CN103523675A - Rail-mounted gantry crane automatic yard operation control system and automatic loading and unloading method - Google Patents
Rail-mounted gantry crane automatic yard operation control system and automatic loading and unloading method Download PDFInfo
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- CN103523675A CN103523675A CN201310520076.2A CN201310520076A CN103523675A CN 103523675 A CN103523675 A CN 103523675A CN 201310520076 A CN201310520076 A CN 201310520076A CN 103523675 A CN103523675 A CN 103523675A
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Abstract
The invention discloses a rail-mounted gantry crane automatic yard operation control system and an automatic loading and unloading method, and the control system and the automatic loading and unloading method can reduce investment for reconstruction and enables technological process to be simplified. The system comprises a rail-mounted gantry crane automatic controller, a rail-mounted gantry crane PLC controller, a hanger PLC controller, a container truck hoist-preventing device, a rail-mounted gantry crane positioning device, a container landing detection device, a hoisting box automatic control device, a target container positioning device and a hanger positioning device. The system refits a conventional rail-mounted gantry crane into an automatic rail-mounted gantry crane and can carry out container landing, locking, hanger rising, container dropping, unlocking, hanger rising and the like on containers through controlling by the automatic loading and unloading method, a cycle of operation can be automatically finished without intervention by a remote operator, so work efficiency is improved, labor cost is reduced and work cost is lowered down; moreover, equipment investment is small, and operation is simple and convenient.
Description
Technical field
The present invention relates to a kind of automatic loading and unloading method of container wharf track crane automatic yard operation control system and freight container.
Background technology
Along with the development of global economy, volume of trade constantly increases, and China's ports container quantity constantly increases, and has increased the demand to labour power.Under the promotion of powerful transportation request and good economic benefit, the terminal operation high as task duplication, manpower consumption is large, needs automation to discharge manpower more in a hurry, improves operating efficiency, reduces operating cost.Therefore, container operation equipment is had higher requirement, in the urgent need to developing high efficiency container operation equipment.For this reason, exploitation automatic dock becomes the certainty of port development.
At present, what the yard handling technology of the unmanned heap of domestic automation field system adopted is elevating rack track crane relay-type loading and unloading system, the major equipment and the function that complete automatic yard loading and unloading operation are: (1) low mounted track hangs CRMG: be used for freight container to take out the belly board that is put into buffer zone (truck unloads case process) from truck, or freight container is taken out and is put into truck (truck vanning process) by buffer zone transfer platform.(2) aerial conveyor hangs DRMG: be used for freight container to take out and put stockyard (truck unloads case process) into from buffer zone transfer platform, or freight container is taken out and is put into buffer zone transfer platform (truck vanning process) by stockyard.(3) freight container towed vehicle: bear freight container and be divided into outer truck (social container truck) and interior truck (the inner container truck of container wharf) at the horizontal transport of harbour at the truck of this stockyard participation operation.Utilize this handling technology scheme at the handling process of automatic yard to be: DRMG and CRMG be running job on track separately, both cart service directions are mutually vertical.Between every heap unwrapping wire two ends and the region of operation of truck, be furnished with buffer zone, and freight container transfer platform is installed, DRMG and CRMG carry out relay-type operation by transfer platform, realize the high-efficient homework pattern of freight container " repeatedly handling, once collection is spelled ".DRMG moves in unwrapping wire Dui district at heap, has been responsible for stacking, extraction and the mould turnover operation of freight container, CRMG responsible by the container crane on truck to transfer platform or by the container crane on transfer platform to truck.In such scheme, equipment investment is large, trivial operations.
Summary of the invention
The object of the invention is for the technological deficiency existing in prior art, and provide a kind of investment for trnasforming urban land that can reduce, the track crane automatic yard operation control system of process simplification.
Another object of the present invention is to provide a kind of track crane automatic loading and unloading method.
