阅读说明：本技术 一种冶金起重机自适应紧急制动控制系统 (Self-adaptive emergency braking control system of metallurgical crane ) 是由 梁大伟 于 2021-07-21 设计创作，主要内容包括：本发明公开了一种冶金起重机自适应紧急制动控制系统,包括信息采集模块、信息处理模块、数据传输模块、数据分析模块、紧急制动模块和制动提示模块,通过获取移动信息中两侧车轮的移动速度和起重机可行驶的轨道长度,而计算出轨差值反映出起重机两侧车轮的行走速度,同时通过CCD捕捉信息获取轨道图形,计算出平均差异块的形态值和轨差值是否影响起重机正常运行和起重机的零部件是否损坏,然后通过数据判断模块进行判断,并且获取轨道中最大差异块的形态值,进行初步判断能够避免出现较大的异物导致判断出错的情况,从而提升其安全性,若是需要紧急制动,通过数据传输模块即可启动紧急制动模块停止冶金起重机的运行。(The invention discloses a self-adaptive emergency brake control system of a metallurgical crane, which comprises an information acquisition module, an information processing module, a data transmission module, a data analysis module, an emergency brake module and a brake prompt module, by acquiring the moving speed of the wheels at two sides and the length of the track which can be run by the crane in the moving information, and the derailment difference value is calculated to reflect the traveling speed of wheels at two sides of the crane, simultaneously the CCD captures information to obtain a track figure, and whether the form value of the average difference block and the track difference value influence the normal operation of the crane and whether parts of the crane are damaged or not is calculated, then, the data judgment module is used for judging, the form value of the maximum difference block in the track is obtained, the condition of judgment error caused by large foreign matters can be avoided by carrying out preliminary judgment, therefore, the safety of the metallurgical crane is improved, and if emergency braking is needed, the emergency braking module can be started through the data transmission module to stop the operation of the metallurgical crane.)

1. A self-adaptive emergency braking control system of a metallurgical crane is characterized by comprising an information acquisition module, an information processing module, a data transmission module, a data analysis module, an emergency braking module and a braking prompt module;

the information acquisition module is used for acquiring environmental information, comprises mobile information and CCD (charge coupled device) capture information and is transmitted to the information processing module through the data transmission module;

the information processing module is used for receiving and processing information, processing the obtained mobile information to obtain mobile processing data, and processing the obtained CCD capture information to obtain flatness processing data;

the data analysis module is used for receiving the information processing module, comprehensively analyzing the mobile processing data and the flatness processing data in the information processing module to obtain data analysis information, and sending the data analysis information to the brake prompt module and the emergency brake module;

the data judgment module is used for judging whether to send out an emergency braking control signal;

the emergency braking module is used for carrying out emergency braking control on the crane according to the data judgment module;

the brake prompting module is used for prompting an operator that the crane executes self-adaptive emergency brake control.

2. The adaptive emergency brake control system of the metallurgical crane according to claim 1, wherein the obtained movement information is processed to obtain movement processing data, and the method comprises the following specific steps:

s11: acquiring left side traveling speed data of the crane, right side traveling speed data of the crane and the length of a track on which the crane can travel;

s12: marking the left side walking speed data of the crane as V₁Marking the right side walking speed data of the crane as V₂Marking the length of a track which can be driven by the crane as S;

s13: using formulasAcquiring a rail difference value C of the crane walking, wherein mu is a correction factor of the rail difference value, alpha is a correction factor of the left walking speed of the crane, and beta is a correction factor of the right walking speed of the crane;

s14: and acquiring the track difference value C, setting the track difference value C as mobile processing data, and sending the mobile processing data to the data analysis module through the data transmission module.

