CN114721323A - Safety anti-collision system, method, terminal and storage medium for stacker-reclaimer - Google Patents

Abstract

The invention discloses a safety anti-collision system, method, terminal and storage medium for a stacker and reclaimer, which belong to the field of automatic control of a stacker and reclaimer. The scheme includes a satellite positioning mobile station, a differential positioning base station, a control terminal, and a PLC control. module, a scanning module, and a stockpile model service module; the satellite positioning mobile station is communicatively connected to a PLC control module, the PLC control module is communicatively connected to a differential positioning base station, and the scanning module is communicatively connected to the stockpile model service module, so Both the service module of the stock pile model and the differential positioning base station are connected to the control terminal in communication. The application has the ability to accurately locate the position of the stacker and reclaimer, and according to the surrounding area, judge whether there are obstacles that may collide with the stacker and reclaimer on the road where the stacker and reclaimer moves, and intelligently control the stacker and reclaimer. The reclaimer avoids obstacles in the process of moving, reducing the effect of collisions with obstacles.

Description

A stacker-reclaimer safety anti-collision system, method, terminal and storage medium

technical field

The present application relates to the field of automatic control of stackers and reclaimers, in particular to a safety anti-collision system, method, terminal and storage medium for stackers and reclaimers.

Background technique

Stacker-reclaimer is an important tool and equipment for the transportation of coal and ore in ports, mines, power plants and other enterprises. With the continuous improvement of unmanned automatic stacking and reclaiming control technology, enterprises pay more and more attention to the safety of automatic operation equipment in unmanned storage yards. Among them, the collision between the stacker and reclaimer and the material pile occurs from time to time, causing huge damage. Economic losses.

At present, a safety anti-collision method for a stacker and reclaimer is used. A 3D laser scanner is used to scan the material pile to obtain the three-dimensional point cloud data of the material pile, and then coordinate transformation is performed to establish the material pile in the yard coordinate system. The 3D model uses the 3D model of the yard to be operated for automatic operation. In the process of automatic operation, the 3D model of the adjacent material piles in the operation yard is obtained, and the 3D space attitude and dynamic 3D model of the single machine in the yard are calculated in real time. Under a certain walking position and pitch angle, according to the rotation and pitch angles of the mainframe boom, use the anti-collision detection method to calculate the distance between the point cloud data of the material pile and the mainframe boom, and find the maximum rotation angle of the mainframe boom. Actively avoid the risk of collision between the material pile and the boom of the large machine.

In the process of realizing the present application, the inventor found that the above technology has at least the following problems: when the stacker-reclaimer encounters a movable obstacle, it also needs to re-plan the working route, which may affect the normal working efficiency.

SUMMARY OF THE INVENTION

In order to solve the problem that when a stacker-reclaimer encounters a movable obstacle, the working route needs to be re-planned, which may affect the normal work efficiency, the present application provides a stacker-reclaimer safety anti-collision system, method and terminal and storage media.

In the first aspect, the present application provides a safety anti-collision method for a stacker-reclaimer, which adopts the following technical solutions;

A method for safety and collision prevention of a stacker-reclaimer, characterized in that it comprises the following steps:

Obtain the real-time coordinate data of the stacker-reclaimer and the real-time coordinate data of the obstacles in the surrounding area of the stacker-reclaimer;

Based on the acquired real-time coordinate data of the stacker-reclaimer and the real-time coordinate data of the obstacles, the real-time distance between the stacker-reclaimer and the obstacle is calculated;

According to the calculated real-time distance, determine whether there is an obstacle around the stacker-reclaimer that has a risk of collision with the stacker-reclaimer, where the collision risk is that the distance between the obstacle and the stacker-reclaimer is less than n meters;

When the distance between the obstacle and the stacker-reclaimer is greater than or equal to n meters, the stacker-reclaimer operates normally;

When the distance between the obstacle and the stacker-reclaimer is less than n meters, the stacker-reclaimer is controlled to stop working, and the real-time coordinate data of the obstacle is continuously obtained to judge whether the real-time coordinate data of the obstacle has changed;

If the real-time coordinate data of the obstacle has not changed, obtain the real-time coordinate data of the stacker and reclaimer and the real-time coordinate data of the obstacle, and re-plan according to the obtained real-time coordinate data of the stacker and reclaimer and the real-time coordinate data of the obstacle. The working route of the stacker and reclaimer, and a control command is issued to control the stacker and reclaimer to work according to the re-planned working route;

If the real-time coordinate position of the obstacle changes, the real-time distance between the obstacle and the stacker-reclaimer is continuously calculated until the real-time distance is greater than or equal to n meters, and the stacker-reclaimer is controlled to continue to work.

