阅读说明：本技术 一种堆取料机防碰撞控制方法及系统 (Anti-collision control method and system for stacker-reclaimer ) 是由 王玉琳 段继明 刘东明 曲丽丹 段坚 韩成军 杜子兮 范洪达 蒲云雷 于 2020-12-25 设计创作，主要内容包括：本发明公开了一种堆取料机防碰撞控制方法及系统,其中方法包括：包括：根据堆取料机的几何特征提炼出包含机械结构的基本几何体,在基本几何体表面生成关键点获取关键点的相对坐标p1；建立堆取料机的防碰撞组合模型,根据该组合模型的组合方式和堆取料机的机械尺寸计算关键点的三维空间世界坐标p2；计算堆取料机经过走行、回转、俯仰动作后的关键点三维空间世界坐标p3,获取防碰撞相关物体表面点在三维空间中的世界坐标Q；计算所有关键点三维空间世界坐标P与防碰撞相关物体表面点在三维空间中的世界坐标Q的空间距离,并获取空间距离最小值；根据空间距离最小值和设定的安全距离进行防碰撞控制。(The invention discloses an anti-collision control method and system for a stacker-reclaimer, wherein the method comprises the following steps: the method comprises the following steps: extracting a basic geometric body containing a mechanical structure according to the geometric characteristics of the stacker-reclaimer, and generating a key point on the surface of the basic geometric body to obtain a relative coordinate p1 of the key point; establishing an anti-collision combined model of the stacker-reclaimer, and calculating a three-dimensional space world coordinate p2 of a key point according to the combination mode of the combined model and the mechanical size of the stacker-reclaimer; calculating a three-dimensional space world coordinate p3 of a key point of the stacker-reclaimer after walking, revolving and pitching actions, and acquiring a world coordinate Q of a surface point of an anti-collision related object in a three-dimensional space; calculating the space distance between the three-dimensional space world coordinate P of all key points and the world coordinate Q of the surface point of the anti-collision related object in the three-dimensional space, and acquiring the minimum value of the space distance; and performing anti-collision control according to the minimum spatial distance and the set safety distance.)

1. An anti-collision control method of a stacker-reclaimer is characterized by comprising the following steps:

extracting a basic geometric body containing a mechanical structure according to the geometric characteristics of the material piling and taking machine, and generating key points on the surface of the basic geometric body to obtain relative coordinates of the key points;

establishing an anti-collision combined model of the stacker-reclaimer, and calculating three-dimensional space world coordinates of key points according to the combination mode of the combined model and the mechanical size of the stacker-reclaimer;

calculating the three-dimensional space world coordinate of a key point of the stacker-reclaimer after walking, revolving and pitching actions, and acquiring the world coordinate Q of the surface point of the anti-collision related object in the three-dimensional space;

calculating the space distance between the three-dimensional space world coordinate P of all key points and the world coordinate Q of the surface point of the anti-collision related object in the three-dimensional space, and acquiring the minimum value of the space distance;

and performing anti-collision control according to the minimum spatial distance and the set safety distance.

2. The method of claim 1, further characterized by: when the anti-collision combined model is established: and taking a basic geometry as a root part, wherein the root part comprises a plurality of connecting structures and the basic geometry as a sub-part, the sub-part is connected with the root part through the connecting structures, and the sub-part is used as a parent part of the next part, comprises the corresponding connecting structure and the basic geometry as the sub-part, and the anti-collision combination model of the stacker-reclaimer is established iteratively according to the relation.

3. The method of claim 1, further characterized by: the walking, pitching and turning actions of the stacker-reclaimer are defined as the rotational translation motions of a three-dimensional coordinate system of a basic geometric body around coordinate axes of the basic geometric body respectively, wherein the walking motion is simplified into the translation of the basic geometric body along an x axis, the turning motion is simplified into the rotation of a basic geometric body of a turning part around a z axis, the pitching motion is simplified into the rotation of a basic geometric body of a counterweight part and the basic geometric body of a cantilever part around a y axis, and the three-dimensional space world coordinate p2 of a key point on each part performs the rotational translation motions around the coordinate axes of the key point according to the walking, pitching and turning postures of a large machine respectively to obtain the three-dimensional space world coordinate p3 of the key point after the walking, turning and pitching actions of the stacker-reclaimer, namely p 3T 3_p*T_c(p2,1) wherein T_pIs a rotational-translation matrix of the parent component, T_cTo connect toA rotational-translation matrix of the structure.

4. The method of claim 3, further characterized by: the rotational-translation matrix T of the parent component_pExpressed as:

wherein x, y and z are respectively the rotation angles of the father component around the original x axis, y axis and z axis, and delta p.x, delta p.y and delta p.z are respectively the translation distances of the father component along the x axis, the y axis and the z axis;

the fixed connection structure defaults to non-rotation and only translation, wherein the rotation and translation matrix T of the connection structure_cExpressed as:

where Δ p.x, Δ p.y, Δ p.z are the distances that the basic geometry translates along the x-axis, y-axis, z-axis, respectively.

When the root part and the sub-part are connected by adopting a shaft structure, the rotation and translation matrix of the shaft structure is as follows:

wherein x, y, z are the angles of rotation of the subcomponent coordinate system about the parent component coordinate system x-axis, y-axis, z-axis, respectively, and Δ p.x, Δ p.y, Δ p.z are the distances of translation of the subcomponent coordinate system and the parent component coordinate system along the x-axis, y-axis, z-axis, respectively.

