Research On Safety Monitoring System And Key Technology Of Torpedo Car Based On Information Fusion

Torpedo tanker is the main transportation vehicles for large iron and steel enterprise to transfer high-temperature molten iron.Existing safety monitoring research focuses on tank material and logistics management,while there are few studies on accurate measurement of tank tilt angle and continuous positioning of the entire transportation path,and even few reports.In view of this,this article relies on the sub-project of the national key research and development plan project "Research on the safety monitoring and early warning technology of special transport vehicle transfer operations"(2017YFC805104),combined with the actual application scenarios of Wuhan Iron and Steel Co.,Ltd.,through a series of experimental studies,the information fusion model of the key technology of torpedo tanker safety monitoring is established,and the evaluation index system suitable for torpedo tanker transportation safety is constructed.The method of non-contact accurate angle measurement using image recognition technology,the method of vehicle continuous position detection and parking precise positioning,and the all-weather obstacle identification method are proposed,which realizes the transformation from theory to practical application.The research results have important reference value for guiding the development of the torpedo tank transport safety monitoring system.The specific research content includes the following aspects:1.Aiming at the safety monitoring characteristics of torpedo tanker transfer operations,the information fusion model of each level of the safety monitoring system based on target decision-making is studied,which provides technical support for the application of information fusion technology in the field of orpedo tanker transfer safety monitoring;For the multi-factor analysis of major steel enterprise accidents,the Human Factors Analysis and Classification System(HFACS)is used to analyze the safety incidents.Therefore,the analytic hierarchy process(ANP)and the quadratic logistic regression model were combined to carry out multi-factor correlation analysis and weight analysis to construct a safety evaluation index system suitable for the transportation of torpedo tankers.2.In order to detect the tilting angle of the torpedo tanker's high temperature tank,a method of non-contact precise angle measurement using image recognition technology is proposed.A high-definition camera is used to continuously capture the characteristic images of the tank end,and the BRISK operator is used to detect the image characteristic points.The feature points are screened twice using Hamming distance to improve the accuracy of the registration points,and finally the rotation angle of the tank body is calculated with the OTSU.Designed experimental methods for testing,and analyzed the experimental data,and the measurement accuracy and response speed of inclination non-contact measurement technology and continuous position monitoring technology are discussed.3.Aiming at the continuous positioning of the torpedo tanker in the blast furnace workshop and the transportation route,a positioning method that integrates indoor and outdoor positioning data and uses the least square method to linearly fit in the signal blind area is proposed.This method has better positioning accuracy than a single inertial calculation method.The satellite positioning system is used to obtain outdoor data,and the UWB system is used to obtain indoor positioning data.Establish multiple base stations to obtain more combined indoor positioning data,use Kalman filter(Kalman)to reduce noise to optimize the original data,and distribute weights according to distance to improve the accuracy of the TOA/TDOA combined positioning algorithm.Aiming at the problem of accurate stopping position,a method of eddy current sensor measurement is proposed to monitor the stopping position,design and test the effectiveness.4.Aiming at the problem of all-weather obstacle recognition in the track,a detection method that integrates three detection technologies of vision camera,infrared imaging and millimeter wave radar is proposed.And focused on the in-depth study of the visual image processing process,using the Canny operator to detect the edge of the image;And Hough transform is used to to detect and extract the edge of the track in the image to generate the range of interest mask,based on the color feature of the interest range,the color abnormal area is extracted,The abnormal area is processed by morphology to mark the location of the obstacle,and mark the position of obstacles through morphological processing.The performance and noise reduction technology of millimeter wave radar and infrared imaging are analyzed,and studies the all-weather obstacle recognition technology of torpedo tanker transportation with multi-sensor fusion.5.Researched the linkage technology of real-time safety monitoring system and vehicle braking system based on computer automatic processing,developed multi-sensor torpedo tank transportation safety monitoring system and tank tilting monitoring system.A unified safety monitoring platform is established by integrating the above technologi es,and the function test and demonstration application are carried out.In this paper,through the research of continuous position monitoring technology of torpedo tanker transportation and non-contact measurement technology of tank tilt angle,a safety monitoring system platform based on information fusion is developed,which provides technical support for the safety monitoring of torpedo tank car transportation in large iron and steel enterprises.