By adopting the above technical solution, it is first determined whether there are obstacles around the stacker-reclaimer, and when judging whether the obstacle is in the process of moving, if the obstacle is in the process of moving away from the stacker-reclaimer, wait for the obstacle to move away to a safe position. , the stacker-reclaimer continues to work without changing its own driving route, which saves the time for re-planning the driving route and improves the work efficiency.

In a specific implementation, if the real-time coordinate position of the obstacle changes, the real-time distance between the obstacle and the stacker-reclaimer is continuously calculated until the real-time distance is greater than or equal to n meters, and the stacker-reclaimer is controlled. Continued work specifically includes:

Get the initial position of the obstacle;

At an interval of n seconds, get the position of the obstacle after moving;

Calculate the moving speed of the obstacle;

Set the waiting time threshold;

According to the moving speed of the obstacle, determine the time it takes for the obstacle to move to a position n meters away from the stacker-reclaimer;

If the required time is greater than the waiting time threshold, the working route of the stacker-reclaimer will be re-planned according to the real-time coordinates of the stacker-reclaimer and the specific conditions of the surrounding area of the stacker-reclaimer, and the working route will be sent to the stacker-reclaimer. ;

If the required time is less than or equal to the waiting time threshold, wait for the obstacle to move away from the stacker-reclaimer by n meters, and then the stacker-reclaimer continues to work.

By adopting the above technical scheme, it is judged whether the obstacle is far away to a safe distance within the specified time. If the moving speed of the obstacle is relatively slow, it may affect the working efficiency of the stacker-reclaimer, so choose to re-establish the working route to bypass Obstacles to ensure the working efficiency of the stacker and reclaimer as much as possible.

In a specific implementation, if the real-time coordinate position of the obstacle changes, the real-time distance between the obstacle and the stacker-reclaimer is continuously calculated until the real-time distance is greater than or equal to n meters, and the stacker-reclaimer is controlled. Continuing work also includes:

Get the initial position of the obstacle;

Every n seconds, get the position of the obstacle after moving;

Determine whether the position of each obstacle moves away from the stacker and reclaimer;

If the obstacle moves away from the stacker-reclaimer, wait for the obstacle to move away from the stacker-reclaimer n meters, and the stacker-reclaimer will continue to work;

If the obstacle does not move away from the stacker-reclaimer, the working route of the stacker-reclaimer will be re-planned according to the real-time coordinates of the stacker-reclaimer and the specific conditions of the surrounding area of the stacker-reclaimer, and the working route will be sent to the stacker-reclaimer. Reclaimer.

By adopting the above technical solutions, some moving obstacles may be moving back and forth, and will not be far away from the stacker and reclaimer to a safe distance in a short time. Work route to ensure the working efficiency of the stacker and reclaimer as much as possible.

In the second aspect, the present application provides a safety anti-collision system for a stacker and reclaimer, which adopts the following technical solutions;

A safety anti-collision system for a stacker and reclaimer, comprising a satellite positioning mobile station, a differential positioning base station, a control terminal, a PLC control module, a scanning module, and a stack model service module;

Satellite positioning mobile station: used to obtain the real-time coordinates of the stacker and reclaimer, and transmit the real-time coordinates to the PLC control module;

PLC control module: used to calculate the position of the mobile antenna according to the real-time coordinates, confirm the dynamic coordinates of the stacker-reclaimer cart, cantilever rotation, and pitching mechanism, and transmit the dynamic coordinates to the differential positioning base station;

Differential positioning base station: According to the known precise coordinates and the obtained dynamic coordinates, calculate the correction number between the real coordinates and the actual coordinates obtained by the satellite positioning mobile station, and transmit the corrected coordinate data to the control terminal in real time;

Scanning module: used to scan the surrounding area of the stacker and reclaimer, and transmit the scan results to the service module of the stack model;

Stockpile model service module: used to store the scan module data and build the model, and upload the initial stockpile model and the geometrical coordinate information of the stockpile to the control terminal;

Control terminal: The control terminal judges whether the stacker-reclaimer will collide according to the obtained corrected coordinate data, the preliminary model of the stockpile and the geometrical coordinate information of the stockpile, and controls the stacker-reclaimer according to the judgment result;

The satellite positioning mobile station is in communication connection with the PLC control module, the PLC control module is in communication connection with the differential positioning base station, the scanning module is in communication connection with the stockpile model service module, and both the stockpile model service module and the differential positioning base station are connected. Communication connection with the control terminal.