3. The adaptive emergency brake control system of the metallurgical crane according to claim 1, wherein the obtained CCD capture information is processed to obtain flatness processing data, and the method comprises the following specific steps:

s21: comparing the obtained track graph with the initial track graph, and marking the pixel sets of the obtained track graph which are more than the initial track as difference blocks;

s22: acquiring the highest point of each difference block and marking the highest point as Hi, i-1, 2.. n, acquiring the lowest point of each difference block and marking the lowest point as Li, i-1, 2.. n, acquiring the transverse width of each difference block and marking the highest point as Ki, i-1, 2.. n;

s23: by the formulaAcquiring the flatness of the track, wherein Qi is the form value of each difference block, epsilon is a correction factor of the flatness, and the calculation mode of Qi is as follows:wherein η is a correction factor for the shape value of each difference block;

s24: the flatness P and the maximum shape value Qi are compared_MAXThe data is marked as flatness processed and then transferred to a data analysis module via a data transfer module.

4. The adaptive emergency brake control system of the metallurgical crane according to claim 1, wherein the mobile processing data and the flatness processing data in the information processing module are comprehensively analyzed to obtain data analysis information, and the specific steps include:

s31: acquiring a track difference value C in the mobile processing data and flatness in the flatness processing data; (ii) a

S32: by the formulaAnd calculating an early warning value Y, wherein alpha is a correction factor of the early warning value, and sending the early warning value to a data judgment module through a data transmission module.

5. The adaptive emergency brake control system of the metallurgical crane according to claim 1, wherein the judging step of the data judging module comprises:

s41: obtaining the maximum early warning value in the data analysis information and the flatness processing data through the data transmission moduleMorphological value Qi_MAX；

S42: the maximum morphological value Qi_MAXComparing with the preset shape value when the maximum shape value Qi is obtained_MAXAnd if the shape value is larger than the preset shape value, sending an emergency braking control signal through the data transmission module.

6. An adaptive emergency brake control system for metallurgical cranes, as claimed in claim 5, characterized by the maximum form value Qi_MAXAnd if the early warning value Y is larger than the preset early warning value, sending an emergency braking control signal through the data transmission module.

7. An adaptive emergency brake control system for metallurgical cranes, as claimed in claim 5, characterized by the maximum form value Qi_MAXAnd when the early warning value Y is smaller than the preset form value and the early warning value Y is smaller than the preset early warning value, the emergency braking control signal is not sent out.

8. The adaptive emergency brake control system of the metallurgical crane according to claim 1, wherein the emergency brake control signal is transmitted to the emergency brake module and the brake prompt module through the data transmission module.

Technical Field

The invention relates to the technical field of crane emergency brake control, in particular to a self-adaptive emergency brake control system of a metallurgical crane.

Background

The metallurgical crane works by means of longitudinal movement along the direction of a plant rail, transverse movement of a trolley and lifting motion of a lifting hook. The crane is suitable for metal smelting workshops and is mainly suitable for special cranes for metal smelting, rolling, hot working and the like.

After the metallurgical crane is used for a long time, sundries and abrasion are inevitably generated between the rail and the wheels, so that when the crane moves longitudinally on the rail, the traveling speeds of the wheels on two sides are different, the driving motor and the transmission assembly in the crane are damaged, and the crane cannot normally run.

Disclosure of Invention

The invention aims to provide a self-adaptive emergency brake control system of a metallurgical crane, which is used for acquiring the moving speed of wheels on two sides in moving information and the length of a track which can be run by the crane, calculating a derailment difference value to reflect the running speed of the wheels on two sides of the crane, acquiring a track graph by capturing information through a CCD (charge coupled device), and calculating whether the form value and the track difference value of an average difference block influence the normal operation of the crane and whether parts of the crane are damaged.

The purpose of the invention can be realized by the following technical scheme:

a self-adaptive emergency braking control system of a metallurgical crane comprises an information acquisition module, an information processing module, a data transmission module, a data analysis module, an emergency braking module and a braking prompt module;

the information acquisition module is used for acquiring environmental information, comprises mobile information and CCD (charge coupled device) capture information and is transmitted to the information processing module through the data transmission module;

the information processing module is used for receiving and processing information, processing the obtained mobile information to obtain mobile processing data, and processing the obtained CCD capture information to obtain flatness processing data;

the data analysis module is used for receiving the information processing module, comprehensively analyzing the mobile processing data and the flatness processing data in the information processing module to obtain data analysis information, and sending the data analysis information to the brake prompt module and the emergency brake module;

the data judgment module is used for judging whether to send out an emergency braking control signal;

the emergency braking module is used for braking and controlling the crane according to the data judgment module;

the brake prompting module is used for prompting an operator that the crane executes self-adaptive emergency brake control.