5. The method of claim 1, further characterized by: the three-dimensional space world coordinate P of the key point and the surface point space distance D between the key point and the anti-collision related object_PQAnd the real-time acquisition is carried out along with the action of the stacker-reclaimer.

6. The method of claim 1, further characterized by: the anti-collision control process comprises the following steps: setting a three-level safety distance, and sending an alarm signal when the calculated distance is less than the first-level safety distance; when the calculated distance is smaller than the secondary safety distance, sending a deceleration signal and an alarm signal; and when the calculated distance is less than the three-level safety distance, sending a stop command and an alarm signal.

7. The method of claim 1, further characterized by: calculating the space distance between the three-dimensional space world coordinate P of all key points and the world coordinate Q of the surface point of the anti-collision related object in the three-dimensional space, and acquiring the minimum value of the space distance:

all the three-dimensional space world coordinates P of all the key points are obtained based on an iteration mode, and the relative coordinates pn of the key points are T_p(n-1)*T_c(n-1)*(p(n-1),1)

8. An anti-collision control system of a stacker-reclaimer, characterized by comprising:

the attitude acquisition equipment of the stacker-reclaimer is used for acquiring walking, turning and pitching attitude data of the stacker-reclaimer in real time;

the anti-collision related object surface point acquisition equipment acquires world coordinate information in three-dimensional spaces of a material pile, a fixed structure, the ground and a dam foundation;

the anti-collision calculation server is used for generating an anti-collision combined model of the stacker-reclaimer and three-dimensional space world coordinates of key points of the anti-collision combined model, reading attitude data of the stacker-reclaimer in real time, calculating three-dimensional space world coordinates of the key points of the stacker-reclaimer after walking, revolving and pitching actions, reading three-dimensional data of surface points of anti-collision related objects in real time, calculating spatial distances between the three-dimensional space world coordinates of the key points of the stacker-reclaimer and the world coordinates of the surface points of the anti-collision related objects in three-dimensional space, acquiring the minimum spatial distance and simultaneously generating an anti-collision strategy, and the anti-collision calculation server is in.

And the stacker-reclaimer PLC control system is in real-time data communication with the anti-collision calculation server, receives attitude data transmitted by a stacker-reclaimer attitude acquisition device, performs data and instruction interaction with the anti-collision calculation server, and issues control instructions of the anti-collision calculation server to driving devices of various mechanisms of the stacker-reclaimer in real time so as to automatically control the stacker-reclaimer to perform stacker-reclaimer operation.

9. The stacker-reclaimer collision avoidance control system of claim 8, further characterized by: the anti-collision calculation server comprises a data communication module, a spatial distance calculation module and an anti-collision strategy generation module;

the data communication module is used for carrying out data communication with the PLC control system of the stacker-reclaimer and the anti-collision related object surface point acquisition equipment;

the space distance calculation module is used for calculating the minimum value of the space distance of the surface point of the anti-collision related object after the stacker-reclaimer moves, rotates and pitches;

the anti-collision strategy generation module generates a control command in real time according to the minimum value of the space distance between the stacker-reclaimer and the anti-collision related object and sends the control command to the PLC control system of the stacker-reclaimer through the data communication module.

Technical Field

The invention relates to the technical field of anti-collision analysis of stacker-reclaimers, in particular to an anti-collision control method and system of a stacker-reclaimer.

Background

The stacker-reclaimer is also called a bucket-wheel stacker-reclaimer, is a high-efficiency continuous loading and unloading machine, and is widely used in bulk cargo storage yards of bulk cargo wharfs, mines, power plants and the like.

In the modernization bulk cargo store yard, need many stacker-reclaimer collaborative operation, because stacker-reclaimer motion range is big, close on between the stacker-reclaimer of collaborative operation, between stacker-reclaimer and the fixed structure thing, have very big mutual collision risk between stacker-reclaimer and the stockpile, in case the collision takes place, can cause serious machine damage and casualty accident, cause huge economic loss for the enterprise. The traditional stacker-reclaimer anti-collision control mainly adopts visual observation of an operator, and the anti-collision limit switch, the steel wire rope limit, the microwave radar switch and the like are assisted to prevent collision, but the mode depends on the operation level of workers and the factors of sensitivity, precision and the like of a sensor.

With the continuous rising of the cost of raw materials such as ores and the like, the common problem faced by all bulk cargo yards is effectively reduced in labor cost, working environment is improved to the maximum extent, productivity is stabilized, and production reduction caused by manual intervention is reduced. The existing automatic anti-collision control technologies of the stacker-reclaimer mainly comprise two technologies, namely a plane projection method and a three-dimensional model method, but the two technologies have the following defects: the plane projection method is to project a cantilever of a stacker-reclaimer onto a horizontal plane and then calculate the minimum distance between two projections in the plane, although the algorithm is simple, the minimum distance between the stacker-reclaimers cannot be accurately calculated, some effective working space is wasted, and especially when the same stacking position is operated, the working range of the stacker-reclaimer is greatly limited, and the stacking and reclaiming operation efficiency is influenced. The method is characterized in that a three-dimensional mathematical model of the cantilever of the stacker-reclaimer is established by considering factors such as the rotation and pitching of the cantilever of the stacker-reclaimer, and the method needs to solve a multivariate equation, so that the algorithm is complex, the calculated amount is large, and the practical application is very difficult.