By adopting the above technical solution, the position of the stacker and reclaimer is accurately positioned, and according to the surrounding area, it is judged whether there are obstacles that may collide with the stacker and reclaimer on the road where the stacker and reclaimer moves, and The intelligent control stacker-reclaimer avoids obstacles during the movement process and reduces the occurrence of collisions with obstacles.

In a specific implementation, the scanning module includes a first scanning sub-module, a second scanning sub-module and a third scanning sub-module;

The first scanning module: scans the area on the front end side of the boom of the stacker-reclaimer, and transmits the scanning results to the stacker model service module;

The second scanning sub-module: scans the area on the other side of the front end of the boom of the stacker-reclaimer, and transmits the scanning results to the service module of the stack model;

The third scanning sub-module: scan the area on both sides of the boom of the stacker-reclaimer, and transmit the scanning results to the service module of the stacker model.

By adopting the above technical solution, the surrounding of the stacker-reclaimer can be scanned differently, and the situation of the obstacles around the stacker-reclaimer can be obtained more completely.

In a specific implementation, the stockpile model service module includes a selection sub-module and a signal timing transmission sub-module, and the signal timing transmission sub-module is used to connect the first scanning sub-module and the second scanning sub-module at regular intervals. The information scanned by the sub-module and the third scanning sub-module is transmitted to the selection sub-module, and the selection sub-module is used for judging whether the obstacle is in a moving state.

By adopting the above technical solution, it is judged whether there are obstacles around the stacker-reclaimer. When judging whether the obstacle is in the process of moving, if the obstacle is in the process of moving away from the stacker-reclaimer, wait for the obstacle to move away to a safe position. The stacker-reclaimer continues to work without changing its driving route, which saves time for re-planning the driving route and improves work efficiency.

In a specific implementation, it also includes n industrial high-definition cameras and four cameras, and the n industrial high-definition cameras and the four cameras are all connected to the control terminal in communication;

Industrial high-definition camera: used to observe the overall situation of the yard;

Camera: Used to monitor obstacles on the stacker-reclaimer's path.

By adopting the above technical solutions, all video signals are transmitted back to the intelligent control center through the ground optical fiber, which is convenient for checking the situation of the yard, the whole machine and each organization during remote operation.

In a specific embodiment, the stacker-reclaimer has both remote single-machine intelligent control and remote manual control.

By adopting the above technical solutions, the manual/automatic switching of stacking and reclaiming materials can be realized without disturbance, and manual intervention can be done at any time during the automatic operation, so as to improve the operation efficiency and system safety.

In a third aspect, the present application provides an intelligent terminal, which adopts the following technical solutions;

An intelligent terminal, comprising a memory and a processor, the memory stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is processed by the Loading and executing a stacker and reclaimer to realize the safety collision avoidance method for a stacker and reclaimer as described in any of the above.

By adopting the above technical solution, it is first determined whether there are obstacles around the stacker-reclaimer, and when judging whether the obstacle is in the process of moving, if the obstacle is in the process of moving away from the stacker-reclaimer, wait for the obstacle to move away to a safe position. , the stacker-reclaimer continues to work without changing its own driving route, which saves the time for re-planning the driving route and improves the work efficiency.

In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solutions;

A computer-readable storage medium storing at least one instruction, at least one piece of program, code set or instruction set, the at least one instruction, at least one piece of program, code set or instruction set being loaded by a processor And execute the method to realize the safety anti-collision method for a stacker and reclaimer as described in any of the above.

By adopting the above technical solution, it is first determined whether there are obstacles around the stacker-reclaimer, and when judging whether the obstacle is in the process of moving, if the obstacle is in the process of moving away from the stacker-reclaimer, wait for the obstacle to move away to a safe position. , the stacker-reclaimer continues to work without changing its own driving route, which saves the time for re-planning the driving route and improves the work efficiency.

