CN113911912B - Intelligent driving comprehensive safety protection method and device for monorail crane - Google Patents
Intelligent driving comprehensive safety protection method and device for monorail crane Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
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Abstract
The application provides a monorail crane intelligent driving comprehensive safety protection method and device, comprising the following steps: setting a plurality of coordinate points on the running route of the monorail crane; acquiring gradient data and vibration data of the coordinate point relative to the monorail crane, and setting a fingerprint database containing the gradient data and the vibration data; detecting the current gradient data and the current vibration data of the coordinate point position in real time, calculating the difference value between the current gradient data and the current vibration data and the corresponding gradient data and vibration data in the fingerprint database, and executing emergency protective measures if the difference value is greater than a preset threshold value. Meanwhile, data are collected based on the anti-collision device, whether the obstacle in front of the running route of the monorail crane influences the passing of the locomotive or not is analyzed in real time, and if the running safety of the locomotive is influenced, an alarm is given in time or the locomotive is braked and stopped. And pre-warning possible accidents and taking emergency measures by detecting the running state of the monorail crane and the state of a front obstacle.
Description
Technical Field
The application relates to a technology for security protection of a monorail crane, in particular to an intelligent driving comprehensive safety protection method for the monorail crane. The application also provides a single track hangs intelligent driving and synthesizes safety device.
Background
At present, the status of coal mine resources is not reduced due to the appearance of new energy, and coal serving as a power generation energy source, an industrial power energy source, a civil commodity energy source and a chemical raw material with vigorous demand still serves as an important basis for promoting the development of economy and military of various countries. However, while the needs and heat have not changed, the maturity of the development has varied.
Because the coal mine production system is huge and complex, the operation environment is extremely severe, and natural disasters such as water, fire, coal dust, gas, a roof plate and the like exist, the lives of coal workers are seriously threatened, wherein the auxiliary transportation of the monorail crane is an important link for the safety production of the coal mine.
The monorail crane is a system which uses a special I-steel hung above a roadway as a track, uses hanging vehicles with various functions to form a train set, uses a traction device to draw the train set and runs along the track. The traction power can be provided by a steel wire rope, a diesel engine, a storage battery or a pneumatic device. The intelligent driving system of the monorail crane is based on a 4G/5G or WIFI wireless communication network, core functions of accurate positioning, safety detection, signal lamp locking, turnout interlocking, voice broadcasting, video monitoring, data monitoring, lane-dropping prevention early warning, automatic parking and the like of the underground monorail crane are achieved, the unmanned driving requirement of the underground monorail crane is finally achieved, and the goals of reducing personnel and improving efficiency and underground safety are met.
In the prior art, the monorail crane transportation mainly depends on a driver in the monorail crane driving to manually observe emergency factors in the driving process, and the driver cannot timely or beforehand react to the possible emergency. In 2019, 1 month and 9 days, the national coal mine safety administration sets and publishes a key research and development catalogue of coal mine robots, and provides specific research and development application requirements for 5 types and 38 types of coal mine robots for tunneling, coal mining, coal transportation, safety control and rescue respectively, and people are expected to be replaced by robots to realize less people safety and unmanned people safety of coal mine operation. In the "catalogue of key research and development of coal mine robots", a category 23 robot is specified: basic requirements of the underground intelligent driving transport vehicle are as follows: the underground intelligent driving transport vehicle for the coal mine is researched and developed, has the functions of accurate positioning, safety detection, autonomous sensing, active obstacle avoidance, automatic vehicle staggering, air door linkage and the like, and realizes unmanned driving of the underground transport vehicle. Therefore, the intelligent driving system is an important part for ensuring intelligent and safe driving of the monorail crane aiming at emergency situations in the intelligent driving process of the monorail crane.
Disclosure of Invention
In order to solve the problem that early warning of the monorail crane is not timely, the application provides an intelligent driving comprehensive safety protection method for the monorail crane and an intelligent driving comprehensive safety protection device for the monorail crane.
