阅读说明：本技术 一种封闭料场无人化设备防入侵碰撞侦测方法及其系统 (Anti-intrusion collision detection method and system for unmanned equipment in closed stock yard ) 是由 竺青 吴剑民 邹一波 王正青 李春 施国强 于 2020-05-29 设计创作，主要内容包括：本发明公开了一种封闭料场无人化设备防入侵碰撞侦测方法及其系统,包括以下步骤：1)利用安装于所述无人化设备前后位置上的激光扫描线装置对封闭料场内碰撞侵入区域的定位划分；2)利用安装于所述无人化设备前后位置上的视频采集装置对步骤1)中各所述碰撞侵入区域进行视频监视,获得视频图像实时数据,并将所述数据实时传输至中央控制室的计算机中；3)中央控制室的计算机根据实时图像信息、碰撞侵入区域的信息以及相对位置信息,来分析处理信息并自动判断入侵对象的信息,作出对应的控制手段。本发明解决现有封闭料场的实际运行状态中的易发生设备碰撞不安全因素。(The invention discloses an anti-intrusion collision detection method and system for unmanned equipment in a closed stock yard, which comprises the following steps: 1) positioning and dividing collision invasion areas in the closed stock yard by using laser scanning line devices arranged at the front and rear positions of the unmanned equipment; 2) carrying out video monitoring on each collision invasion area in the step 1) by utilizing video acquisition devices arranged at the front and rear positions of the unmanned equipment to obtain real-time video image data, and transmitting the data to a computer of a central control room in real time; 3) and the computer of the central control room analyzes and processes the information and automatically judges the information of the intrusion object according to the real-time image information, the information of the collision intrusion area and the relative position information, and a corresponding control means is made. The invention solves the unsafe factor of equipment collision easily occurring in the actual operation state of the existing closed stock ground.)

1. An anti-intrusion collision detection method for unmanned equipment in a closed stock yard is characterized by comprising the following steps:

1) positioning and dividing collision invasion areas in the closed stock yard by using laser scanning line devices arranged at the front and rear positions of the unmanned equipment;

2) carrying out video monitoring on each collision invasion area in the step 1) by utilizing video acquisition devices arranged at the front and rear positions of the unmanned equipment to obtain real-time video image data, and transmitting the data to a computer of a central control room in real time;

3) and the computer of the central control room analyzes and processes the information and automatically judges the information of the intrusion object according to the real-time image information, the information of the collision intrusion area and the relative position information, and a corresponding control means is made.

2. The closed stock yard unmanned aerial vehicle anti-intrusion collision detection method according to claim 1, wherein: the impact intrusion zones include a mobile device active zone, a primary impact intrusion zone, and a secondary impact intrusion zone.

3. The closed stock yard unmanned aerial vehicle anti-intrusion collision detection method according to claim 2, wherein: the mobile equipment activity area is the working range of the unmanned equipment in the closed stock yard, the primary collision invasion area is the range within 20 meters from the unmanned equipment, and the secondary collision invasion area is the range within 10 meters from the unmanned equipment.

4. The closed stock yard unmanned aerial vehicle anti-intrusion collision detection method according to claim 3, wherein: in the step 3), the control means includes alarm control of the mobile device activity area, alarm control of the primary collision intrusion area, and alarm control of the secondary collision intrusion area.

5. The closed stock yard unmanned aerial vehicle anti-intrusion collision detection method according to claim 4, wherein: the alert control of the mobile device active area comprises:

when a moving object enters the moving area of the mobile equipment, warning prompt voice is sent out, the unmanned equipment keeps a normal working state at the moment, meanwhile, the warning prompt voice is synchronously transmitted to the central control room, and an attendant is prompted that the moving object enters the moving area of the mobile equipment.

6. The closed stock yard unmanned aerial vehicle anti-intrusion collision detection method according to claim 4, wherein: the warning of the warning control of the primary collision intrusion area comprises the following steps:

when a moving object enters the primary collision invasion area, a warning prompt voice is sent, the unmanned equipment immediately stops running and is in standby, meanwhile, the warning prompt voice is synchronously transmitted to the central control room, a person on duty is prompted that the moving object enters the primary collision invasion area, and the unmanned equipment stops running.

7. The closed stock yard unmanned aerial vehicle anti-intrusion collision detection method according to claim 4, wherein: the warning control of the secondary collision intrusion area comprises the following steps:

when a moving object enters the secondary collision invasion area, a warning prompt voice is sent, the unmanned equipment immediately carries out emergency avoidance movement at the moment, meanwhile, the warning prompt voice is synchronously transmitted to the central control room, and an attendant is prompted that the moving object enters the secondary collision invasion area, and the unmanned equipment carries out emergency avoidance movement.