Disclosure of Invention

According to the problems in the prior art, the invention discloses an anti-collision control method for a stacker-reclaimer, which specifically comprises the following steps: extracting a basic geometric body containing a mechanical structure according to the geometric characteristics of the material piling and taking machine, and generating key points on the surface of the basic geometric body to obtain relative coordinates of the key points;

establishing an anti-collision combined model of the stacker-reclaimer, and calculating three-dimensional space world coordinates of key points according to the combination mode of the combined model and the mechanical size of the stacker-reclaimer;

calculating the three-dimensional space world coordinate of a key point of the stacker-reclaimer after walking, revolving and pitching actions, and acquiring the world coordinate Q of the surface point of the anti-collision related object in the three-dimensional space;

calculating the space distance between the three-dimensional space world coordinate P of all key points and the world coordinate Q of the surface point of the anti-collision related object in the three-dimensional space, and acquiring the minimum value of the space distance;

and performing anti-collision control according to the minimum spatial distance and the set safety distance.

Further, when the anti-collision combined model is established: and taking a basic geometry as a root part, wherein the root part comprises a plurality of connecting structures and the basic geometry as a sub-part, the sub-part is connected with the root part through the connecting structures, and the sub-part is used as a parent part of the next part, comprises the corresponding connecting structure and the basic geometry as the sub-part, and the anti-collision combination model of the stacker-reclaimer is established iteratively according to the relation.

Further, the walking, pitching and turning actions of the stacker-reclaimer are defined as the rotational translation motions of the three-dimensional coordinate system of the basic geometric body around the coordinate axes of the basic geometric body respectively, wherein the walking motion is simplified into the translation of the basic geometric body along the x axis, the turning motion is simplified into the rotation of the basic geometric body of the turning part around the z axis, the pitching motion is simplified into the rotation of the basic geometric body of the counterweight part and the basic geometric body of the cantilever part around the y axis, and the three-dimensional space world coordinate p2 of the key point on each part performs the rotational translation motions around the coordinate axes of the key point according to the walking, pitching and turning postures of the crane respectively to obtain the three-dimensional space world coordinate p3 of the key point after the walking, turning and pitching actions of the stacker-reclaimer, namely p3 is T ═_p*T_c(p2,1) wherein T_pIs a rotational-translation matrix of the parent component, T_cIs a rotational-translational matrix of the connection structure.

Further, the rotational-translation matrix T of the parent component_pExpressed as:

wherein x, y and z are respectively the rotation angles of the father component around the original x axis, y axis and z axis, and delta p.x, delta p.y and delta p.z are respectively the translation distances of the father component along the x axis, the y axis and the z axis;

the fixed connection structure defaults to non-rotation and only translation, wherein the rotation and translation matrix T of the connection structure_cExpressed as:

where Δ p.x, Δ p.y, Δ p.z are the distances that the basic geometry translates along the x-axis, y-axis, z-axis, respectively.

When the root part and the sub-part are connected by adopting a shaft structure, the rotation and translation matrix of the shaft structure is as follows:

wherein x, y, z are the angles of rotation of the subcomponent coordinate system about the parent component coordinate system x-axis, y-axis, z-axis, respectively, and Δ p.x, Δ p.y, Δ p.z are the distances of translation of the subcomponent coordinate system and the parent component coordinate system along the x-axis, y-axis, z-axis, respectively.

Further, the three-dimensional space world coordinate P of the key point and the surface point space distance D between the key point and the anti-collision related object_PQAnd the real-time acquisition is carried out along with the action of the stacker-reclaimer.

Further, in the anti-collision control process: setting a three-level safety distance, and sending an alarm signal when the calculated distance is less than the first-level safety distance; when the calculated distance is smaller than the secondary safety distance, sending a deceleration signal and an alarm signal; and when the calculated distance is less than the three-level safety distance, sending a stop command and an alarm signal.

Further, calculating the space distance between the world coordinate P of the three-dimensional space of all key points and the world coordinate Q of the surface points of the anti-collision related objects in the three-dimensional space, and acquiring the minimum value of the space distance:

all the three-dimensional space world coordinates P of all the key points are obtained based on an iteration mode, and the relative coordinates pn of the key points are T_p(n-1)*T_c(n-1)*(p(n-1)，1)

A stacker-reclaimer anti-collision control system, comprising:

the attitude acquisition equipment of the stacker-reclaimer is used for acquiring walking, turning and pitching attitude data of the stacker-reclaimer in real time;

the anti-collision related object surface point acquisition equipment acquires world coordinate information in three-dimensional spaces of a material pile, a fixed structure, the ground and a dam foundation;

the anti-collision computing server is used for generating an anti-collision combined model of the stacker-reclaimer and three-dimensional world coordinates of key points of the anti-collision combined model, reading attitude data of the stacker-reclaimer in real time, computing the three-dimensional world coordinates of the key points of the stacker-reclaimer after walking, revolving and pitching actions, reading three-dimensional data of surface points of anti-collision related objects in real time, computing the spatial distance between the three-dimensional world coordinates of the key points of the stacker-reclaimer and the world coordinates of the surface points of the anti-collision related objects in three-dimensional space, acquiring the minimum value of the spatial distance and generating an anti-; and the anti-collision calculation server is in data communication with the anti-collision monitoring client.