To sum up, the present application includes at least one of the following beneficial technical effects:

1. First judge whether there are obstacles around the stacker and reclaimer. When judging whether the obstacle is in the process of moving, if the obstacle is in the process of moving away from the stacker and reclaimer, wait for the obstacle to move away to a safe position before stacking and reclaiming the material. The machine continues to work without changing its own driving route, which saves time for re-planning the driving route and improves work efficiency.

2. Some moving obstacles may be moving back and forth, and they will not be far away from the stacker and reclaimer to a safe distance in a short time. Therefore, such obstacles should be identified, so as to re-plan the working route of the stacker and reclaimer in time, as far as possible. It is possible to ensure the working efficiency of the stacker-reclaimer.

Description of drawings

FIG. 1 is a schematic diagram of the overall structure of a safety anti-collision system for a stacker-reclaimer in an embodiment of the present application.

Description of reference numbers:

1. Satellite positioning mobile station; 2. Differential positioning base station; 3. Control terminal; 4. PLC control module; 5. Scanning module; 51. First scanning sub-module; 52. Second scanning sub-module; 53. Third scanning Sub-module; 8. Stockpile model service module; 81. Selection sub-module; 82. Signal timing transmission sub-module.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

The embodiment of the present application discloses a safety anti-collision system for a stacker-reclaimer. Referring to FIG. 1 , a safety anti-collision system for a stacker and reclaimer specifically includes a satellite positioning mobile station 1, and the satellite positioning mobile station 1 obtains the real-time coordinates of the stacker and reclaimer by means of satellite positioning. The satellite positioning mobile station 1 is connected with a PLC control module 4, and the PLC control module 4 is used to receive the real-time coordinates of the stacker and reclaimer, and calculate the position of the mobile antenna according to the actual coordinates of the stacker and reclaimer, thereby confirming the stacker and reclaimer. Dynamic coordinates of cart, cantilever slewing, and pitching mechanisms. The PLC control module 4 is communicatively connected with the differential positioning base station 2. In this embodiment, the differential positioning base station 2 is based on the Beidou positioning system. The differential positioning base station 2 and the satellite positioning mobile station 1 use optical fiber communication. The differential positioning base station 2 receives Dynamic coordinates, and according to the known precise coordinates, calculate the correction number between the real coordinates and the coordinates obtained by the satellite positioning mobile station 1, so as to adjust the dynamic coordinates to obtain accurate coordinate data. In this embodiment, the rotation positioning error is required to be less than or equal to 0.1 degree, the pitch positioning error is less than or equal to 0.1 degree, and the walking positioning error is less than or equal to 2 cm. The differential positioning base station 2 is communicatively connected with a control terminal 3, and the control terminal 3 is used to obtain the precise coordinate data obtained by adjustment.

Referring to FIG. 1 , the control terminal 3 is communicatively connected with a stockpile model service module 8 , and the stockpile model service module 8 is communicatively connected with a scanning module 5 . Specifically, the scanning module 5 includes a first scanning sub-module 51 , a second scanning sub-module 52 and a third scanning sub-module 53 . The first scanning sub-module 51 is used to scan the area on one side of the front end of the boom of the stacker-reclaimer, and the second scanning sub-module 52 is used to scan the area on the other side of the front end of the boom of the stacker-reclaimer , the third scanning sub-module 53 is used to scan the areas on both sides of the boom of the stacker-reclaimer. The first scanning sub-module 51, the second scanning sub-module 52 and the third scanning sub-module 53 all transmit the scanned data to the stockpile model service module 8, and the stockpile model service module 8 The constructed preliminary model of the stack and the geometric coordinate information of the stack are uploaded to the control terminal 3, and the control terminal 3 judges the stacker and reclaimer according to the preliminary model of the stack and the geometric coordinate information of the stack, combined with the position of the stacker and reclaimer whether a collision will occur.

Referring to FIG. 1, the stockpile model service module 8 includes a selection sub-module 81 and a signal timing transmission sub-module 82. The signal timing transmission sub-module 82 is used to connect the first scanning sub-module 51, the second scanning sub-module 52, The information scanned by the third scanning sub-module 53 is transmitted to the selection sub-module 81, and the selection sub-module 81 is used to judge whether the obstacle is in a moving state according to whether the position of the obstacle received each time is the same.