For realizing the technical scheme that object of the present invention adopts, be:
An automatic yard operation control system, comprises track crane automation controller, track crane PLC controller, suspender PLC controller, the anti-hoisting device of truck, track crane registration device, boxes detecting device, box automatic control device, goal box registration device and positioning device of hoist;
The anti-hoisting device of described truck comprises the anti-detection infrared pickoff of slinging being installed on track crane bottom girder, and the described anti-detection infrared pickoff of slinging is the position with respect to truck for detection of freight container; The described anti-detection infrared pickoff of slinging is connected with described track crane automation controller, and described track crane automation controller is controlled suspender by described track crane PLC controller and moved;
Described track crane registration device comprises the cart displacement encoder being installed on cart drive motor and the track crane magnetic scale position detecting device that is installed on a plurality of equidistant settings of track crane track outside, and the mouth of described cart displacement encoder and a plurality of track crane magnetic scale position detecting devices is connected with track crane automation controller respectively; Described track crane automation controller is according to the position that calculates track crane;
Described boxes detecting device comprises the weight sensor that is installed on four bights of freight container, and described weight sensor is connected with described track crane automation controller;
Described box automatic control device comprises that a plurality of goal boxes detect infrared transmitter, detect a plurality of goal box detecting sensors that distance is different and with the receptor of cross system of axes; Suspender and sling upper rack are for being rigidly connected, and described suspender overlaps with sling upper rack line of centers; Described a plurality of goal box detects infrared transmitter and is arranged on described sling upper rack; The different a plurality of goal box detecting sensors of described detection distance are installed on described suspender, described in each, the signal output part of goal box detecting sensor is connected with described track crane automation controller respectively, switching value signal is delivered to described track crane automation controller, described track crane automation controller is according to the information of described a plurality of goal box detecting sensors, to described track crane PLC controller, send restriction signal, described track crane PLC controller output control signal is controlled described suspender and is slowed down; Described receptor is installed on trolley frame, the signal output part of described receptor is connected with described track crane automation controller, described receptor detects the information of infrared transmitter transmitting for receiving a plurality of described goal boxes, deliver to described track crane automation controller, the signal detection suspender that described track crane automation controller receives according to receptor and the deviation of dolly, and overlap with dolly line of centers by track crane PLC controller adjustment suspender; Described track crane automation controller contrasts the center point coordinate of suspender center point coordinate and aims of systems case, detects the deviation of suspender and goal box, and the center-point of adjusting dolly or suspender is consistent with goal box;
Described goal box registration device comprises the laser scanning device being installed on track crane crossbeam; Described laser scanning device is connected with described track crane automation controller;
Described positioning device of hoist comprises the horizontal displacement coder that is installed on vehicle motor output shaft, be installed on vertical displacement coder on high speed shaft, be installed on cam activated switch and dolly magnetic scale position detecting device on slow-speed shaft, the magnetic scale of described magnetic scale position detecting device is installed on crossbeam, the magnetic head of described magnetic scale position detecting device is installed on trolley frame, is provided with the locating point of a plurality of corresponding differing heights on described cam activated switch; The detection signal mouth of described horizontal displacement coder, vertical displacement coder and magnetic scale position detecting device is connected with track crane automation controller respectively, described track crane automation controller calculates the position of suspender by the detection signal of described horizontal displacement coder, vertical displacement coder and magnetic scale position detecting device, deliver to described track crane PLC controller, by described track crane PLC controller, control dolly and move.
Also comprise cart anticollision device, described cart anticollision device comprises that the equipment room that the periphery being installed on cart four pin detects on ultrasonic transduter and crossbeam detects ultrasonic transduter, described periphery detects ultrasonic transduter for detection of the position of trailer around cart or pedestrian and cart, the distance of described equipment room detecting sensor between hanging for detection of adjacent orbit, described periphery detects ultrasonic enough sensors and is connected with track crane automation controller respectively with equipment room detection ultrasonic transduter, controls cart move by described track crane PLC controller.