The application provides a monorail crane intelligent driving comprehensive safety protection method, which comprises the following steps:
setting a plurality of coordinate points on the running route of the monorail crane;
acquiring gradient data and vibration data of the monorail crane at the coordinate point position in an off-line manner, and setting a fingerprint database containing the gradient data and the vibration data;
detecting the current gradient data and the current vibration data of the coordinate point position in real time, calculating the difference value between the current gradient data and the current vibration data and the corresponding gradient data and vibration data in the fingerprint database, and executing emergency protective measures if the difference value is greater than a preset threshold value.
In addition, the intelligent driving comprehensive safety protection method for the monorail crane further comprises the following steps:
detecting the acceleration of the monorail crane in the operation process;
extracting an acceleration safety threshold of the monorail crane from the fingerprint database, and comparing a acceleration value with the acceleration safety threshold in the real-time running process of the monorail crane;
and if the acceleration value is larger than the safety threshold value, executing emergency protective measures.
Optionally, the method further includes:
acquiring point cloud data through a laser radar, analyzing and identifying obstacles in the point cloud data, wherein a coordinate calculation formula of the obstacles is as follows:
judging whether the obstacle is located in a driving route warning region according to the following formula based on the coordinates of the obstacle:
wherein the alarm in the above formula is an alarm sign, and the above formula
Is the x coordinate of the scanning point, said
Is the y coordinate of the scanning point, n is the number of the current scanning points, sps is the number of the sampling points of one circle, L [ n ]]Is point cloud data, W is the scan width, and D is the alarm distance value.
And judging whether the obstacle is in an alarm area or not according to the alarm distance value, and if so, executing emergency protective measures.
Optionally, an interval of the plurality of coordinate points on the travel route is 10 CM.
Optionally, the emergency protective measures include: audible and visual alarms and/or emergency braking.
The application still provides a single track hangs intelligent driving and synthesizes safety device, includes:
the setting module is used for setting a plurality of coordinate points on the running route of the monorail crane;
the acquisition module is used for acquiring the gradient data and the vibration data of the monorail crane at the coordinate point position in an off-line manner and setting a fingerprint database containing the gradient data and the vibration data;
and the calculation module is used for detecting the current gradient data and the current vibration data at the coordinate point position in real time, calculating the difference value between the current gradient data and the current vibration data and the corresponding gradient data and vibration data in the fingerprint database, and executing emergency protection measures if the difference value is greater than a preset threshold value.
In addition, single track hangs intelligent driving and synthesizes safety device still includes:
the first detection module is used for detecting the acceleration of the monorail crane in the operation process;
the first comparison module is used for extracting the acceleration safety threshold of the monorail crane from the fingerprint database and comparing the acceleration value with the acceleration safety threshold in the real-time running process of the monorail crane;
and if the acceleration value is larger than the safety threshold value, executing emergency protective measures.
Optionally, the method further includes:
the second detection module is used for acquiring the point cloud data through the laser radar, analyzing and identifying obstacles in the point cloud data, and the coordinate formula of the obstacles is as follows:
the second comparison module is used for judging whether the obstacle is positioned in a driving route warning area or not according to the following formula based on the obstacle coordinates:
wherein the alarm in the above formula is an alarm sign, and the above formula
Is a scanning spotx coordinate of
Is the y coordinate of the scanning point, n is the number of the current scanning points, sps is the number of the sampling points of one circle, L [ n ]]Is point cloud data, W is the scan width, and D is the alarm distance value.
And calculating whether the obstacle is in the alarm area or not according to the alarm distance value, and if so, executing emergency protective measures.
Optionally, an interval of the plurality of coordinate points on the travel route is 10 CM.
Optionally, the emergency protective measures include: audible and visual alarms and/or emergency braking.