In the implementation, by judging whether there are obstacles around the stacker-reclaimer, it is decided whether to change the working route of the stacker-reclaimer. If the obstacle is in the process of moving away from the stacker-reclaimer, wait for the obstacle to move away to a safe position, and then the stacker-reclaimer will continue to work without changing its own driving route, which saves the time for re-planning the driving route and improves the work efficiency. s efficiency.

In this embodiment, the first scanning sub-module 51 , the second scanning sub-module 52 and the third scanning sub-module 53 are all 3D laser scanners, and the 3D laser scanner and the second scanning sub-module corresponding to the first scanning sub-module 51 The 3D scanners corresponding to the modules 52 are respectively arranged on both sides of the front end of the arm frame of the stacker-reclaimer. The 3D laser scanner corresponding to the third scanning sub-module 53 is installed on the top of the stacker-reclaimer, and scans the areas on both sides of the boom, so as to scan the contour of the stockpile in the yard. Each 3D laser scanner is covered with a protective cover, which can protect the 3D laser scanner from damage by external factors as much as possible. There is a pneumatic dust removal device in the protective cover, and the pneumatic dust removal device can take out the dust in the protective cover, so as to minimize the occurrence of dust-induced deterioration of the scanning effect of the 3D scanner.

In this embodiment, there are no less than 20 industrial high-definition cameras and four cameras with obstacle capturing function on the stacker and reclaimer, and 20 industrial high-definition cameras and four cameras with obstacle capturing function are all connected with the control Terminal 3 communication connection.

In one embodiment, no less than 20 industrial high-definition cameras are arranged on the entire stacker and reclaimer, and the 4 cameras for monitoring the track of the cart need to have the function of capturing obstacles and can be interlocked with the control system. There is a monitor and server on the machine, so that the operator can observe the overall situation of the yard, stacking and reclaiming, tail car lifting, cable reel and other parts through the monitor, and can perform lens switching, zooming and angle control of the camera. The video surveillance system needs to be equipped with storage hardware, which can store at least 30 days of video content from all cameras, and supports real-time video viewing and video playback. Video surveillance systems should be easy to maintain and repair. All video signals on the machine are transmitted back to the intelligent control center through the ground optical fiber, which is convenient for checking the situation of the yard, the whole machine and each organization during remote operation.

The implementation of a safety anti-collision method for a stacker and reclaimer is described in detail below in combination with a safety anti-collision system for a stacker and reclaimer:

An embodiment of the present application provides a safety collision avoidance method for a stacker-reclaimer, including the following steps:

S10, acquiring real-time coordinate data of the stacker-reclaimer and real-time coordinate data of obstacles in the surrounding area of the stacker-reclaimer;

Among them, the real-time coordinates obtained are not accurate, and the differential positioning base station 2 needs to calculate the correction number between the real coordinates and the coordinates obtained by the satellite positioning mobile station 1 according to the known precise coordinates, so as to adjust the dynamic coordinates to obtain accurate coordinate data. .

S20, based on the acquired real-time coordinate data of the stacker-reclaimer and the real-time coordinate data of the obstacle, calculate the real-time distance between the stacker-reclaimer and the obstacle;

S30, according to the calculated real-time distance, determine whether there is an obstacle around the stacker-reclaimer with a risk of collision with the stacker-reclaimer, and the collision risk is that the distance between the obstacle and the stacker-reclaimer is less than 5 meters;

Among them, the specific conditions of the surrounding area of the stacker and reclaimer are collected by a 3D laser scanner installed on the stacker and reclaimer. By using imaging software to image the point cloud data obtained by the 3D laser scanner, a stockpile model is established to provide a basis for stacking and reclaiming. In this embodiment, the acquired situation of the surrounding area is not limited to the material pile, and there are other obstacles that may collide with the stacker-reclaimer.

When the distance between the obstacle and the stacker-reclaimer is greater than or equal to 5 meters, the stacker-reclaimer operates normally;

In this embodiment, the position of the obstacle is updated in real time, and the distance between the obstacle and the stacker-reclaimer is all greater than or equal to 5 meters, which means that the obstacle and the stacker-reclaimer are at a safe distance.