The method that freight container is unloaded automatically, the method comprises the steps:
(1) track crane moves, and according to the cart displacement encoder on cart drive motor and the track crane magnetic scale position detecting device that is installed on a plurality of equidistant settings of track crane track outside, carries out location, position, arrives the truck parking stall of the instruction appointment of unloading;
(2) travelling car and suspender arrive the top of freight container on truck, track crane automation controller is according to the switching value information that detects a plurality of goal box detecting sensor middle and long distance sensors that distance is different, by track crane PLC controller, control dolly and realize primary speed-down, according to the switching value information of short-range sensors, control dolly and realize double reduction;
(3) goal box that track crane automation controller receives according to receptor detects the signal detection suspender of infrared pickoff and the deviation of dolly, and overlaps with dolly line of centers by track crane PLC controller adjustment suspender; Described track crane automation controller contrasts the center point coordinate of suspender center point coordinate and aims of systems case, detects the deviation of suspender and goal box, and the center point coordinate of adjusting dolly or suspender by track crane PLC controller is consistent with goal box;
(4) suspender declines, and suspender lock pin enters freight container keyhole automatically, locking, lifting;
(5) lift by crane 3-5 during second, detect anti-slinging and detect the signal of infrared pickoff, if the anti-signal of slinging detection infrared pickoff detected, do not return, continue lifting operation; If the anti-signal of slinging detection infrared pickoff detected, return, stop hoisting, and descending at slow speed, until receiving case signal feedback, the action that hoists stops, and sends truck and the not separated information of freight container;
(6) track crane moves, and according to the cart displacement encoder on cart drive motor and the magnetic scale position detecting device that is installed on a plurality of equidistant settings of track crane track outside, carries out location, position, arrives the shellfish position of the instruction appointment of unloading;
(7) the shellfish position profile providing according to goal box registration device and the number of plies of freight container, determine goal box placement location;
(8) travelling car and suspender, simultaneously, track crane automation controller is according to the switching value information that detects a plurality of goal box detecting sensor middle and long distance sensors that distance is different, control dolly and realize primary speed-down, according to the switching value information of short-range sensors, control dolly and realize double reduction; Goal box is placed into assigned address, unblanks after receiving case signal, suspender hoists, and completes the automatic car unloading operation of freight container.
Step (7) judgement is when needs are placed on goal box on bottom case, four bights of laser scanning device scan containers used and the correspondence position in four bights of suspender in goal box registration device, the position that regulates suspender, makes four bights of suspender overlap with bottom case, and suspender is transferred.
In track crane moving process, when described track crane automation controller receives the information of the ultrasonic enough sensors of described periphery detection or equipment room detection ultrasonic transduter, control track crane and stop.
A method for freight container automatic loading, comprises the steps:
(1) track crane moves, and according to the cart displacement encoder on cart drive motor and the track crane magnetic scale position detecting device that is installed on a plurality of equidistant settings of track crane track outside, carries out location, position, arrives the shellfish position of entrucking instruction appointment;
(2) travelling car and suspender arrive the freight container top of assigned address, and track crane automation controller, according to the switching value information that detects a plurality of goal box detecting sensor middle and long distance sensors that distance is different, is controlled dolly and realized primary speed-down; The goal box that described track crane automation controller receives according to receptor detects the calculated signals suspender of infrared transmitter transmitting and the deviation of dolly, and overlaps with dolly line of centers by track crane PLC controller adjustment suspender; Described track crane automation controller contrasts the center point coordinate of suspender center point coordinate and aims of systems case, detects the deviation of suspender and goal box, and the center-point of adjusting dolly or suspender is consistent with goal box; According to the switching value information of short-range sensors, control dolly and realize double reduction again;
(3) suspender declines, and suspender lock pin enters freight container keyhole automatically, locking, lifting;
(4) information that track crane automation controller provides according to track crane registration device and positioning device of hoist, controls track crane and dolly and lifting appliance moving above the truck of assigned address;
(5) four bights of laser scanning device scan containers used and the correspondence position in four bights of suspender in goal box registration device, regulate the position of suspender, four bights of suspender are overlapped with four jiaos of trucks, suspender is transferred, until receiving that case signal stops transferring, unblank, suspender hoists, and completes car loading operation.