Compared with the prior art, the application has the advantages that:
the application provides a monorail crane intelligent driving comprehensive safety protection method, which comprises the following steps: setting a plurality of coordinate points on the running route of the monorail crane; acquiring gradient data and vibration data of the coordinate point relative to the monorail crane, and setting a fingerprint database containing the gradient data and the vibration data; detecting the current gradient data and the current vibration data of the coordinate point position in real time, calculating the difference value between the current gradient data and the current vibration data and the corresponding gradient data and vibration data in the fingerprint database, and executing emergency protective measures if the difference value is greater than a preset threshold value. The method has the advantages that possible accidents are pre-warned by detecting the state of the monorail crane, and emergency measures are taken, so that the running safety of the monorail crane is improved.
Drawings
FIG. 1 is a comprehensive safety protection flow chart of intelligent driving of a monorail crane in the application.
Fig. 2 is an illustration of obstacle detection in the present application.
FIG. 3 is a schematic view of the intelligent driving comprehensive safety protection device of the monorail crane in the application.
FIG. 4 is a schematic view of the sensor arrangement of the monorail crane of the present application.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of implementation in many different ways than those herein set forth and of similar import by those skilled in the art without departing from the spirit of this application and is therefore not limited to the specific implementations disclosed below.
The application provides a single track hangs intelligent driving comprehensive safety protection method, which is characterized by including: setting a plurality of coordinate points on the running route of the monorail crane; acquiring gradient data and vibration data of the coordinate point relative to the monorail crane, and setting a fingerprint database containing the gradient data and the vibration data; detecting the current gradient data and the current vibration data of the coordinate point position in real time, calculating the difference value between the current gradient data and the current vibration data and the corresponding gradient data and vibration data in the fingerprint database, and executing emergency protective measures if the difference value is greater than a preset threshold value. According to the method and the device, the state of the monorail crane is detected to pre-warn possible accidents, and emergency measures are taken, so that the running safety of the monorail crane is improved.
FIG. 1 is a comprehensive safety protection flow chart of intelligent driving of a monorail crane in the application.
Referring to fig. 1, S101 sets a plurality of coordinate points on the running route of the monorail crane.
The method comprises the steps that a plurality of coordinate points are arranged on a running route of the monorail crane firstly, and the coordinate points are arranged according to a preset distance. Preferably, one coordinate point is set every 10CM, and the present distance interval may be changed according to the field requirements. The coordinate points mark the direction in which the coordinate points are located.
Referring to fig. 1, in step S102, gradient data and vibration data of the monorail crane at the coordinate point position are collected off-line, and a fingerprint database containing the gradient data and the vibration data is set.
The monorail crane identifies crisis events through data comparison, and the data used for comparison is data acquired in normal operation of the monorail crane in an off-line mode. For validity and accuracy of comparison, the single-track lifting line coordinate point position data acquisition method collects data of positions where coordinate points are arranged on the single-track lifting line, and the data comprise: and storing the data into a data fingerprint database for subsequent comparison through gradient data acquired by the inclination angle sensor and vibration data acquired by the acceleration sensor.
Referring to fig. 1, in step S103, the current gradient data and the current vibration data at the coordinate point position are detected in real time, a difference between the current gradient data and the current vibration data and the corresponding gradient data and vibration data in the fingerprint database is calculated, and if the difference is greater than a preset threshold, an emergency measure is performed.
In the daily operation process of the monorail crane, the current gradient data of each coordinate point position are detected through an inclination angle sensor, and the current vibration data of each coordinate point position are detected through an acceleration sensor. Detecting the current gradient data and the current vibration data at the coordinate point position in real time, calculating a difference value between the current gradient data and the current vibration data and the corresponding gradient data and vibration data in the fingerprint database, and executing an emergency protective measure if the difference value is greater than a preset threshold value, wherein the preset threshold value can be obtained by calculating the data of daily safe operation, and the method comprises the following steps: the average of the grade data and the vibration data. The preset threshold may also be obtained by other calculation methods, for example: variance, median, etc.
In the application, acceleration data can be acquired through an acceleration sensor, and as shown in fig. 1, S103 is used for detecting the acceleration of the monorail crane in the running process; extracting an acceleration safety threshold of the monorail crane from the fingerprint database, and comparing the acceleration with the acceleration safety threshold; and if the acceleration is greater than the acceleration safety threshold, executing emergency protective measures.