When the distance between the obstacle and the stacker-reclaimer is less than 5 meters, the stacker-reclaimer is controlled to stop working, and the real-time coordinate data of the obstacle is continuously obtained to judge whether the real-time coordinate data of the obstacle has changed;

If the real-time coordinate data of the obstacle has not changed, obtain the real-time coordinate data of the stacker and reclaimer and the real-time coordinate data of the obstacle, and re-plan according to the obtained real-time coordinate data of the stacker and reclaimer and the real-time coordinate data of the obstacle. The working route of the stacker and reclaimer, and a control command is issued to control the stacker and reclaimer to work according to the re-planned working route;

If the real-time coordinate position of the obstacle changes, the real-time distance between the obstacle and the stacker-reclaimer is continuously calculated until the real-time distance is greater than or equal to 5 meters, and the stacker-reclaimer is controlled to continue to work.

In this embodiment, by setting the remote control work, the start and stop of the stacker and reclaimer can be realized by remote manual operation and remote single machine intelligence at the same time. The intelligent work order system accepts the production operation plan of the intelligent scheduling system, and the intelligent work order system will work Plans are converted into job instructions and distributed to stackers and reclaimers. By realizing the manual/automatic undisturbed switching of stacking and reclaiming materials, manual intervention can be done at any time during the automatic operation, which improves the operation efficiency and system safety.

In the implementation, first determine whether there are obstacles that may collide around the stacker-reclaimer, and secondly, according to the real-time coordinates of the obstacles, determine whether the obstacles are in the process of actively moving away from the stacker-reclaimer. The stacker-reclaimer is controlled to temporarily stop working until the stacker-reclaimer is far away from a safe distance, so as to avoid the collision between the stacker-reclaimer and the obstacle as much as possible, and try not to change the original stacker-reclaimer. The working route can reduce part of the workload and at the same time ensure the working efficiency of the stacker and reclaimer as much as possible.

Among them, when the obstacle is in a moving state, the stacker-reclaimer also needs to distinguish according to the actual movement of the obstacle, and determine whether the working route needs to be re-planned.

In one embodiment, the obstacle is a car, the initial position of the car is obtained first, and the distance after the car moves is obtained after an interval of two seconds. According to the moving distance of the car and the initial position of the car, the distance the car moves in two seconds is calculated, and the speed of the car is calculated. According to the moving direction of the car and the distance the car moves in two seconds, calculate the distance left when the car moves to 5 meters away from the stacker and reclaimer, and according to the speed of the car, calculate the distance the car moves to 5 meters away from the stacker and reclaimer. the time required for the location. The set time threshold is 15 seconds. If the calculated time required is greater than 15 seconds, the working route of the stacker-reclaimer is re-planned according to the real-time coordinates of the stacker-reclaimer and the specific conditions of the surrounding area of the stacker-reclaimer. , and send the working route to the stacker-reclaimer to avoid a long wait as much as possible; if the required time is less than or equal to 15 seconds, wait for the obstacle to move 5 meters away from the stacker-reclaimer, and then stack the The feeder continues to work.

In another embodiment, when the obstacle is a person, the initial position of the person is obtained first, the position of the person after moving is obtained every two seconds, and it is determined whether the position of the person moves away from the stacker and reclaimer each time. If the person moves away from the stacker-reclaimer, wait for the person to move 5 meters away from the stacker-reclaimer, and the stacker-reclaimer will continue to work; if the person does not move away from the stacker-reclaimer, the The real-time coordinates of the feeder and the specific conditions of the surrounding area of the stacker-reclaimer re-plan the working route of the stacker-reclaimer, and send the working route to the stacker-reclaimer.

In the implementation, by judging whether there is an obstacle around the stacker-reclaimer, when judging whether the obstacle is in the process of moving, if the obstacle is in the process of moving away from the stacker-reclaimer, wait for the obstacle to move away to a safe position, and the stacker The reclaimer continues to work without changing its driving route, which saves time for re-planning the driving route and improves work efficiency.

Based on the same inventive concept described above, an embodiment of the present application further discloses an intelligent terminal. An intelligent terminal includes a memory, a processor, and a computer program stored in the memory and running on the processor. When the computer program is executed by the processor, a method for safety and collision prevention of a stacker and reclaimer provided by the above method embodiment is implemented. .