And the stacker-reclaimer PLC control system is in real-time data communication with the anti-collision calculation server, receives attitude data transmitted by a stacker-reclaimer attitude acquisition device, performs data and instruction interaction with the anti-collision calculation server, and issues control instructions of the anti-collision calculation server to driving devices of various mechanisms of the stacker-reclaimer in real time so as to automatically control the stacker-reclaimer to perform stacker-reclaimer operation.

Further, the anti-collision calculation server comprises a data communication module, a spatial distance calculation module and an anti-collision strategy generation module;

the data communication module is used for carrying out data communication with the PLC control system of the stacker-reclaimer and the anti-collision related object surface point acquisition equipment;

the space distance calculation module is used for calculating the minimum value of the space distance of the surface point of the anti-collision related object after the stacker-reclaimer moves, rotates and pitches;

the anti-collision strategy generation module generates a control command in real time according to the minimum value of the space distance between the stacker-reclaimer and the anti-collision related object and sends the control command to the PLC control system of the stacker-reclaimer through the data communication module.

Due to the adoption of the technical scheme, the anti-collision control method and the anti-collision control system for the stacker-reclaimer, provided by the invention, have the advantages that the attitude data of the stacker-reclaimer is read in real time, the anti-collision combination of the whole structure of the stacker-reclaimer is established, the minimum spatial distance of objects related to collision is calculated, the anti-collision control is carried out in real time according to the minimum spatial distance, and a control command is sent to a PLC (programmable logic controller) system of the stacker-reclaimer, so that the three-dimensional space anti-collision of the stacker-reclaim; the invention realizes the complete collision prevention without dead angles by calculating the collision prevention of the machine and one or more of a plurality of working conditions of a stacker-reclaimer on the same rail, a stacker-reclaimer on a different rail, a material pile, a fixed structure, the ground, a dam foundation and the like in real time; therefore, the full-automatic anti-collision device realizes full-automatic anti-collision of the stacker-reclaimer, can effectively reduce the risk of collision of operators in the conditions of sight blind areas, fatigue operation, unskilled operation and the like in the traditional operation mode, and is favorable for improving the development of unmanned automatic operation of the stacker-reclaimer.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a flow chart of the method of the present invention;

fig. 2 is a schematic diagram of an inheritance relationship of an anti-collision combination model of a reclaimer in the embodiment of the present invention;

fig. 3 is a schematic diagram of an anti-collision combined model of a reclaimer and key points thereof according to an embodiment of the present invention;

fig. 4 is a functional block diagram of an anti-collision system of a stacker-reclaimer in an embodiment of the present invention;

fig. 5 is a schematic structural diagram of an anti-collision control system of a stacker-reclaimer in embodiment 2 of the present invention.

Detailed Description

In order to make the technical solutions and advantages of the present invention clearer, the following describes the technical solutions in the embodiments of the present invention clearly and completely with reference to the drawings in the embodiments of the present invention:

as shown in fig. 1, an embodiment 1 of an anti-collision control method for a stacker-reclaimer specifically includes the following steps:

step S11: generating relative coordinates of key points on the surface of the basic geometric body, namely extracting the basic geometric body which can envelop a mechanical structure according to the mechanical size of the stacker-reclaimer, generating the key points on the surface of the basic geometric body, and acquiring the relative coordinates p1 of the key points.

In this step, according to the mechanical structure of the stacker-reclaimer, a basic geometric body capable of enveloping the mechanical structure is extracted, and in the preferred scheme of fig. 3, the traveling part of the reclaimer is simplified into a cuboid, the revolving part is simplified into a cylinder, the counterweight part is simplified into a cuboid, the cantilever part is simplified into a cuboid, the bucket wheel part is simplified into a cylinder, and the pull rod part is simplified into a line segment.

Key points are uniformly generated on the surface of the basic geometric body according to set precision, for example, the precision can be adjusted according to actual conditions, such as the interval of 1 meter, the interval of 2 meters and the interval of 3 meters. The higher the accuracy, the higher the requirement on the performance of the anti-collision computation server. In the preferred embodiment of fig. 1, the key points 107 are shown. The key points on the basic geometric body can be deleted or moved individually according to the actual working conditions.

And calculating the difference value according to the size of the basic geometric body and the set precision, and calculating the relative coordinate p1 of the key point of the surface of the basic geometric body.

Step S12: the method comprises the steps of generating an anti-collision combined model of the stacker-reclaimer and three-dimensional space world coordinates of key points of the anti-collision combined model, taking a basic geometric body as a root part, enabling the root part to comprise a plurality of connecting structures and the basic geometric body as sub-parts, enabling the sub-parts to be connected with the root part through the connecting structures, enabling the sub-parts to be used as parent parts of next parts, enabling the sub-parts to comprise corresponding connecting structures and the basic geometric body as the sub-parts, iteratively establishing the anti-collision combined model of the stacker-reclaimer according to the relation, enabling the connecting structures to comprise fixed connections and shaft connections, and calculating the three-dimensional space world coordinates p2 of the key points according to the.