As a further scheme of the invention: processing the obtained mobile information to obtain mobile processing data, wherein the method specifically comprises the following steps:

s11: acquiring left side traveling speed data of the crane, right side traveling speed data of the crane and the length of a track on which the crane can travel;

s12: marking the left side walking speed data of the crane as V₁Marking the right side walking speed data of the crane as V₂Marking the length of a track which can be driven by the crane as S;

s13: using formulasAcquiring a rail difference value C of the crane walking, wherein mu is a correction factor of the rail difference value, alpha is a correction factor of the left walking speed of the crane, and beta is a correction factor of the right walking speed of the crane;

s14: and acquiring the track difference value C, setting the track difference value C as mobile processing data, and sending the mobile processing data to the data analysis module through the data transmission module.

As a further scheme of the invention: processing the obtained CCD capture information to obtain flatness processing data, and specifically comprising the following steps of:

s21: comparing the obtained track graph with the initial track graph, and marking the pixel sets of the obtained track graph which are more than the initial track as difference blocks;

s22: acquiring the highest point of each difference block and marking the highest point as Hi, i-1, 2.. n, acquiring the lowest point of each difference block and marking the lowest point as Li, i-1, 2.. n, acquiring the transverse width of each difference block and marking the highest point as Ki, i-1, 2.. n;

s23: by the formulaObtaining the flatness of the orbits, where Qi is each differenceThe shape value of the block, epsilon, is a correction factor of the flatness, and Qi is calculated in the following way:wherein η is a correction factor for the shape value of each difference block;

s24: the flatness P and the maximum shape value Qi are compared_MAXThe data is marked as flatness processed and then transferred to a data analysis module via a data transfer module.

As a further scheme of the invention: the method comprises the following steps of comprehensively analyzing mobile processing data and flatness processing data in an information processing module to obtain data analysis information, wherein the method comprises the following specific steps:

s31: acquiring a track difference value C in the mobile processing data and flatness in the flatness processing data; (ii) a

S32: by the formulaAnd calculating an early warning value Y, wherein alpha is a correction factor of the early warning value, and sending the early warning value to a data judgment module through a data transmission module.

As a further scheme of the invention: the judging step of the data judging module comprises the following steps:

s41: obtaining the early warning value in the data analysis information and the maximum morphological value Qi in the flatness processing data through the data transmission module_MAX；

S42: the maximum morphological value Qi_MAXComparing with preset shape value, if the maximum shape value Qi_MAXIf the form value is larger than the preset form value, an emergency braking control signal is sent through the data transmission module;

s43: if the maximum morphology value Qi_MAXIf the early warning value Y is larger than the preset early warning value, an emergency braking control signal is sent through the data transmission module;

s44: if the maximum morphology value Qi_MAXIs less than the preset form value, and the early warning value Y is less than the preset early warning value, and does not send out the tighteningA sudden braking control signal.

As a further scheme of the invention: the emergency braking control signal is transmitted to the emergency braking module and the braking prompt module through the data transmission module.

The invention has the beneficial effects that: calculating the derailment difference value to reflect the traveling speed of the wheels on two sides of the crane by acquiring the moving speed of the wheels on two sides in the moving information and the length of the track on which the crane can travel, acquiring the track graph by capturing the information through the CCD, and acquiring the track graph through a formulaCalculating whether the track is flat or not, and then using a formulaWhether the form value and the rail difference value of the average difference block influence the normal operation of the crane and whether the parts of the crane are damaged are calculated, then the judgment is carried out through the data judgment module, the form value of the maximum difference block in the track is obtained, the condition that the judgment is wrong due to large foreign matters can be avoided through preliminary judgment, the safety of the crane is improved, and if the crane needs emergency braking, the emergency braking module can be started through the data transmission module to stop the operation of the metallurgical crane.

Drawings

The invention will be further described with reference to the accompanying drawings.

