CN222007092U - Obstacle avoidance device of crown block remote control system - Google Patents
Obstacle avoidance device of crown block remote control system Download PDFInfo
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- CN222007092U CN222007092U CN202323658616.1U CN202323658616U CN222007092U CN 222007092 U CN222007092 U CN 222007092U CN 202323658616 U CN202323658616 U CN 202323658616U CN 222007092 U CN222007092 U CN 222007092U
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- 239000000428 dust Substances 0.000 description 3
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Abstract
The utility model relates to the technical field of crown block control, in particular to a control unit and an obstacle avoidance unit which comprise a remote control end, are arranged in a plurality of crown blocks, wherein the obstacle avoidance unit comprises: a ranging sensor, an image sensor and a UWB positioning module; the UWB positioning module comprises a cart UWB positioning base station and a trolley UWB positioning base station, wherein the cart UWB positioning base station is arranged at one end of the cart in the length direction, the trolley UWB positioning base station is arranged at the top of one side of the cart, an origin of the UWB positioning base station is arranged in a powder field, and the cart UWB positioning base station and the trolley UWB positioning base station are in communication connection with a crown block PLC in the crown block control unit; the image sensors are at least two and are respectively arranged at two sides of the middle part of the cart; the distance measuring sensor and the UWB positioning module are respectively in communication connection with the control unit, and the control unit and the image sensor are respectively in communication connection with the remote control end. The reliable obstacle avoidance of the crown block is realized by adopting the arranged ranging sensor, the image sensor and the UWB positioning module.
Description
Technical Field
The utility model relates to the technical field of crown block control, in particular to an obstacle avoidance device of a crown block remote control system.
Background
Crown blocks in the industries such as metallurgy, mine and the like are frequently used, a plurality of crown blocks usually work at the same time in a powder workshop of the mine, the working environment is poor, dust is large, visibility is low, collision is very easy to occur in use, a crane collision avoidance system is disclosed in China patent application with the publication number of CN207209804U in the prior art, real-time positions of a crane moving mechanism are detected through a plurality of radio radar sensors such as a first radar sensing unit, a second radar sensing unit and the like, collision early warning in use is realized, but in use, judgment deviation is easily generated by ranging of the moving mechanism only through a plurality of radar sensors in a single means, the problem of interference of external factors such as dust still exists, remote control of the crown blocks is difficult to realize, accidents are very likely to happen, and the safety production is very unfavorable.
Disclosure of utility model
The technical problem to be solved by the utility model is to provide an obstacle avoidance device of a crown block remote control system aiming at the technical defects, and the problem that the crown block is difficult to reliably avoid in a dust environment is solved by adopting the ranging sensor, the image sensor and the UWB positioning module.
In order to solve the technical problems, the utility model adopts the following technical scheme: the utility model provides an obstacle avoidance device of overhead traveling crane remote control system, includes remote control end and the control unit and the obstacle avoidance unit of setting in a plurality of overhead traveling cranes, and the obstacle avoidance unit includes: a ranging sensor, an image sensor and a UWB positioning module;
The distance measuring sensors are at least two and are respectively arranged on two sides of the middle part of the cart;
The UWB positioning module comprises a cart UWB positioning base station and a trolley UWB positioning base station, wherein the cart UWB positioning base station is arranged at one end of the cart in the length direction, the trolley UWB positioning base station is arranged at the top of one side of the cart, an origin of the UWB positioning base station is arranged in a powder field, and the cart UWB positioning base station and the trolley UWB positioning base station are in communication connection with a crown block PLC in the crown block control unit;
The image sensors are at least two and are respectively arranged at two sides of the middle part of the cart;
The distance measuring sensor and the UWB positioning module are respectively in communication connection with the control unit, and the control unit and the image sensor are respectively in communication connection with the remote control end.
Further optimizing the technical scheme, the control unit of each crown block comprises a PLC crown block controller and control substations, a plurality of crown blocks are respectively connected with a control wireless base station in a wireless communication manner through respective control substations, the control wireless base station is arranged at the left end of one side of a travelling rail of the large vehicle, and a plurality of control substations are arranged opposite to the control wireless base station;
the control wireless base station is in communication connection with a remote control end.