Preferably, when the combined model of the stacker-reclaimer is established, the basic geometric bodies representing the structure of the stacker-reclaimer can be combined according to the models.

Preferably, when the combined model of the stacker-reclaimer is established, only the basic geometric bodies of the key anti-collision parts can be selected to be combined according to the working conditions.

Specifically, in the above steps, only the walking part basic geometry 101, the turning part basic geometry 102 and the counterweight part are selected to be simplified into the cuboid 103, the cantilever part basic geometry 104 and the bucket wheel part basic geometry 105 for combination to establish the reclaimer combination model, the walking part basic geometry 101 is used as a root part, the root part comprises the sub-part turning part basic geometry 102 and a vertical shaft connecting structure, the turning part basic geometry 102 is used as a first parent part and comprises the sub-part counterweight part basic geometry 103, the cantilever part basic geometry 104 and a horizontal shaft connecting structure, and the cantilever part basic geometry 104 is used as a second parent part and comprises the sub-part bucket wheel part basic geometry 105 and the horizontal shaft connecting structure. Fig. 2 illustrates inheritance relationships of the anti-collision combination model of the reclaimer in the embodiment. And respectively calculating three-dimensional space world coordinates p2 of key points on each part according to the combination mode of the combined model and the mechanical size of the stacker-reclaimer.

S13, calculating the three-dimensional space world coordinate p3 of the key point of the stacker-reclaimer after walking, revolving and pitching.

In the step, the walking distance, the pitching angle and the rotating angle of the stacker-reclaimer can be acquired through the attitude acquisition module of the stacker-reclaimer.

The walking action, the pitching action and the rotating action of the stacker-reclaimer are simplified into translational and rotational movement of a basic geometric body, the walking action is simplified into translation of the basic geometric body along an x axis, the rotating action is simplified into rotation of a rotating part basic geometric body 102 around a z axis thereof, the pitching action is simplified into rotation of a counterweight part basic geometric body 103 and a cantilever part basic geometric body 104 around a y axis, and a three-dimensional space world coordinate p2 of a key point on each component respectively performs rotational and translational movement around a coordinate axis thereof according to walking, pitching and rotating postures of a large machine, so that a three-dimensional space world coordinate p3 of the key point of the stacker-reclaimer after the walking, rotating and pitching actions can be obtained.

Firstly, a rotation and translation matrix T of a parent component is calculated_pRotation-translation matrix T of the parent component_pComprises the following steps:

wherein x, y and z are respectively the rotation angles of the father component around the original x axis, y axis and z axis, and delta p.x, delta p.y and delta p.z are respectively the translation distances of the father component along the x axis, the y axis and the z axis;

recalculating the rotational-translation matrix T of the connection structure_c：

The fixed connection structure defaults to be irrotational, only translates, and then fixed connection's rotatory translation matrix is:

wherein Δ p.x, Δ p.y, Δ p.z are the distances of translation of the basic geometry along the x-axis, y-axis, z-axis, respectively;

further, when the root member and the sub-member are connected by the shaft structure, the rotational-translational matrix of the shaft structure is:

wherein x, y and z are respectively the rotation angles of the subcomponent coordinate system around the x axis, the y axis and the z axis of the parent component coordinate system, and Δ p.x, Δ p.y and Δ p.z are respectively the translation distances of the subcomponent coordinate system and the parent component coordinate system along the x axis, the y axis and the z axis;

the three-dimensional space world coordinate p3 of the key point of the stacker-reclaimer after walking, revolving and pitching actions is p3 ═ T _ p _ T _ c ═ p2, 1;

and sequentially and iteratively calculating the three-dimensional coordinates of the key point space of the next sub-component:

pn＝T_n-1*T_n-1*(p(n-1)，1)；

and acquiring world coordinates Q (X, Y, Z) of the surface points of the anti-collision related objects in the three-dimensional space.

The anti-collision related objects comprise same-rail material piling and taking machines, different-rail material piling and taking machines, material piles, fixed structures, the ground and dam foundations.

The world coordinate algorithm of the surface points of the same-rail stacker-reclaimers and different-rail stacker-reclaimers in the three-dimensional space also adopts the steps S11-S12, and specifically, the different-rail stacker-reclaimers only calculate the three-dimensional space coordinates of the surface points of the basic geometric bodies of the cantilever part and the basic geometric bodies of the bucket wheel part.

The three-dimensional space world coordinates of the surface points of the fixed structure, the ground and the dam foundation are obtained through field mapping or a laser scanner, and the surface point data of the stockpile can be obtained through the laser scanner.

Step S14: calculating the space distance between the three-dimensional space world coordinate P of all key points and the world coordinate Q of the surface point of the anti-collision related object in the three-dimensional space, and acquiring the minimum value of the space distance:

step S15, anti-collision control is carried out according to the calculated minimum spatial distance and the set safe distance; wherein the three-dimensional world coordinate P of the key point and the surface point space distance D between the key point and the anti-collision related object_PQCalculating in real time along with the action of the stacker-reclaimer;

the minimum spatial distance is regarded as the nearest distance between the local machine and the anti-collision related object.