8. The utility model provides a closed stock ground unmanned equipment prevents invading collision detecting system which characterized in that: the system comprises a laser scanning line device, a video acquisition device, a field industrial personal computer, an alarm device and a computer, wherein the field industrial personal computer, the alarm device and the computer are arranged in a closed stock ground; the laser scanning line device is arranged at the front and rear positions of the unmanned equipment;

the video acquisition devices are arranged at the front and rear positions of the unmanned equipment;

the laser scanning line device and the video acquisition device are both in data connection with the field industrial personal computer, and the field industrial personal computer is in data connection with the computer of the central control room;

the computer of the central control room sends an instruction to the field industrial personal computer, the alarm device sends out an alarm, and the field industrial personal computer controls the unmanned equipment

The closed stock yard unmanned equipment anti-intrusion collision detection system is used for executing the closed stock yard unmanned equipment anti-intrusion collision detection method according to any one of claims 1 to 7.

Technical Field

The invention relates to a bulk cargo closed stock ground carrying technology, in particular to an anti-intrusion collision detection method and an anti-intrusion collision detection system for unmanned equipment in a closed stock ground.

Background

The metallurgy logistics transportation is mainly characterized in that coal is transported to a stock ground from a port and a wharf by a transportation belt, a novel environment-friendly stock ground scraper conveyor is used for carrying out stacking operation on the coal, the scraper conveyor is unmanned operation equipment, and the scraper conveyor transports the material in the stock ground to the transportation belt and sends the material to the next process section of coking, a power plant, a blast furnace, sintering and the like. And often need supplementary vehicles such as forklift to get remaining leftover bits and pieces and clear up the gui when scraping the operation of trigger, scrape the trigger and be in unmanned operation this moment, whole gui ji cheng is operated only by vehicle driver alone visual operation, when vehicle driver is busy in driving the operation, just easy negligence and scrape the safe distance between the trigger removal operation, have the potential safety hazard of bumping into.

The scraper is a continuous conveying efficient loading and unloading machine which is used for large dry bulk cargo storage yards and can be used for both material piling and material taking. The full-automatic material piling machine is characterized by comprising a pitching mechanism, a scraping plate mechanism, a cantilever belt mechanism and a walking mechanism, wherein materials are scraped to a ground conveying belt by a scraping plate device during material taking, goods conveyed by the ground conveying belt are thrown to a storage yard through the cantilever belt during material piling, and the scraping plate mechanism belongs to full-automatic unmanned equipment in a closed storage yard and is uniformly controlled by a computer of a central control room.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide an anti-intrusion collision detection method and system for unmanned equipment in a closed stock ground, and solves the unsafe factor of equipment collision easily occurring in the actual running state of the closed stock ground.

In order to achieve the purpose, the invention adopts the following technical scheme:

on the one hand, the method comprises the following steps of,

an anti-intrusion collision detection method for unmanned equipment in a closed stock yard comprises the following steps:

1) positioning and dividing collision invasion areas in the closed stock yard by using laser scanning line devices arranged at the front and rear positions of the unmanned equipment;

2) carrying out video monitoring on each collision invasion area in the step 1) by utilizing video acquisition devices arranged at the front and rear positions of the unmanned equipment to obtain real-time video image data, and transmitting the data to a computer of a central control room in real time;

3) and the computer of the central control room analyzes and processes the information and automatically judges the information of the intrusion object according to the real-time image information, the information of the collision intrusion area and the relative position information, and a corresponding control means is made.

Preferably, the impact intrusion area includes a mobile device active area, a primary impact intrusion area and a secondary impact intrusion area.

Preferably, the mobile device activity area is a working range of the unmanned device in the closed stock yard, the primary collision intrusion area is a range within 20 meters from the unmanned device, and the secondary collision intrusion area is a range within 10 meters from the unmanned device.

Preferably, in the step 3), the control means includes alarm control of the mobile device activity area, alarm control of the primary collision intrusion area, and alarm control of the secondary collision intrusion area.

Preferably, the alarm control of the mobile device activity area comprises:

when a moving object enters the moving area of the mobile equipment, warning prompt voice is sent out, the unmanned equipment keeps a normal working state at the moment, meanwhile, the warning prompt voice is synchronously transmitted to the central control room, and an attendant is prompted that the moving object enters the moving area of the mobile equipment.

Preferably, the warning of the warning control of the primary collision intrusion area includes:

when a moving object enters the primary collision invasion area, a warning prompt voice is sent, the unmanned equipment immediately stops running and is in standby, meanwhile, the warning prompt voice is synchronously transmitted to the central control room, a person on duty is prompted that the moving object enters the primary collision invasion area, and the unmanned equipment stops running.