Further optimize this technical scheme, range sensor includes left crashproof radar and the right crashproof radar in the middle part of the left and right sides of cart, left crashproof radar and right crashproof radar respectively with overhead traveling crane PLC communication connection in the overhead traveling crane control unit, every range sensor is equipped with warning spacing portion and warning spacing portion respectively according to the barrier distance that measures.
Further optimize this technical scheme, image sensor includes the dolly camera, the cockpit camera, overhaul the camera and install left camera and the right camera in the left and right sides of cart, the cockpit camera is installed in cockpit top the place ahead, overhaul the camera and install in the maintenance intermediate layer in the cart track, the dolly camera, the cockpit camera, left side camera and right camera pass through video switch and branch video base station communication connection respectively, the branch video basic station in the multiple crown blocks passes through radio communication frequency band and the video wireless base station communication connection in the powder stock ground, the video wireless base station sets up in the one side that the control wireless base station was kept away from to cart track left end, video wireless base station and remote control end communication connection.
Further optimizing this technical scheme, overhead traveling crane hoist's upper portion is equipped with the location beacon, and location beacon and dolly UWB location basic station communication connection.
Compared with the prior art, the utility model has the following advantages: 1. the distance detection of various obstacles in the driving path is realized through the distance measuring sensor, and when the obstacles enter the early warning limit range, the distance measuring sensor sends out warning signals; 2. the UWB positioning module is used for realizing real-time positioning of each motion mechanism of the plurality of crown blocks and accurately determining the position information of the crown blocks; avoiding interference caused by a ranging sensor is an obstacle avoidance error; 3. the image sensor intuitively displays the running condition of the crown block through the form of an optical image, avoids various accidental collisions, realizes safety redundancy, and further ensures the safe running of the crown block to avoid accidents.
Drawings
FIG. 1 is a schematic layout diagram of an obstacle avoidance device of a crown block remote control system;
FIG. 2 is a side view of the layout of the UWB positioning module in the crown block;
Fig. 3 is a connection topology structure diagram of an obstacle avoidance device of the overhead travelling crane remote control system.
In the figure: 1. a ranging sensor; 11. a left anti-collision radar; 12. a right anti-collision radar; 2. an image sensor; 21. a left camera; 22. a right camera; 23. the trolley camera; 24. cabin camera; 25. overhauling the camera; 26. dividing the video base station; 27. a video wireless base station; 3. a UWB positioning module; 31. a cart UWB positioning base station; 32. a trolley UWB positioning base station; 33. positioning a beacon; 34. UWB positioning base station origin; 4. a lifting appliance; 51. a PLC crown block controller; 52. controlling a substation; 53. and controlling the wireless base station.
Detailed Description
The present utility model will be further described in detail with reference to the drawings in conjunction with the detailed description, in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the description is only illustrative and is not intended to limit the scope of the utility model. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present utility model.
It should be noted that, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like in this document refer to an orientation or positional relationship based on that shown in the drawings, and are merely for convenience in describing the present disclosure and simplifying the description, and do not indicate or imply that the apparatus or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present disclosure. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Referring to fig. 1 to 2, an obstacle avoidance device of a crown block remote control system includes a remote control end, and crown block control units and obstacle avoidance units disposed in multiple crown blocks, in this embodiment, two crown blocks are disposed in a powder yard, which are respectively a 1# crown block and a 2# crown block traveling in the same set of traveling rails in fig. 1, where the remote control end is disposed outside the powder yard, and is used for remote control of the crown blocks and real-time monitoring of operation conditions. The control unit of each crown block mainly comprises a PLC crown block controller 51 and a control substation 52, wherein the PLC crown block controller 51 is action signal execution equipment and is used for controlling the starting and stopping of each action execution mechanism of each crown block and the receiving of partial obstacle avoidance signals of the obstacle avoidance unit, the control substation 52 is used for the 5.8GHz wireless communication between the PLC crown block controller 51 in the crown block and a control wireless base station 53 in a powder yard, and the control wireless base station 53 is in communication connection with a remote control end.
The obstacle avoidance unit in each crown block comprises a ranging sensor 1, an image sensor 2 and a UWB positioning module 3.