Preferably, the anti-collision control method with the fixed object is as follows: setting a three-level safety distance, and sending an alarm signal when the minimum value of the spatial distance is smaller than the first-level safety distance; when the minimum value of the spatial distance is smaller than the secondary safety distance, sending a deceleration signal to a local PLC system and sending an alarm signal; and when the minimum value of the space distance is smaller than the three-level safety distance, sending a stop command to the local PLC system, and sending an alarm signal.

Preferably, the anti-collision control method for the same-rail stacker-reclaimer or the different-rail stacker-reclaimer is as follows: setting a three-level safety distance, and sending an alarm signal when the minimum value of the spatial distance is smaller than the first-level safety distance; when the minimum value of the spatial distance is smaller than the secondary safety distance, sending a deceleration signal to the local machine and a PLC system of a stacker-reclaimer on the same rail or a stacker-reclaimer on a different rail, and sending an alarm signal; and when the minimum value of the spacing distance is smaller than the three-level safety distance, sending a stop signal to the local machine and the PLC system of the stacker-reclaimer on the same rail or the stacker-reclaimer on the different rail, and sending an alarm signal.

Preferably, the anti-collision control method for the stacker-reclaimer can perform anti-collision between the stacker-reclaimer and different anti-collision related objects in a multi-thread mode simultaneously.

Example 2

Fig. 4 is a functional block diagram of an anti-collision system of a stacker-reclaimer in one embodiment, and the invention also discloses an anti-collision control system of a stacker-reclaimer, which comprises a stacker-reclaimer attitude acquisition device, an anti-collision related object surface point acquisition device, a stacker-reclaimer PLC control system, and an anti-collision calculation server, wherein the system executes any one of the methods.

The stacker-reclaimer attitude acquisition equipment (a Beidou/GPS system, a Gray bus, an encoder, an inclinometer and the like) is used for acquiring walking, rotating and pitching attitude data of the stacker-reclaimer in real time;

the anti-collision related object surface point acquisition equipment comprises acquisition equipment of world coordinates in a three-dimensional space, and the anti-collision related object comprises a stockpile, a fixed structure, the ground and a dam foundation;

the anti-collision computing server is used for generating an anti-collision combined model of the stacker-reclaimer and three-dimensional space world coordinates of key points of the anti-collision combined model, reading attitude data of the stacker-reclaimer in real time, computing the three-dimensional space world coordinates of the key points of the stacker-reclaimer after walking, revolving and pitching actions, reading three-dimensional data of surface points of anti-collision related objects in real time, computing the spatial distance between the three-dimensional space world coordinates of the key points of the stacker-reclaimer and the world coordinates of the surface points of the anti-collision related objects in three-dimensional space, acquiring the minimum value of the spatial distance, and;

the anti-collision calculation server is loaded with anti-collision calculation software of the stacker-reclaimer, the software comprises a data communication module, a spatial distance calculation module, an anti-collision strategy generation module and three parts, wherein the data communication module is used for data communication between the anti-collision calculation server and a PLC (programmable logic controller) control system of the stacker-reclaimer and an anti-collision related object surface point acquisition module; the space distance calculation module is used for calculating the minimum value of the space distance of the surface points of the anti-collision related objects after the stacker-reclaimer moves, rotates and pitches; the anti-collision strategy generation module generates a control command in real time according to the minimum value of the space distance between the stacker-reclaimer and the anti-collision related object, and sends the control command to the PLC control system of the stacker-reclaimer through the data communication module.

The PLC control system of the stacker-reclaimer is used for receiving attitude data of attitude acquisition equipment of the stacker-reclaimer, performing data and instruction interaction with the anti-collision calculation server, issuing a control instruction of the anti-collision calculation server to a driving device of each mechanism of the stacker-reclaimer in real time, and automatically controlling the stacker-reclaimer to perform stacker-reclaimer operation;

the mechanical structure of the conventional stacker-reclaimer mainly comprises a pitching hinge point mechanism, a cantilever mechanism, a rotary platform mechanism, a walking mechanism, a counterweight mechanism, a bucket wheel mechanism and an overhaul platform.

Fig. 5 is a schematic structural diagram of an anti-collision control system of a stacker-reclaimer in embodiment 2, in which an anti-collision monitoring client 2, an anti-collision calculation server 3, and an ethernet switch 4 are disposed in a central control room 1, where the anti-collision calculation server 3 is loaded with anti-collision calculation software for the stacker-reclaimer, the software includes a data communication module, a spatial distance calculation module, an anti-collision policy generation module, and three parts, where the data communication module is used for data communication between the anti-collision calculation server 3 and the PLC control system 7 of the stacker-reclaimer, and an anti-collision related object surface point acquisition device 17; the space distance calculation module is used for calculating the minimum value of the space distance of the surface points of the anti-collision related objects after the stacker-reclaimer moves, rotates and pitches; the anti-collision strategy generation module generates a control instruction in real time according to the minimum value of the space distance between the stacker-reclaimer and the anti-collision related object, and sends the control instruction to the PLC control system 7 of the stacker-reclaimer through the data communication module. The anti-collision monitoring client 2 carries out anti-collision client software of the stacker-reclaimer, performs data interaction with a data communication module in the anti-collision calculation server 3, is used for displaying the operation posture of the stacker-reclaimer in real time, displaying the spatial distance between the stacker-reclaimer and each anti-collision related object, dynamically alarming the operation of the stacker-reclaimer according to an anti-collision strategy, and has the functions of anti-collision working condition configuration, history inquiry and the like.

