The invention discloses a collision prevention method and system for a stacker-reclaimer in a rectangular storage yard, belongs to the technical field of collision prevention analysis of the stacker-reclaimer, simplifies detection and calculation of three-dimensional position coordinate positions at the end part of a cantilever of the stacker in the rectangular storage yard and at the top end of a material rake of the reclaimer, and improves the accuracy of collision prevention of the stacker-reclaimer in the rectangular storage yard after checking longitudinal and vertical space coordinates. The software safety anti-collision function of the two vehicles can be established only by accurately measuring the horizontal positions of the two vehicles; a set of laser distance measuring sensor is additionally arranged on each stacker-reclaimer to implement tracking and redundancy standby; position detection sensors are uniformly arranged beside tracks on two sides of a storage yard and are used for comparing and checking data of encoders on travelling wheels of the stacker-reclaimer; a software installation anti-collision function based on equipment coordinate position accurate detection is constructed, an ultrasonic ranging system and a pull rope anti-collision system are arranged on a large arm of the stacker respectively, a safety anti-collision system of the rectangular stacking and taking machine is formed together, and a fundamental guarantee is created for safe and stable operation of unattended operation of a stacking field.
本发明公开了一种矩形堆场堆取料机预防碰撞方法及系统,属于堆取料机防碰撞分析技术领域,简化了在矩形堆场堆料机悬臂端部及取料机料耙顶端三维位置坐标位置的检测和计算,在对纵向及垂直空间坐标进行校验后,仅需对两者水平位置进行精准测量即可搭建两车软件安全防撞功能;在堆取料机各增加了一套激光测距传感器器,实施跟踪,冗余备用;在堆场两侧轨道旁均匀设置了位置检测传感器,对堆取料机走轮上的编码器数据进行对比校验;除了构建基于设备坐标位置精准检测方面的软件安装防撞功能外,在堆料机大臂上分别布置了一套超声波测距和拉绳防撞系统,一同组成了矩形堆场堆、取料机的安全防撞系统,为堆场的无人值守创造了安全稳定运行的根本保障。
Rectangular storage yard stacker-reclaimer collision prevention method and system
一种矩形堆场堆取料机预防碰撞方法及系统
2023-02-03
Patent
Electronic Resource
Chinese
IPC: | B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / B65G TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS , Transport- oder Lagervorrichtungen, z.B. Förderer zum Laden oder Abladen |
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