Preferably, the warning control of the secondary collision intrusion area includes:

when a moving object enters the secondary collision invasion area, a warning prompt voice is sent, the unmanned equipment immediately carries out emergency avoidance movement at the moment, meanwhile, the warning prompt voice is synchronously transmitted to the central control room, and an attendant is prompted that the moving object enters the secondary collision invasion area, and the unmanned equipment carries out emergency avoidance movement.

On the other hand, the anti-intrusion collision detection system for the unmanned equipment in the closed stock yard comprises a laser scanning line device, a video acquisition device, a field industrial personal computer, an alarm device and a computer, wherein the field industrial personal computer, the alarm device and the computer are arranged in the closed stock yard; the laser scanning line device is arranged at the front and rear positions of the unmanned equipment;

the video acquisition devices are arranged at the front and rear positions of the unmanned equipment;

the laser scanning line device and the video acquisition device are both in data connection with the field industrial personal computer, and the field industrial personal computer is in data connection with the computer of the central control room;

the computer of the central control room sends an instruction to the field industrial personal computer, the alarm device sends out an alarm, and the field industrial personal computer controls the unmanned equipment

The closed stock yard unmanned equipment anti-intrusion collision detection system is used for executing the closed stock yard unmanned equipment anti-intrusion collision detection method.

In the technical scheme, the intrusion collision prevention detection method and the system thereof for the unmanned equipment in the closed stock ground determine and classify the intrusion collision area through the accurate positioning of the laser scanning line, and accurately judge each intrusion information of the mobile equipment through the analysis and comparison of the data acquired by the video through the background server, thereby providing the guarantee of safe work for the scraper machine running in the closed stock ground and various mobile equipment entering the closed stock ground.

Drawings

FIG. 1 is a schematic flow chart illustrating an embodiment of a method for detecting collision of an unmanned facility in a closed stock yard by intrusion prevention according to the present invention;

FIG. 2 is a schematic diagram of an active area of a mobile device according to an embodiment of a method for detecting an intrusion collision of an unmanned device in a closed stock yard

FIG. 3 is a schematic view of the installation positions of a laser scanning line device and a video acquisition device in an embodiment of the method for detecting the intrusion and collision of the unmanned equipment in the closed stock yard according to the invention;

FIG. 4 is a schematic diagram of a collision intrusion area of an embodiment of the system for detecting collision of an unmanned facility in a closed stock yard;

FIG. 5 is a schematic diagram of an anti-intrusion collision detection method for unmanned equipment in a closed stock yard, which is implemented by the method for detecting collision and intrusion into a moving object in a collision and intrusion area;

FIG. 6 is a schematic view of an embodiment of an anti-intrusion collision detection system for unmanned equipment in a closed stock yard according to the present invention;

FIG. 7 is a schematic flow chart of the scraper control linkage process when a moving object enters the mobile equipment activity area according to the method embodiment of the present invention;

FIG. 8 is a schematic flow diagram of the scraper control linkage process when a moving object enters the primary collision intrusion zone in accordance with an embodiment of the method of the present invention;

FIG. 9 is a schematic flow diagram of the scraper control linkage process when a moving object enters the secondary collision intrusion zone in accordance with an embodiment of the method of the present invention;

FIG. 10 is a schematic flow chart of a hollow control linkage process when a mobile object enters an active area of a mobile device according to an embodiment of the method of the present invention;

FIG. 11 is a schematic flow chart of the hollow control linkage process when a moving object enters a primary collision intrusion zone in accordance with an embodiment of the method of the present invention;

fig. 12 is a schematic flow chart of the hollow control linkage processing when a moving object enters a secondary collision intrusion area according to the method embodiment of the present invention.

Detailed Description

The technical scheme of the invention is further explained by combining the drawings and the embodiment.

Referring to fig. 1 to 6, the method for detecting an intrusion collision of an unmanned aerial vehicle in a closed stock yard according to the present invention includes the following steps:

1) acquisition of collision intrusion area: the collision invasion area is accurately positioned by four laser scanning line devices (see A, B, C, D position in figure 3) arranged at the front and the rear parts of the scraper, laser scanning data is obtained, and data of the real-time collision invasion area is generated by the laser scanning data.

The impact intrusion zones include a mobile device active zone, a primary impact intrusion zone, and a secondary impact intrusion zone.

The mobile equipment activity area is the working range of the scraper in a closed stock ground, generally the range within 30 meters from the scraper, the first-level collision invasion area is the range within 20 meters from the scraper, and the second-level collision invasion area is the range within 10 meters from the scraper.