The PLC control system 7 of the stacker-reclaimer and the anti-collision related object surface point acquisition equipment 17 are installed on a stacker-reclaimer body 21, are in communication connection with the central control room Ethernet switch 4 through the Ethernet switch 6, the winding drum slip ring box 18, the cable winding drum 19 and the ground connection box 20 on the stacker-reclaimer, are used for receiving attitude data of the stacker-reclaimer attitude acquisition equipment 16, perform data and instruction interaction with the anti-collision calculation server 3, issue the control instruction of the anti-collision calculation server 3 to the driving devices of each mechanism of the stacker-reclaimer in real time, and automatically control the stacker-reclaimer to perform stacker-reclaimer operation. The anti-collision related object surface point acquisition equipment 17 is used for acquiring surface data of related objects which have collision risks with a stacker-reclaimer in a material yard, wherein the related objects are specifically a material yard, a dam foundation, the ground, a fixed structure and the like. The hardware devices that can be used by the collision avoidance related object surface point acquisition device 17 include a three-dimensional laser scanner, a range radar, a TOF camera, and the like. In a preferred embodiment, a three-dimensional laser scanner is formed by combining a two-dimensional laser scanner with a rotating holder.

Preferably, a data fusion device 15 is further arranged between the ethernet switch 6 on the stacker-reclaimer and the anti-collision related object surface point acquisition device 17, and is used for converting the anti-collision related object surface point data into a material pile three-dimensional coordinate in euclidean coordinate space.

A stacker-reclaimer rotary encoder 10, a stacker-reclaimer pitch encoder 11, or an inclinometer, a stacker-reclaimer travel encoder 13 of a conventional stacker-reclaimer configuration may be used as the stacker-reclaimer attitude acquisition device 16. The stacker-reclaimer rotary encoder 10 is installed at a stacker-reclaimer rotary platform mechanism, the stacker-reclaimer pitching encoder 11 or an inclinometer is installed at a stacker-reclaimer pitching hinge point mechanism, the stacker-reclaimer walking encoder 13 is installed at the stacker-reclaimer walking mechanism, and the stacker-reclaimer attitude data is uploaded to the anti-collision calculation server 3 through the stacker-reclaimer PLC control system 7. Preferably, the device specifically used in this embodiment is an electromagnetic bus bar collecting device or a beidou/GPS system used as the stacker-reclaimer attitude collecting device 16, and the stacker-reclaimer rotary encoder 10, the stacker-reclaimer pitch encoder 11, or the inclinometer, and the stacker-reclaimer travel encoder 13 are used for verification. When the bulk cargo place is not provided with a ceiling, a Beidou/GPS system is adopted as attitude acquisition equipment, and equipment such as an encoder and an inclinometer is configured for checking. When the bulk place is provided with a ceiling, electromagnetic bus collecting equipment such as a Gray bus and the like is adopted, and equipment such as an encoder and an inclinometer is configured for checking.

Example 3:

fig. 6 is a schematic structural diagram of an anti-collision control system for stacker-reclaimers in embodiment 3, in this embodiment, anti-collision calculation under multiple operating conditions, such as a first stacker-reclaimer and a second stacker-reclaimer, a material pile, a fixed structure, a ground surface, a dam foundation, and the like, may be performed simultaneously, where the first stacker-reclaimer and the second stacker-reclaimer may be two stacker-reclaimers on the same rail, or two stacker-reclaimers on adjacent rails. The anti-collision monitoring client 2, the anti-collision calculation server 3 and the Ethernet switch 4 are arranged in the central control room 1, wherein anti-collision calculation software of the stacker-reclaimer is loaded in the anti-collision calculation server 3, and the software comprises a data communication module, a spatial distance calculation module, an anti-collision strategy generation module and three parts, wherein the data communication module is used for data communication between the anti-collision calculation server 3 and the first stacker-reclaimer PLC control system 112, the first stacker-reclaimer anti-collision related object surface point acquisition device 122, the second stacker-reclaimer PLC control system 212 and the second stacker-reclaimer anti-collision related object surface point acquisition device 222; the space distance calculation module is used for calculating the minimum value of the space distance of the surface points of the anti-collision related objects after the stacker-reclaimer moves, rotates and pitches; the anti-collision strategy generation module generates a control instruction in real time according to the minimum value of the space distance between the stacker-reclaimer and the anti-collision related object, and sends the control instruction to the first stacker-reclaimer PLC control system 112 and the second stacker-reclaimer PLC control system 212 through the data communication module. The anti-collision monitoring client 2 carries out anti-collision client software of the stacker-reclaimer, performs data interaction with a data communication module in the anti-collision calculation server 3, is used for displaying the operation posture of the stacker-reclaimer in real time, displaying the spatial distance between the stacker-reclaimer and each anti-collision related object, dynamically alarming the operation of the stacker-reclaimer according to an anti-collision strategy, and has the functions of anti-collision working condition configuration, history inquiry and the like.

