| Under the trend of intelligent development of port equipment,improving the performance of bulk cargo shiploader is the basis for realizing intelligent operation of bulk cargo terminals.The premise of intelligent operation is to ensure safety,so it is necessary to study the anti-collision system of shiploader.In this paper,a visual radar anti-collision system is developed for the spout chute of shiploader.The main work includes:(1)System design,including hardware and software design.After device selection,the main control unit with STM32 as the core is adopted,and the hardware system is composed of ultrasonic ranging module HC-SR04,camera module OV7725,LCD screen,active buzzer and ULN2803 Darlington tube.Then the software subprogram is designed for each hardware module,and finally the main program integrates the functions of each module.(2)Research on visual radar anti-collision system.The system hardware is used to collect image data,and the image is converted and processed by MATLAB on the upper computer.Finally,the improved Canny image edge detection is carried out,and the edge information is extracted to the intelligent library.Through the experimental debugging,the visual radar anti-collision system gives out an audible and visual alarm when the measured distance value is less than the set threshold value,and will actively cut off the power supply of the external executive motor when the distance is smaller.Moreover,the system can monitor in real time,and can be applied to the spout chute of shiploader,and can remotely observe the situation near the spout chute,so as to find problems such as cable winding and material blockage in time.The experiment not only verified the reliability of the anti-collision function,but also verified the feasibility of expanding the technical route.The system collects the images in the cargo hold regularly and transmits them to the upper computer.After image processing,the edge information is extracted,and then the position of the top of the cargo pile is estimated,which lays a foundation for the intelligent operation of the shiploader and has certain application value. |