The distance measuring sensor 1 comprises a left anti-collision radar 11 and a right anti-collision radar 12 in the middle of the left side and the right side of the cart, the distance measuring sensor 1 is in communication connection with a crown block PLC in the crown block control unit, and each distance measuring sensor is provided with an early warning limit part and an alarm limit part according to the measured obstacle distance. When the intelligent crane is used, the distance measuring sensor 1 is used for detecting the distance between all the crane and between the crane and the obstacle in the travelling direction, when the obstacle enters the early warning limit range, the distance measuring sensor 1 sends an early warning signal to the corresponding crane PLC, the movement speed of the corresponding action is reduced through the crane PLC control, and when the obstacle enters the alarm limit range, the distance measuring sensor 1 sends a collision warning signal to the corresponding crane PLC, and the corresponding action is stopped through the crane PLC control.
The image sensor 2 comprises a trolley camera 23, a cockpit camera 24, an overhaul camera 25, a left camera 21 and a right camera 22 which are arranged on the left side and the right side of the trolley, the cockpit camera 24 is arranged in front of the top of the cockpit, the overhaul camera 25 is arranged in an overhaul interlayer in a trolley track, the trolley camera 23, the cockpit camera 24, the overhaul camera 25, the left camera 21 and the right camera 22 are respectively in communication connection with a sub video base station 26 through a video switch, and the overhaul camera 25 can be in communication connection with a control sub station 52 in a crown block control unit for relieving the communication pressure of the sub video base station 26. The video base station 26 in the crown block is in communication connection with the video wireless base station 27 in the powder lot field through a 5.8GHz wireless communication frequency band. The video wireless base station (27) is arranged at one side of the left end of the large vehicle running track, which is far away from the control wireless base station (53), and the video wireless base station 27 is in communication connection with a remote control end. When the device is used, the image sensor 2 is used for realizing the perception and transmission of the corresponding side view image of the crown block, so that the operating personnel at the remote control end intuitively observe the running condition of the crown block in the form of an image, and the occurrence of accidental collision is avoided.
The UWB positioning module 3 in the overhead traveling crane comprises a cart UWB positioning base station 31, a trolley UWB positioning base station 32 and a positioning beacon 33 arranged in the lifting appliance 4, wherein the cart UWB positioning base station (31) is arranged at one end of the length direction of the cart, the trolley UWB positioning base station (32) is arranged at the top of one side of the cart, a UWB positioning base station origin 34 is arranged in a powder field and is used for being matched with the cart UWB positioning base station 31 to determine the position of the cart in the powder field track, the cart UWB positioning base station 31 is simultaneously matched with the trolley UWB positioning base station 32 to determine the position of the cart in the cart track, and the positioning beacon 33 is matched with the trolley UWB positioning base station 32 to be used for determining the height position of the lifting appliance 4. The large car UWB positioning base station 31 and the small car UWB positioning base station 32 are in communication connection with the crown block PLC in the crown block control unit. The positioning module can realize high-precision positioning by adopting UWB positioning technology, and the positioning precision can reach a range of several centimeters to several millimeters. The UWB signal has stronger penetrating power under the complex environment, is suitable for real-time accurate positioning of the crown block under the severe environment of a powder field, can make up the defect that the image sensor 2 has high requirements on optical fibers and visibility, has little influence by environmental factors, can provide safety redundancy for the ranging sensor 1, avoids the crown block operation influenced by pollution or shielding of the ranging sensor 1, and further avoids collision accidents.
The control wireless base station 53 and the video wireless base station 27 are in communication connection with a second industrial switch in the powder yard in a wired transmission mode, the remote control end is provided with a first industrial switch, the second industrial switch is in communication connection with the first switch through optical fibers, and the remote control end is provided with an NVR network video recorder, an industrial personal computer, a core PLC, two PCs and two control PLCs which are in communication connection with the first industrial switch.
The core PLC is used for coordinating obstacle avoidance operation of the two crown blocks, and is core equipment for system logic operation.
And the 1# PC and the 2# PC in the two PCs are respectively used for displaying the running data of the two crown blocks, so that the display of a human-computer interaction interface is realized.
The industrial personal computer is used for operation and maintenance of system software, updating and storage of picture content of the PC.