Specifically, the acceleration may be directly detected in real time and compared with the acceleration threshold, and a preferred scheme is as follows:
detecting the acceleration S of the monorail crane once every 10cm according to the coordinate points, and then calculating the acceleration change condition according to the following formula:
wherein C is an acceleration comparison parameter,
is the acceleration of the monorail crane at each coordinate point,
the acceleration threshold of the monorail crane is set, and n is the number of coordinate points.
And setting a threshold value Y of an acceleration comparison parameter according to the actual application environment, judging that the acceleration is abnormal when C is larger than Y, and executing emergency protective measures. Therefore, the integral operation condition of the monorail crane is judged integrally.
In addition, as shown in fig. 1, S103 detects an obstacle in front of the monorail crane in operation through a laser radar, calculates whether the obstacle is in an alarm area if the obstacle is detected, and executes emergency protection measures if the obstacle is in the alarm area.
Fig. 2 is an illustration of obstacle detection in the present application.
Referring to fig. 2, a laser radar is arranged on the monorail crane, and the obstacle is detected by the laser radar, which includes the following specific steps:
the point cloud data acquired by the laser radar is sent to a network switch, and the controller acquires the point cloud data through the network switch.
Analyzing the point cloud data, analyzing the point cloud data from a packaging state, and calculating the coordinates of the obstacles in the point cloud data.
Identifying an obstacle from the point cloud data, and calculating coordinates of the obstacle according to the following formula:
wherein, the
Is the x coordinate of the scanning point, said
Is the y coordinate of the scanning point, n is the number of the current scanning points, sps is the number of the sampling points of one circle, L [ n ]]Is point cloud data.
Judging whether the barrier is in a safety area, and judging whether the barrier is in a driving route warning area according to the following formula based on the coordinates of the barrier after the coordinates of the barrier are obtained:
wherein the alarm is an alarm sign, the alarm is a warning sign
Is the x coordinate of the scanning point, said
Is the y coordinate of the scanning point, W is the scanning width, and D is the alarm distance value.
When said
<D, then belongs to the safe area, when said
D or more, the method does not belong to a safe area, and the next step should be carried out.
Executing emergency protective measures, wherein the emergency protective measures in the application at least comprise one of the following items: audible and visual alarm, emergency and automatic.
The application still provides a single track hangs intelligent driving and synthesizes safety device, includes: the device comprises a setting module 201, an acquisition module 202 and a calculation module 203.
FIG. 3 is a schematic view of the intelligent driving comprehensive safety protection device of the monorail crane in the application.
Referring to fig. 3, a setting module 201 is configured to set a plurality of coordinate points on the running route of the monorail crane.
Firstly, a plurality of coordinate points are arranged on the running route of the monorail crane, and the coordinate points are arranged according to a preset distance. Preferably, one coordinate point is set every 10CM, and the present distance interval may be changed according to the field requirements. The coordinate points mark the direction in which the coordinate points are located.
Referring to fig. 3, the collecting module 202 is configured to collect, offline, gradient data and vibration data of the monorail crane at the coordinate point position, and set a fingerprint database including the gradient data and the vibration data.
The acquisition module 202 may be the monorail crane and a detection device mounted on the monorail crane.
FIG. 4 is a schematic view of the sensor arrangement of the monorail crane of the present application.
Referring to fig. 4, the monorail crane provided with multiple types of sensors includes: four distance sensors 02, two tilt sensors 05, an acceleration sensor 07 and two laser radars 03. These sensors are all connected to the controller 04 and are powered for operation by the power supply 08.
The laser radar 03 is connected to the controller 04 through a network switch 06, and the laser radar 03 is arranged at the front end and the rear end of the monorail crane and used for detecting obstacles in front.
The controller 04 receives data of the sensor, and judges whether to give an early warning according to the data, including: and sending an instruction to the alarm 09, wherein the alarm 09 gives an alarm through sound and light. The controller 04 can also send an instruction to the braking unit 10 to brake the monorail crane.