Based on the same inventive concept described above, an embodiment of the present application further discloses a computer-readable storage medium, which stores at least one instruction, at least one program, code set or instruction set, at least one instruction, at least one program, and code set. Or the instruction set can be loaded and executed by the processor to implement the method for safety collision avoidance of a stacker and reclaimer provided by the above method embodiments.

It should be understood that references herein to "a plurality" means two or more. "And/or", which describes the association relationship of the associated objects, means that there can be three kinds of relationships, for example, A and/or B, which can mean that A exists alone, A and B exist at the same time, and B exists alone. The character "/" generally indicates that the associated objects are an "or" relationship.

Those of ordinary skill in the art can understand that all or part of the steps of implementing the above embodiments can be completed by hardware, or can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. The storage medium includes, for example, a U disk, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk and other media that can store program codes.

The above descriptions are only optional embodiments of the present application, and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection of the present application. within the range.

Claims (10)

1. a stacker-reclaimer safety anti-collision method, is characterized in that, comprises the following steps: Obtain the real-time coordinate data of the stacker-reclaimer and the real-time coordinate data of the obstacles in the surrounding area of the stacker-reclaimer; Based on the acquired real-time coordinate data of the stacker-reclaimer and the real-time coordinate data of the obstacles, the real-time distance between the stacker-reclaimer and the obstacle is calculated; According to the calculated real-time distance, determine whether there is an obstacle around the stacker-reclaimer that has a risk of collision with the stacker-reclaimer, where the collision risk is that the distance between the obstacle and the stacker-reclaimer is less than n meters; When the distance between the obstacle and the stacker-reclaimer is greater than or equal to n meters, the stacker-reclaimer operates normally; When the distance between the obstacle and the stacker-reclaimer is less than n meters, the stacker-reclaimer is controlled to stop working, and the real-time coordinate data of the obstacle is continuously obtained to judge whether the real-time coordinate data of the obstacle has changed; If the real-time coordinate data of the obstacle has not changed, obtain the real-time coordinate data of the stacker and reclaimer and the real-time coordinate data of the obstacle, and re-plan according to the obtained real-time coordinate data of the stacker and reclaimer and the real-time coordinate data of the obstacle. The working route of the stacker and reclaimer, and a control command is issued to control the stacker and reclaimer to work according to the re-planned working route; If the real-time coordinate position of the obstacle changes, the real-time distance between the obstacle and the stacker-reclaimer is continuously calculated until the real-time distance is greater than or equal to n meters, and the stacker-reclaimer is controlled to continue to work. 2. A kind of stacker-reclaimer safety anti-collision method according to claim 1 is characterized in that, if the real-time coordinate position of the obstacle changes, the real-time distance between the obstacle and the stacker-reclaimer is continuously calculated. , until the real-time distance is greater than or equal to n meters, the control of the stacker and reclaimer to continue to work includes: Get the initial position of the obstacle; At an interval of n seconds, get the position of the obstacle after moving; Calculate the moving speed of the obstacle; Set the waiting time threshold; According to the moving speed of the obstacle, determine the time it takes for the obstacle to move to a position n meters away from the stacker-reclaimer; If the required time is greater than the waiting time threshold, the working route of the stacker-reclaimer will be re-planned according to the real-time coordinates of the stacker-reclaimer and the specific conditions of the surrounding area of the stacker-reclaimer, and the working route will be sent to the stacker-reclaimer. ; If the required time is less than or equal to the waiting time threshold, wait for the obstacle to move away from the stacker-reclaimer by n meters, and then the stacker-reclaimer continues to work. 3. A kind of stacker-reclaimer safety anti-collision method according to claim 1 is characterized in that, if the real-time coordinate position of the obstacle changes, the real-time distance between the obstacle and the stacker-reclaimer is continuously calculated. , until the real-time distance is greater than or equal to n meters, controlling the stacker-reclaimer to continue to work also includes: Get the initial position of the obstacle; Every n seconds, get the position of the obstacle after moving; Determine whether the position of each obstacle moves away from the stacker and reclaimer; If the obstacle moves away from the stacker-reclaimer, wait for the obstacle to move away from the stacker-reclaimer n meters, and the stacker-reclaimer will continue to work; If the obstacle does not move away from the stacker-reclaimer, the working route of the stacker-reclaimer will be re-planned according to the real-time coordinates of the stacker-reclaimer and the specific conditions of the surrounding area of the stacker-reclaimer, and the working route will be sent to the stacker-reclaimer. Reclaimer. 