The first stacker-reclaimer PLC control system 112, the second stacker-reclaimer PLC control system 212, the first stacker-reclaimer anti-collision related object surface point collecting device 122, and the second stacker-reclaimer anti-collision related object surface point collecting device 222 are respectively installed on the first stacker-reclaimer body 110, and are respectively connected with the central control room Ethernet switch 4 through the first stacker-reclaimer on-board Ethernet switch 111, the first stacker-reclaimer reel slip-ring box 123, the first stacker-reclaimer cable reel 124, the first stacker-reclaimer ground connection box 125, the second stacker-reclaimer on-board Ethernet switch 211, the second stacker-reclaimer reel slip-ring box 223, the second stacker-reclaimer cable reel 224, and the second stacker-reclaimer ground connection box 225 in communication for receiving the posture data of the first stacker-reclaimer posture collecting device 121 and the second stacker-reclaimer posture collecting device 221, and the anti-collision calculation server 3 performs data and instruction interaction, and sends the control instruction of the anti-collision calculation server 3 to the driving devices of all mechanisms of the stacker-reclaimer in real time, so as to automatically control the stacker-reclaimer to perform stacker-reclaimer operation. The device for acquiring surface points of anti-collision related objects of the first stacker-reclaimer 122 and the device for acquiring surface points of anti-collision related objects of the second stacker-reclaimer 222 are used for acquiring surface data of related objects which have collision risks with the stacker-reclaimer in a material yard, and the related objects are specifically a material yard, a dam foundation, the ground, a fixed structure and the like. Hardware devices that may be employed by the first stacker-reclaimer collision avoidance related object surface point collection device 122, the second stacker-reclaimer collision avoidance related object surface point collection device 222 include three-dimensional laser scanners, range radar, TOF cameras, and the like. In a preferred embodiment, a three-dimensional laser scanner is formed by combining a two-dimensional laser scanner with a rotating holder.

Preferably, a first stacker-reclaimer data fusion device 120 is further respectively arranged between the first stacker-reclaimer ethernet switch 111 and the first stacker-reclaimer anti-collision related object surface point collecting device 122, between the second stacker-reclaimer ethernet switch 211 and the second stacker-reclaimer anti-collision related object surface point collecting device 222, and is configured to convert the anti-collision related object surface point data into three-dimensional coordinates of an euclidean coordinate space.

The first stacker-reclaimer rotary encoder 115, the first stacker-reclaimer pitch encoder 116, or the inclinometer, the first stacker-reclaimer travel encoder 118 of the conventional stacker-reclaimer configuration may be used as the first stacker-reclaimer attitude acquisition device 121, and the second stacker-reclaimer rotary encoder 215, the second stacker-reclaimer pitch encoder 216, or the inclinometer, the second stacker-reclaimer travel encoder 218 may be used as the second stacker-reclaimer attitude acquisition device 221. The first stacker-reclaimer rotary encoder 115 is installed at the first stacker-reclaimer rotary platform mechanism, the first stacker-reclaimer pitch encoder 116 or the inclinometer is installed at the first stacker-reclaimer pitch hinge point mechanism, the first stacker-reclaimer travel encoder 118 is installed at the first stacker-reclaimer travel mechanism, and the first stacker-reclaimer attitude data is uploaded to the anti-collision calculation server 3 through the first stacker-reclaimer PLC control system 112. The second stacker-reclaimer rotary encoder 215 is installed at the second stacker-reclaimer rotary platform mechanism, the second stacker-reclaimer pitch encoder 216 or inclinometer is installed at the second stacker-reclaimer pitch hinge point mechanism, and the second stacker-reclaimer travel encoder 218 is installed at the second stacker-reclaimer travel mechanism, and uploads the second stacker-reclaimer attitude data to the anti-collision calculation server 3 through the second stacker-reclaimer PLC control system 212. Preferably, the device specifically used in this embodiment is an electromagnetic bus bar collecting device or a beidou/GPS system used as the first stacker-reclaimer attitude collecting device 121 and the second stacker-reclaimer attitude collecting device 221, and the first stacker-reclaimer rotary encoder 115, the first stacker-reclaimer pitch encoder 116, or the inclinometer, the first stacker-reclaimer travel encoder 118, the second stacker-reclaimer rotary encoder 215, the second stacker-reclaimer pitch encoder 216, and the second stacker-reclaimer travel encoder 218 are used for verification. When the bulk cargo place is not provided with a ceiling, a Beidou/GPS system is adopted as attitude acquisition equipment, and equipment such as an encoder and an inclinometer is configured for checking. When the bulk place is provided with a ceiling, electromagnetic bus collecting equipment such as a Gray bus and the like is adopted, and equipment such as an encoder and an inclinometer is configured for checking.

The embodiment is used for explaining the anti-collision calculation which can be expanded into a plurality of stacker-reclaimers.

Further, the stacker-reclaimer is any one of a stacker, a reclaimer, a stacker-reclaimer, a scraper and a bulldozer.

The anti-collision control method of the stacker-reclaimer, disclosed by the invention, is applied to the stacker-reclaimer equipment in a storage yard, can realize that the collision with an adjacent material pile, the adjacent stacker-reclaimer, a dam foundation, the ground of the storage yard and other machinery can not occur when the stacker-reclaimer automatically performs stacking and reclaiming operation under an unmanned environment, and can ensure the stacking and reclaiming efficiency and safety to the maximum extent. Is one of the key technologies for realizing the intellectualization of the stacker-reclaimer. Greatly improves the market competitiveness of the products of our company, has strong value-added function, brings immeasurable economic benefit and has wide market application prospect.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.