. The final 3D images are available to users Observe from multiple angles.

The core technology of 3D scanning technology is TOF (time-of-flight ranging method). By continuously sending light pulses to the target, and then using the sensor to receive the light returned from the object, the distance of the target object can be obtained by detecting the flight (round-trip) time of the light pulse. . High-precision measurement in space is formed by using two high-precision servo motors perpendicular to each other. Then the measured data is converted into a common coordinate system, so as to complete the fitting of scanning results in a wide range. Through multiple 3D laser scanners complementing and fitting each other, even scanning without dead ends can be achieved.

The equipment location management software subsystem is used for the anti-collision function between equipment, mainly avoiding collisions between cranes running on the same track or parallel tracks in three dimensions, monitoring and demarcating the safety area between two cranes, Incorporating the location of all known equipment in the dock into the software management can effectively avoid most collisions.

The software subsystem needs to obtain the outline information of the crane, the position information of the cart, the position information of the upper and lower trolleys, and the height position of the lifting mechanism. The portal crane also needs to obtain the position information of the rotating mechanism. This information can be used to understand the current operating conditions of the crane and whether the minimum height of the current position can pass through other equipment. The system also needs to monitor the running direction and speed of each mechanism to predict the risk of collision during equipment operation.

The personnel positioning management subsystem is used for the anti-collision function between the equipment running route and the personnel, including active equipment collision avoidance and personnel reminders. judge. The automatic positioning cannot use GPS, encoder, etc., but can only be realized by means of wireless communication.

The personnel positioning management subsystem is connected to the software management platform, and the content of the sub-module can be recorded and displayed in the corresponding terminal display system, and the UWB ultra-wideband wireless positioning method is used to locate the mobile personnel.

UWB ultra-wideband wireless positioning method is used to implement the positioning of mobile personnel. UWB (UltraWideband) is a carrier-free communication technology that can transmit several thousand tag signals per second with an accuracy of up to 30 centimeters. To locate a moving person in space, a tag that can accept radio waves must be installed on the body, and multiple base stations that emit radio waves must be arranged in the dock to ensure that the tag can receive no less than three positioning base stations at the same time signal of. When the tag receives the UWB ultra-wideband wireless signal, according to the communication time difference between multiple base stations, the position from each base station can be judged, so as to realize the cross positioning function. This level of accuracy is not enough for precise positioning, but it is sufficient for collision avoidance in the workshop.

The equipment location management software subsystem is based on the relevant location data collected by the equipment location detection subsystem and the equipment active anti-collision protection subsystem, the data of the positioning devices of each mechanism, the operating data and the direction, to judge the location of the collision in advance, to give an early warning and to issue a stop Order.

working principle:

The equipment position detection method is a key step to realize the collision avoidance between cranes, and it is also the main realization method. As long as the position judgment is correct, the collision avoidance detection can be realized.

The equipment position management software is used to monitor the position values of all cranes, detect whether there will be a collision between any two equipment through logical operations, and issue a deceleration command when the equipment is approaching, and remind the driver to pay attention. When the gantry crane needs to pass through the shipbuilding gantry crane or other construction equipment, the software needs to judge according to the boom position of the gantry crane, the lifting height and position of the gantry crane, and the corresponding equipment must receive the permission to cross the platform before execution .

The active anti-collision system of the equipment uploads the 3D scanning data to the management software, judges the relative position and range of the hoisted heavy objects, finds objects with overlapping heights within a certain range, checks the distance between them, and realizes the active anti-collision function. At the same time, according to the 3D model data stored in the system, the height of the bottom surface of the hoisted object from the ground can be calculated to effectively prevent the collision between the hoisted object and the ground.

The personnel positioning detection method also needs to calculate the position of the UWB tag through software, and upload the position signal to the anti-collision system, so as to judge the position and direction of the mobile personnel, and control the deceleration or parking.

All equipment position detection values are connected to the PLC, and a dedicated Siemens PLC is used for position detection. This function is not to be mixed with the functions of the main control system to prevent control failures that affect the entire equipment in case of failure.

Claims (5)

1. a kind of interior dock anti-collision system, which is characterized in that detect subsystem, equipment active Anti-bumping protection including device location Subsystem, device location management software subsystem, personnel positioning management subsystem,

The device location detects subsystem, for identification with the physical location of control cargo, tool, rigging, avoids collision, institute State the position detection that device location detection subsystem includes big car position checkout gear, upper and lower car positioning, lifting mechanism Device and rotary positioning apparatus；

The equipment active Anti-bumping protection subsystem scans to detect the fringe region and overhead height that hang article carrying piece using 3D, from The distance between and judge to hang relative position and the range of loads, the object for around highly having coincidence is found, check, realize master Dynamic collision prevention function；

The device location management software subsystem, for the collision prevention function between equipment and equipment, mainly avoid same track or It is collided between the loop wheel machine equipment of three-dimensional operation on parallel orbit；

The personnel positioning management subsystem, for the collision prevention function between equipment running route and personnel, including equipment is actively Anticollision and the offside prompting of personnel.

2. a kind of indoor dock anti-collision system according to claim 1, it is characterised in that: the 3D scanning, which is found, hangs loading The top edge of body, and according to the 3D model data saved in system, the height for hanging object carrier bottom surface apart from ground is calculated, is obtained Article carrying piece is hung in the complete situation in space, is compared by the 3d space posture with software image, prevention crane hangs loading With the collision on ground.

3. a kind of indoor dock anti-collision system according to claim 1, it is characterised in that: the big car position checkout gear Using absolute value encoder mode, absolute encoder is verified and detected using RFID magnetic nail mode, the trolley up and down Positioning device realizes position detection using laser bar code band positioning method, and dedicated read-write scanning is installed on mobile position and is swashed Light completes position detection work, and the position detecting device of the lifting mechanism is using included absolute value encoder mode, rotation Positioning device selection is accurately positioned using laser bar code band mode.

4. a kind of indoor dock anti-collision system according to claim 1, it is characterised in that: the personnel positioning manages subsystem System is linked into software management platform, and can be recorded in corresponding terminal and be shown the content of the submodule, using UWB ultra-wide The positioning of mobile personnel is carried out with wireless location mode.

5. a kind of indoor dock anti-collision system according to claim 1, it is characterised in that: the device location management software Subsystem is that subsystem and the collected relative position data of equipment active Anti-bumping protection subsystem, each are detected according to device location Mechanism positioning device data, operation data and direction judge the position of collision in advance, give warning in advance and sending is ceased and desisted order.