4. A safety anti-collision system for a stacker and reclaimer, characterized in that it comprises a satellite positioning mobile station (1), a differential positioning base station (2), a control terminal (3), a PLC control module (4), a scanning module (5) ), a stockpile model service module (8); Satellite positioning mobile station (1): used to obtain the real-time coordinates of the stacker and reclaimer, and transmit the real-time coordinates to the PLC control module (4); PLC control module (4): used to calculate the position of the mobile antenna according to the real-time coordinates, confirm the dynamic coordinates of the stacker-reclaimer cart, cantilever rotation, and pitching mechanism, and transmit the dynamic coordinates to the differential positioning base station (2); Differential positioning base station (2): According to the known precise coordinates and the obtained dynamic coordinates, calculate the correction number between the real coordinates and the actual coordinates obtained by the satellite positioning mobile station (1), and transmit the obtained corrected coordinate data to the mobile station in real time. control terminal (3); Scanning module (5): used to scan the surrounding area of the stacker and reclaimer, and transmit the scanning result to the stack model service module (8); A stockpile model service module (8): used for storing the data of the scanning module (5) and constructing a model, and uploading the preliminary stockpile model and the stockpile geometric coordinate information to the control terminal (3); Control terminal (3): The control terminal (3) judges whether the stacker-reclaimer will collide according to the obtained corrected coordinate data, the preliminary model of the stockpile and the geometrical coordinate information of the stockpile, and controls the stacker-reclaimer according to the judgment result; The satellite positioning mobile station (1) is in communication connection with a PLC control module (4), the PLC control module (4) is in communication connection with a differential positioning base station (2), and the scanning module (5) is in communication with a stockpile model service module (8) Communication connection. Both the stockpile model service module (8) and the differential positioning base station (2) are in communication connection with the control terminal (3). 5. The safety anti-collision system for a stacker and reclaimer according to claim 4, wherein the scanning module comprises a first scanning sub-module (51), a second scanning sub-module (52) and a third scanning sub-module (52) submodule(53); The first scanning module (51): scans the area on one side of the front end of the boom of the stacker-reclaimer, and transmits the scanning result to the stacker model service module (8); The second scanning sub-module (52): scans the area on the other side of the front end of the boom of the stacker-reclaimer, and transmits the scanning result to the stack model service module (8); The third scanning sub-module (53): scans the areas on both sides of the boom of the stacker-reclaimer, and transmits the scanning results to the stacker model service module (8). 6. A stacker-reclaimer safety anti-collision system according to claim 5, wherein the stack model service module (8) comprises a selection sub-module (81) and a signal timing transmission sub-module (82) The signal timing transmission sub-module (82) is used to transmit the information scanned by the first scanning sub-module (51), the second scanning sub-module (52) and the third scanning sub-module (53) to A selection sub-module (81) is used for judging whether the obstacle is in a moving state. 7. a kind of stacker-reclaimer safety anti-collision system according to claim 4, is characterized in that, also comprises n industrial high-definition cameras and four cameras, and n described industrial high-definition cameras and four cameras are all connected with the control Terminal (3) communication connection; Industrial high-definition camera: used to observe the overall situation of the yard; Camera: Used to monitor obstacles on the stacker-reclaimer's path. 8 . The safety anti-collision system for a stacker-reclaimer according to claim 4 , wherein the stacker-reclaimer has both remote single-machine intelligent control and remote manual control. 9 . 9. An intelligent terminal, characterized in that it comprises a memory and a processor, wherein at least one instruction, at least one program, code set or instruction set are stored in the memory, and the at least one instruction, at least one program, code set or The instruction set is loaded and executed by the processor to implement the method for safety collision avoidance of a stacker-reclaimer according to any one of claims 1 to 3. 10. A computer-readable storage medium, characterized in that, the readable storage medium stores at least one instruction, at least one piece of program, code set or instruction set, the at least one instruction, at least one piece of program, code set or The instruction set is loaded and executed by the processor to realize the safety collision avoidance method for a stacker and reclaimer according to any one of claims 1 to 3.

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