2) Acquiring video information: video monitoring is carried out on the collision invasion area by four video acquisition devices (see A, B, C, D position in figure 3) arranged at the front and the rear parts of the scraper conveyor to obtain video real-time data, and the acquired video data are utilized, and a computer of a central control room analyzes and judges each data of an invasion object to generate real-time anti-invasion collision data;

3) automatic judgment of the computer: and analyzing and processing the information and automatically judging the information of the invading object according to the real-time image information, the information of the collision invading area and the relative position information, sending out a warning to prompt an operator on duty in the central control room once the invading object enters a specified range area, and sending out a voice warning to prompt the invading object to enter a corresponding dangerous area.

And the intrusion prompt is divided into alarm control of the mobile equipment activity area, alarm control of the first-level collision intrusion area and alarm control of the second-level collision intrusion area according to the working condition of the site.

In the first case: alert control of a mobile device active area includes:

when a moving object (a person or equipment) enters the closed stock ground and enters the moving area of the mobile equipment, the data collected by the video collecting device is analyzed and compared by the computer at the moment, and a warning prompt voice is sent to prompt the moving person or equipment (an operator) to enter the moving area of the mobile equipment and to make confirmation observation. At the moment, the unmanned scraper conveyor keeps a normal working state, and meanwhile, related warning prompt voices are synchronously transmitted to the central control room to prompt a person on duty that a moving object enters a movable area of the mobile equipment and contact the person or equipment (an operator) moving in the area.

In the second case: the warning of the warning control of the primary collision intrusion area comprises the following steps:

when a moving object (a person or equipment) enters a moving area of the mobile equipment and enters a primary collision invasion area, data collected by the laser scanning line device and the video collecting device are transmitted to the computer together, and are analyzed and compared by the computer to send out warning prompt voice for prompting that the moving person or equipment (an operator) enters the primary collision invasion area and is likely to collide, and the moving person or equipment is requested to stop moving. At the moment, the unmanned scraper conveyor stops running and stands by immediately, and meanwhile, related warning prompt voices are synchronously transmitted to the central control room to prompt the person on duty that a moving object enters a first-level collision invasion area and the scraper conveyor stops running to contact the person or equipment (operating personnel) moving in the area.

In the third case: the warning control of the secondary collision intrusion area comprises the following steps:

when a moving object (a person or equipment) enters a moving area of the mobile equipment and enters a secondary collision invasion area, data collected by the laser scanning line device and the video collecting device are transmitted to the computer together, and are analyzed and compared by the computer to send out warning prompt voice for prompting that the moving person or equipment (an operator) enters the secondary collision invasion area and is in danger of collision to please stop moving immediately. At the moment, the unmanned scraper conveyor immediately carries out emergent avoidance movement and reverse high-speed movement, and meanwhile, related warning prompt voices are synchronously transmitted to a central control room to prompt an operator on duty that a moving object enters a secondary collision intrusion area and is in danger of collision, so that the scraper conveyor carries out emergent avoidance movement.

The invention also provides an anti-intrusion collision detection system for the unmanned equipment in the closed stock yard, which comprises a laser scanning line device, a video acquisition device and a field industrial personal computer arranged in the closed stock yard;

the laser scanning line device is arranged at the front and rear positions of the unmanned equipment;

the video acquisition devices are arranged at the front and rear positions of the unmanned equipment;

the laser scanning line device and the video acquisition device are both in data connection with a field industrial personal computer, and the field industrial personal computer is in data connection with a computer of the central control room;

and the computer of the central control room sends an instruction to the field industrial personal computer, and the field industrial personal computer controls the unmanned equipment.

The forklift is now specifically described as an example.

1) The forklift enters the moving area of the mobile equipment

When the system disclosed by the invention finds that the forklift intrudes into the mobile equipment moving area in the detection process, the system captures the image and draws the forklift on the image, triggers the voice alarm device, sends the image drawn by intrusion to the server for storage, and simultaneously sends the text information to the central control room.

2) Forklift entering first-class collision invasion area

When the system disclosed by the invention finds that the forklift rushes into the primary collision intrusion area in the detection process, the forklift is captured and the forklift is outlined on the image, the voice alarm device is triggered, the outlined image is sent to the server for storage, meanwhile, the computer sends an instruction to the field industrial personal computer, the scraper is controlled by the field industrial personal computer to stop running and stand by immediately, and meanwhile, the character information is sent to the central control room.