In track crane moving process, when described track crane automation controller receives the information of the ultrasonic enough sensors of described periphery detection or equipment room detection ultrasonic transduter, control track crane and stop.
Compared with prior art, the invention has the beneficial effects as follows:
1, track crane automatic yard operation control system of the present invention on the basis of existing track crane by installing the anti-hoisting device of truck additional, track crane registration device, boxes detecting device, box automatic control device, goal box registration device and positioning device of hoist etc. repack existing track crane into automation track crane, can complete according to the instruction cycle operation from system acquisition to freight container case, locking, suspender rises, case falls, unblank, the operations such as suspender rising, work cycle does not need the intervention of remote operator automatically to complete, improved operating efficiency, reduced labor cost, reduced operating cost.And equipment investment is little, easy and simple to handle.
2, in track crane automatic yard operation control system of the present invention, there is anti-lifting appliance, can avoid because truck and freight container are not separated from dropping in the air, and the vehicle causing and personnel's injury have reduced Vehicle And Personnel's loss.
3, in track crane automatic yard operation control system of the present invention, there is box automatic control device; can automatically detect the distance of suspender and goal box; and in the distance setting, carry out double reduction protection; while preventing that suspender from transferring and goal box generation strong collision, for second portion suspender flexibility, case and prepare.Meanwhile, by calculating suspender position of center line and goal box place-centric linear distance, automatically adjust spreader position, realizing after the steady target approach case of suspender twist lock keyhole case locking, mention grabbed freight container, case object is grabbed in realization automatically.
4, in track crane automatic yard operation control system of the present invention by thering is the laser scanning device of goal box positioning function, first can realize the height profile scanning to all freight containers in current operation shellfish position in operation process, make track bridge in the operational process that hoists, according to scanning Hou Xiang district profile, arrange the most rational operation route, improve efficiency and the safety of operation process.Secondly when carrying out single target casing working, after the profile of goal box is scanned, adjust in time dolly and cart deviation in direction, the squareness while guaranteeing heap case, eliminates due to dolly and cart cumulative errors chest overturning risk when container stack is too high.
5, track crane automatic loading and unloading method of the present invention is by coordinating the operation between each device, realized track crane automated job, work cycle does not need the intervention of remote operator automatically to complete, and has improved operating efficiency, reduce labor cost, reduced operating cost.And can carry out automatic calibration, improved the accuracy rate of operation.
6, track crane automatic loading and unloading method of the present invention, in suspender decline process, can be controlled suspender and realize double reduction, has ensured production safety.
Accompanying drawing explanation
Figure 1 shows that the schematic diagram of track crane automatic yard operation control system of the present invention.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
The schematic diagram of track crane automatic yard operation control system of the present invention as shown in Figure 1, comprises track crane automation controller, track crane PLC controller, suspender PLC controller, the anti-hoisting device of truck, track crane registration device, boxes detecting device, box automatic control device, goal box registration device and positioning device of hoist.