Preferably, the specific configuration of each component in the present application is as follows:
distance sensor 02: the device is arranged at the head and tail ends of the monorail crane, detects obstacles beyond 15m in front of the monorail crane in a laser beam mode, transmits detection data to a vehicle-mounted controller in a wired mode, and is mainly used for detecting long-distance obstacles in the monorail crane running process.
Laser radar 03: the device is arranged at the head end and the tail end of the monorail crane vehicle, detects the obstacle within 15m ahead of the monorail crane in a single-line or multi-line three-dimensional mode, transmits the detection data to the vehicle-mounted controller through the network switch, and obtains point cloud data such as the distance and the angle of the obstacle ahead.
The controller 04: the intelligent driving comprehensive safety protection device is installed on a monorail crane locomotive body and used as a core controller of the monorail crane intelligent driving comprehensive safety protection device, data of the inclination angle sensor 05, the acceleration sensor 07, the distance sensor 02 and the laser radar 03 are obtained, the locomotive running state and the track abnormity are judged through data processing and safety protection algorithms, an alarm signal is sent out timely, and braking is carried out when necessary.
Inclination angle sensor 05: the device is arranged at the two ends of the head and the tail of the monorail crane and used for acquiring real-time gradient data in the running process of the monorail crane and transmitting the inclination angle data to the vehicle-mounted controller in a wired mode.
Acceleration sensor 07: the device is arranged on a monorail crane locomotive body and used for acquiring acceleration data in the running process of the monorail crane and transmitting the acceleration data to the vehicle-mounted controller in a wired mode.
The network switch 06: and the laser radar and the vehicle-mounted controller are connected and installed at the head end and the tail end of the monorail crane vehicle, so that data communication can be realized through a network interface.
Power supply 08: the intelligent driving comprehensive safety protection device is used for supplying power to a distance sensor 02, a laser radar 03, a controller 04, an inclination angle sensor 05, a network switch 06 and an acceleration sensor 07 which are contained in the intelligent driving comprehensive safety protection device of the monorail crane.
The monorail crane identifies crisis events through data comparison, and the data used for comparison is data acquired in normal operation of the monorail crane in an off-line mode. For validity and accuracy of comparison, the single-track lifting line coordinate point position data acquisition method collects data of positions where coordinate points are arranged on the single-track lifting line, and the data comprise: and storing the data into a data fingerprint database for subsequent comparison through gradient data acquired by the inclination angle sensor and vibration data acquired by the acceleration sensor.
Referring to fig. 3, the calculating module 203 is configured to detect current gradient data and current vibration data at the coordinate point in real time, calculate a difference between the current gradient data and the current vibration data and corresponding gradient data and vibration data in the fingerprint database, and execute an emergency protective measure if the difference is greater than a preset threshold.
In the daily operation process of the monorail crane, the current gradient data of each coordinate point position are detected through an inclination angle sensor, and the current vibration data of each coordinate point position are detected through an acceleration sensor. Detecting the current gradient data and the current vibration data at the coordinate point position in real time, calculating the difference value between the current gradient data and the current vibration data and the corresponding gradient data and vibration data in the fingerprint database, executing emergency protective measures if the difference value is greater than a preset threshold value, wherein the preset threshold value can be obtained by calculating the data of daily safe operation, and the method comprises the following steps of: the average of the grade data and the vibration data. The preset threshold may also be obtained by other calculation methods, for example: variance, median, etc.
In the application, acceleration data can be acquired through an acceleration sensor, and the acceleration of the monorail crane in the operation process is detected; extracting an acceleration safety threshold of the monorail crane from the fingerprint database, and comparing the acceleration with the acceleration safety threshold; and if the acceleration is greater than the acceleration safety threshold, executing emergency protective measures.
Specifically, the acceleration of the monorail crane in the operation process can be detected in real time and compared with the acceleration threshold.