3) Entry of forklift into secondary collision intrusion zone

If the forklift is always in the first-level collision intrusion area, the voice alarm device gives an alarm once every 30 seconds, and the sketched image is only displayed locally and is not sent to the server for storage. When the forklift continues approaching to a secondary collision intrusion area, the voice alarm device is triggered, the intruded and delineated image is sent to the server for storage, the computer immediately transmits an instruction to the field industrial personal computer, and the field industrial personal computer controls the scraper conveyor to immediately avoid and move reversely.

4) Forklift leaving impact intrusion zone

If the forklift leaves the collision intrusion area, the forklift is stopped to give an alarm by voice, the image leaving the sketching is sent to a server to be stored, and meanwhile, the character information is transmitted to a central control room.

The server is arranged in the central control room, is networked with the field industrial personal computers of the closed stock yards through optical fibers, receives the field alarm images in real time, and stores the images in a database for application such as inquiry and the like.

Referring to fig. 7 to 9, the scraper linkage control is as follows:

1) invasion object enters the mobile equipment active area

In the detection process, once an invader is found to intrude into the mobile equipment activity area, the system of the invention captures an image and sketches the invader on the image, triggers a voice alarm device, starts the alarm by voice alarm and alarm whistle, simultaneously transmits the alarm information to a computer through a specific communication link, when the scraper receives the alarm information that the invader enters the working range of 30 meters, performs specific program processing, informs the scraper of preparing for a certain time, moves the scraper in a stop state to a standby position, simultaneously gives an alarm prompt to the operation picture of the scraper, and transmits the information to a central control room through communication, as shown in fig. 8.

2) The invader enters a first-class collision invasion area

The system of the invention captures an image and delineates the invader on the image when finding that the invader continuously intrudes into the forbidden zone within 20 meters in the real-time continuous detection process, the voice alarm and the siren continuously start the alarm and send the image which is subjected to the intrusion drawing to the server for storage, meanwhile, the alarm information is transmitted to the computer through a specific communication link, when the scraper receives the alarm information when the invader enters the working range of 20 meters, a specific program is processed, the scraper is informed to prepare for a certain time, if the scraper runs, the scraper immediately stops running and moves to a standby position, and the avoidance of a stockpile is finished. Meanwhile, the operation picture of the scraper machine gives an alarm, and the information is transmitted to a central control room through communication, as shown in figure 9.

3) The invader enters a secondary collision invasion area

The method comprises the steps that when an invader continuously breaks into a forbidden zone and enters the forbidden zone within 10 meters, an image is captured and the invader is outlined on the image, a voice alarm device is triggered, voice alarm continuously and discontinuously warns, the outlined image is sent to a server to be stored, meanwhile, alarm information is transmitted to a computer through a specific communication link, when the scratch board machine receives the alarm information when the invader enters the working range of 10 meters, specific program processing is carried out, the scratch board machine is already in a standby state at the moment, the scratch board machine is immediately started to carry out emergency avoidance action, according to the entering direction of the invader, forward and backward emergency avoidance action is carried out, and forward or backward avoidance is carried out for 15 meters once. Meanwhile, the operation picture of the scraper machine is alarmed, and the information is transmitted to a central control room through communication, as shown in figure 10.

Please refer to fig. 10 to 12, which are linked with a computer as follows:

1) invasion object enters the mobile equipment active area

Once the system of the invention finds that the invader enters the forbidden zone for 30 meters in the detection process, the abnormal information is transmitted to the computer through the communication link between the scraper and the central control room through the conditions, the computer sends the information to the operation picture of the control room through the final judgment of the program logic and simultaneously sends out a voice alarm to prompt the post personnel to notice, and the computer process keeps the existing state unchanged as shown in figure 10.

2) The invader enters a first-class collision invasion area

Once the system of the invention finds that the invader enters the forbidden zone for 20 meters in the detection process, the abnormal information is transmitted to the computer through the communication link between the scraper and the central control room through the conditions, the computer sends the information to the operation picture of the control room through the final judgment of the program logic, and simultaneously sends out the voice alarm to prompt the post personnel to pay attention again, and the computer process keeps the existing state unchanged as shown in figure 11.

3) The invader enters a secondary collision invasion area

Once the system of the invention finds that the invader intrudes into the forbidden zone for 10 meters in the detection process, the abnormal information is transmitted to the computer through the communication link between the scraper and the central control room through the conditions, the computer sends the information to the operation picture of the control room through the final judgment of the program logic, simultaneously the volume is increased to send out voice warning to prompt the post personnel to pay attention again, and meanwhile, the computer sends out an emergency stop instruction to urgently stop the flow of the scraper, as shown in figure 12.

It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that changes and modifications to the above described embodiments are within the scope of the claims of the present invention as long as they are within the spirit and scope of the present invention.