It is to be understood that the above-described embodiments of the present utility model are merely illustrative of or explanation of the principles of the present utility model and are in no way limiting of the utility model. Accordingly, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present utility model should be included in the scope of the present utility model. Furthermore, the appended claims are intended to cover all such changes and modifications that fall within the true scope and boundary of the appended claims, or equivalents of such scope and boundary.
Claims (5)
1. The utility model provides a crown block remote control system keeps away barrier device, includes remote control end and the control unit and the obstacle avoidance unit of setting in a plurality of crown blocks, its characterized in that, the obstacle avoidance unit includes: a ranging sensor (1), an image sensor (2) and a UWB positioning module (3);
the distance measuring sensors (1) are at least two and are respectively arranged on two sides of the middle part of the cart;
The UWB positioning module (3) comprises a cart UWB positioning base station (31) and a trolley UWB positioning base station (32), the cart UWB positioning base station (31) is arranged at one end of the cart in the length direction, the trolley UWB positioning base station (32) is arranged at the top of one side of the cart, a UWB positioning base station origin (34) is arranged in a powder field, and the cart UWB positioning base station (31) and the trolley UWB positioning base station (32) are in communication connection with a crown block PLC in the crown block control unit;
The image sensors (2) are at least two and are respectively arranged at two sides of the middle part of the cart;
The distance measuring sensor (1) and the UWB positioning module (3) are respectively in communication connection with the control unit, and the control unit and the image sensor (2) are respectively in communication connection with the remote control end.
2. The obstacle avoidance apparatus of a crown block remote control system as set forth in claim 1 wherein: the control unit of each crown block comprises a PLC crown block controller (51) and control substations (52), a plurality of crown blocks are respectively connected with a control wireless base station (53) through respective control substations (52) in a wireless communication manner, the control wireless base station (53) is arranged at the left end of one side of a travelling rail of the crown block, and a plurality of control substations (52) are arranged opposite to the control wireless base station (53);
The control wireless base station (53) is connected to a remote control terminal in communication.
3. The obstacle avoidance apparatus of a crown block remote control system as set forth in claim 2 wherein: the ranging sensor (1) comprises a left anti-collision radar (11) and a right anti-collision radar (12) at the middle parts of the left side and the right side of the cart, the left anti-collision radar (11) and the right anti-collision radar (12) are respectively in communication connection with a crown block PLC in the crown block control unit, and each ranging sensor (1) is respectively provided with an early warning limiting part and an alarm limiting part according to the measured obstacle distance.
4. The obstacle avoidance apparatus of a crown block remote control system as set forth in claim 2 wherein: the image sensor (2) comprises a trolley camera (23), a cockpit camera (24), an overhaul camera (25) and a left camera (21) and a right camera (22) which are arranged on the left side and the right side of the cart, the cockpit camera (24) is arranged in front of the top of the cab, the overhaul camera (25) is arranged in an overhaul interlayer in a cart track, the trolley camera (23), the cockpit camera (24), the left camera (21) and the right camera (22) are respectively in communication connection with a sub-video base station (26) through a video switch, the sub-video base stations (26) in a plurality of crown blocks are in communication connection with a video wireless base station (27) in a powder field through wireless communication frequency bands, the video wireless base station (27) is arranged on one side, far away from the control wireless base station (53), of the left end of the cart track, and the video wireless base station (27) is in communication connection with a remote control end.
5. The obstacle avoidance apparatus of a crown block remote control system as set forth in claim 2 wherein: the upper portion of crown block hoist (4) is equipped with location beacon (33), location beacon (33) with dolly UWB location basic station (32) communication connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323658616.1U CN222007092U (en) | 2023-12-29 | 2023-12-29 | Obstacle avoidance device of crown block remote control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323658616.1U CN222007092U (en) | 2023-12-29 | 2023-12-29 | Obstacle avoidance device of crown block remote control system |
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| CN222007092U true CN222007092U (en) | 2024-11-15 |
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| CN202323658616.1U Active CN222007092U (en) | 2023-12-29 | 2023-12-29 | Obstacle avoidance device of crown block remote control system |
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| CN (1) | CN222007092U (en) |
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- 2023-12-29 CN CN202323658616.1U patent/CN222007092U/en active Active
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