One preferred solution is: detecting the acceleration of the monorail crane every 10CN according to the coordinate point, and then calculating the acceleration change condition according to the following formula:
wherein C is an acceleration comparison parameter,
is the acceleration of the monorail crane at each coordinate point,
the acceleration threshold of the monorail crane is set, and n is the number of coordinate points.
And setting a threshold value Y of an acceleration comparison parameter according to the actual application environment, judging that the acceleration is abnormal when C is larger than Y, and executing emergency protective measures. Therefore, the integral operation condition of the monorail crane is judged integrally.
In addition, this application can also detect through laser radar the single track hangs the barrier in operation the place ahead, if detect out the barrier, calculate whether the barrier is in the warning area, if yes, then carry out emergency protection measure.
Specifically, be provided with laser radar on the monorail crane, through laser radar detects the barrier, specific step is as follows: the point cloud data acquired by the laser radar is sent to a network switch, and the controller acquires the point cloud data through the network switch.
Analyzing the point cloud data, analyzing the point cloud data from a packaging state, and calculating the coordinates of the obstacles in the point cloud data.
Identifying an obstacle from the point cloud data, and calculating coordinates of the obstacle according to the following formula:
wherein, the
Is the x coordinate of the scanning point, said
Is the y coordinate of the scanning point, n is the number of the current scanning points, sps is the number of the sampling points of one circle, L [ n ]]Is point cloud data. Judging whether the barrier is in a safety area, and judging whether the barrier is in a driving route warning area according to the following formula based on the coordinates of the barrier after the coordinates of the barrier are obtained:
wherein the alarm is an alarm sign, the alarm is a warning sign
Is the x coordinate of the scanning point, said
Is the y coordinate of the scanning point, W is the scanning width, and D is the alarm distance value. When said
<D, then belongs to the safe area, when said
D or more, the method does not belong to a safe area, and the next step should be carried out.
Claims (5)
1. A comprehensive safety protection method for intelligent driving of a monorail crane is characterized by comprising the following steps:
setting a plurality of coordinate points on the running route of the monorail crane, wherein the coordinate points are set according to a preset distance and mark the direction of the position of the coordinate points;
the monorail crane identifies crisis events through data comparison, the data for comparison is data obtained by acquiring normal operation of the monorail crane offline, specifically gradient data and vibration data of the monorail crane at the coordinate point position offline, the gradient data and the vibration data are acquired through an inclination angle sensor and an acceleration sensor respectively, a fingerprint database containing the gradient data and the vibration data is arranged, and the gradient data and the vibration data in the fingerprint database are used for subsequent comparison;
detecting current gradient data and current vibration data at the coordinate point position in real time in the daily operation process of the monorail crane, calculating a difference value between the current gradient data and the current vibration data and the corresponding gradient data and vibration data at the current position in the fingerprint database, and executing emergency protection measures if the difference value is greater than a preset threshold value, wherein the preset threshold value is obtained by calculating data of daily safe operation;
further comprising: detecting the acceleration of the monorail crane in the operation process;
extracting an acceleration safety threshold value at the current position of the monorail crane from the fingerprint database, comparing a acceleration value with the acceleration safety threshold value in the real-time running process of the monorail crane, detecting the acceleration S of the monorail crane every 10cm according to the coordinate point, and then calculating the acceleration change condition according to the following formula:
wherein C is an acceleration comparison parameter,
is the acceleration of the monorail crane at each coordinate point,
the acceleration threshold value of the monorail crane is set, and n is the number of coordinate points;
setting a threshold value Y of an acceleration comparison parameter, judging that the acceleration is abnormal when C is larger than Y, and executing emergency protective measures.
2. The intelligent driving comprehensive safety protection method for the monorail crane according to claim 1, further comprising:
acquiring point cloud data at the current position through a laser radar, analyzing and identifying obstacles in the point cloud data, wherein a coordinate calculation formula of the obstacles is as follows:
judging whether the obstacle is located in a driving route warning region according to the following formula based on the coordinates of the obstacle:
wherein the alarm in the above formula is an alarm sign, and the above formula
Is the x coordinate of the scanning point, said
Is the y coordinate of the scanning point, n is the number of the current scanning points, sps is the number of the sampling points of one circle, L [ n ]]Is point cloud data, wherein W is a scanning width and D is an alarm distance value;
and judging whether the obstacle is in an alarm area or not according to the alarm distance value, and if so, executing emergency protective measures.