Fig. 1 is a schematic diagram of the operation of the adaptive emergency brake control system of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, the invention relates to a self-adaptive emergency braking control system for a metallurgical crane, which comprises an information acquisition module, an information processing module, a data transmission module, a data analysis module, an emergency braking module and a braking prompt module;

the information acquisition module is used for acquiring environmental information, comprises mobile information and CCD (charge coupled device) capture information and is transmitted to the information processing module through the data transmission module;

the information processing module is used for receiving and processing information, processing the obtained mobile information to obtain mobile processing data, and processing the obtained CCD capture information to obtain flatness processing data;

the data analysis module is used for receiving the information processing module, comprehensively analyzing the mobile processing data and the flatness processing data in the information processing module to obtain data analysis information, and sending the data analysis information to the brake prompt module and the emergency brake module;

the data judgment module is used for judging whether to send out an emergency braking control signal;

the emergency braking module is used for carrying out emergency braking control on the crane according to the data judgment module;

the brake prompting module is used for prompting an operator that the crane executes self-adaptive emergency brake control.

In the invention, the obtained mobile information is processed to obtain mobile processing data, and the specific steps comprise:

s11: acquiring left side traveling speed data of the crane, right side traveling speed data of the crane and the length of a track on which the crane can travel;

s12: marking the left side walking speed data of the crane as V₁Marking the right side walking speed data of the crane as V₂Marking the length of a track which can be driven by the crane as S;

s13: using formulasObtaining a rail difference value C of the crane walking, wherein the rail difference value can reflect the walking speed difference of two sidesWhere μ is the correction of the rail difference, μ is 1.012, α is the correction of the left side traveling speed of the crane, α is 1.21, β is the correction of the right side traveling speed of the crane, β is 1.16;

s14: and acquiring the track difference value C, setting the track difference value C as mobile processing data, and sending the mobile processing data to the data analysis module through the data transmission module.

In the invention, the obtained CCD capture information is processed to obtain flatness processing data, and the method specifically comprises the following steps:

s21: comparing the obtained track graph with the initial track graph, and marking the pixel sets of the obtained track graph which are more than the initial track as difference blocks;

s22: acquiring the highest point of each difference block and marking the highest point as Hi, i-1, 2.. n, acquiring the lowest point of each difference block and marking the lowest point as Li, i-1, 2.. n, acquiring the transverse width of each difference block and marking the highest point as Ki, i-1, 2.. n;

s23: by the formulaAcquiring the flatness of the track, wherein Qi is a form value of each difference block, the form reflects the size of a foreign matter on the track, epsilon is the correction of the flatness, epsilon is 0.98, and Qi is calculated as follows:wherein η is a modification of the shape value of each difference block, and η is 1.35;

s24: the flatness P and the maximum shape value Qi are compared_MAXThe data is marked as flatness processed and then transferred to a data analysis module via a data transfer module.

In the invention, the mobile processing data and the flatness processing data in the information processing module are comprehensively analyzed to obtain data analysis information, and the method specifically comprises the following steps:

s31: acquiring a track difference value C in the mobile processing data and flatness in the flatness processing data; (ii) a

S32: by the formulaAnd calculating an early warning value Y, wherein alpha is a correction factor of the early warning value and is 1.421, and sending the early warning value to the data judgment module through the data transmission module.

In the invention, the judging step of the data judging module comprises the following steps:

s41: obtaining the early warning value in the data analysis information and the maximum morphological value Qi in the flatness processing data through the data transmission module_MAX；

S42: the maximum morphological value Qi_MAXComparing with preset shape value, if the maximum shape value Qi_MAXIf the form value is larger than the preset form value, an emergency braking control signal is sent through the data transmission module;

s43: if the maximum morphology value Qi_MAXIf the early warning value Y is larger than the preset early warning value, an emergency braking control signal is sent through the data transmission module;

s44: if the maximum morphology value Qi_MAXAnd when the early warning value Y is smaller than the preset form value and the early warning value Y is smaller than the preset early warning value, the emergency braking control signal is not sent out.

In the invention, the emergency braking control signal is transmitted to the emergency braking module and the braking prompt module through the data transmission module.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation and a specific orientation configuration and operation, and thus, should not be construed as limiting the present invention. Furthermore, "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate member, or they may be connected through two or more elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.