3. The intelligent driving comprehensive safety protection method for the monorail crane according to claims 1-2, wherein the emergency protection measures comprise: audible and visual alarms and/or emergency braking.
4. The utility model provides a single track hangs intelligent driving and synthesizes safety device which characterized in that includes:
the positioning module is used for setting and positioning a plurality of coordinate points on the running route of the monorail crane, the coordinate points are set according to a preset distance, and the direction of the positions of the coordinate points is marked;
the monorail crane identifies crisis events through data comparison, the data for comparison is data during normal operation of the monorail crane acquired offline, and is specifically used for acquiring gradient data and vibration data of the monorail crane at the coordinate point position, the gradient data and the vibration data are acquired through an inclination angle sensor and an acceleration sensor respectively, a fingerprint database containing the gradient data and the vibration data is arranged, and the gradient data and the vibration data in the fingerprint database are used for subsequent comparison;
the calculation module is used for detecting the current gradient data and the current vibration data at the coordinate point position in real time in the daily operation process of the monorail crane, calculating the difference value between the current gradient data and the current vibration data and the corresponding gradient data and vibration data in the fingerprint database, and calculating the preset threshold value through the daily safe operation data;
the first detection module is used for detecting the acceleration of the monorail crane in the operation process;
the first comparison module is used for extracting an acceleration safety threshold of the monorail crane from the fingerprint database, comparing a acceleration value with the acceleration safety threshold in the real-time running process of the monorail crane, detecting the acceleration S of the monorail crane every 10cm according to the coordinate point, and then calculating the acceleration change condition according to the following formula:
wherein C is an acceleration comparison parameter,
is the acceleration of the monorail crane at each coordinate point,
the acceleration threshold value of the monorail crane is set, and n is the number of coordinate points;
setting a threshold value Y of an acceleration comparison parameter, judging that the acceleration is abnormal when C is larger than Y, and executing emergency protective measures;
an execution module: and executing emergency protective measures, namely audible and visual alarm and/or emergency braking according to the calculation result.
5. The intelligent driving comprehensive safety protection device for the monorail crane as defined in claim 4, further comprising:
the second detection module is used for acquiring the point cloud data through the laser radar, analyzing and identifying obstacles in the point cloud data, and the coordinate formula of the obstacles is as follows:
the second comparison module is used for judging whether the obstacle is positioned in a driving route warning area or not according to the following formula based on the obstacle coordinates:
wherein the alarm in the above formula is an alarm sign, and the above formula
Is the x coordinate of the scanning point, said
Is the y coordinate of the scanning point, n is the number of the current scanning points, sps is the number of the sampling points of one circle, L [ n ]]Is point cloud data, wherein W is a scanning width and D is an alarm distance value;
and calculating whether the obstacle is in the alarm area or not according to the alarm distance value, and if so, executing emergency protective measures.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202111513732.7A CN113911912B (en) | 2021-12-13 | 2021-12-13 | Intelligent driving comprehensive safety protection method and device for monorail crane |
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| CN117086864B (en) * | 2023-08-02 | 2024-02-27 | 上海迪成智能科技有限公司 | Inspection robot safety fault accurate positioning method for monorail crane operation |
| CN117228536B (en) * | 2023-11-14 | 2024-01-30 | 常州海图信息科技股份有限公司 | Intelligent analysis system and method for monorail crane |
| CN117566600B (en) * | 2024-01-16 | 2024-03-29 | 山东鑫鹏宇矿业装备有限公司 | Mining monorail crane safe operation control system based on Internet of things |
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| FI115668B (en) * | 2003-03-25 | 2005-06-15 | Sandvik Tamrock Oy | Initialization of position and direction of mining vehicles |
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