The anti-hoisting device of described truck comprises the anti-detection infrared pickoff of slinging being installed on track crane bottom girder, and the described anti-detection infrared pickoff of slinging is the position with respect to truck for detection of freight container; The described anti-detection infrared pickoff of slinging is connected with described track crane automation controller, and described track crane automation controller is controlled suspender by described track crane PLC controller and moved.When having truck under track bridge during operation, the anti-wire harness that detects infrared pickoff transmitting of slinging is blocked and has signal to return, and at this moment track crane automation controller detects and on truck, is mounted with freight container.After suspender case locking, hoist operation after 3 seconds, if at this moment freight container is separated with truck, anti-slinging detected infrared pickoff owing to there is no shelter, do not have signal to return, and hoists and continues normally upwards to move lifting cargo.As the signal of leaving returns, represent that truck is not yet in effect separated with freight container, at this moment hoist out of service, and transfer at a slow speed, until there is case signal feedback, hoist and stop transferring action, system can adopt voice system or other prompting modes, prompting truck driver has twist lock not open, and prepares lifting next time.
Described track crane registration device comprises the cart displacement encoder being installed on cart drive motor and is installed on the track crane magnetic scale position detecting device of a plurality of equidistant settings of track crane track outside.In the present embodiment, in large Car Track outside, every 15 meter amperes, put a track crane magnetic scale position detecting device.The mouth of described cart displacement encoder and a plurality of track crane magnetic scale position detecting devices is connected with track crane automation controller respectively; Described track crane automation controller is according to the position that calculates track crane.The position of the numerical value of cart displacement encoder for calculating track crane, then according to track crane magnetic scale position detecting device, result of calculation is proofreaied and correct, to accurately locate.
Described boxes detecting device is same as the prior art, comprises the weight sensor that is installed on four bights of freight container, and described weight sensor is connected with described track crane automation controller.When track crane automation controller detects the signal of weight sensor, illustrate that freight container has dropped on truck or bottom freight container, control suspender and stop transferring.
Described box automatic control device comprises that a plurality of goal boxes detect infrared transmitter, detect a plurality of goal box detecting sensors that distance is different and with the receptor of cross system of axes; Suspender and sling upper rack are for being rigidly connected, and described suspender overlaps with sling upper rack line of centers; Described a plurality of goal box detects infrared transmitter and is arranged on described sling upper rack; The different a plurality of goal box detecting sensors of described detection distance are installed on described suspender, described in each, the signal output part of goal box detecting sensor is connected with described track crane automation controller respectively, switching value signal is delivered to described track crane automation controller, described track crane automation controller is according to the information of described a plurality of goal box detecting sensors, to described track crane PLC controller, send restriction signal, described track crane PLC controller output control signal is controlled described suspender and is slowed down; Described receptor is installed on trolley frame, the signal output part of described receptor is connected with described track crane automation controller, described receptor detects the information of infrared transmitter transmitting for receiving a plurality of described goal boxes, deliver to described track crane automation controller, the signal detection suspender that described track crane automation controller receives according to receptor and the deviation of dolly, and overlap with dolly line of centers by the hydraulic pressure micro-tensioning system adjustment suspender being installed on suspension bracket by track crane PLC controller; Described track crane automation controller contrasts the center point coordinate of suspender center point coordinate and aims of systems case, detects the deviation of suspender and goal box, and the center-point of adjusting dolly or suspender is consistent with goal box.
Described goal box registration device comprises the 3D laser scanning device being installed on track crane crossbeam, described laser scanning device is connected with described track crane automation controller, calculates the stereo profile that forms shellfish position, goal box place by described track crane automation controller.Adopt conventional approach to carry out the synthetic of stereo profile.
Described positioning device of hoist comprises the horizontal displacement coder that is installed on vehicle motor output shaft, be installed on vertical displacement coder on high speed shaft, be installed on cam activated switch and dolly magnetic scale position detecting device on slow-speed shaft, the magnetic scale of described magnetic scale position detecting device is installed on crossbeam, the magnetic head of described magnetic scale position detecting device is installed on trolley frame, on described cam activated switch, be provided with the locating point of a plurality of corresponding differing heights, in the present embodiment, on cam activated switch, be provided with the locating point of 6 differing heights, corresponding different suspender falling heads.The detection signal mouth of described horizontal displacement coder, vertical displacement coder and magnetic scale position detecting device is connected with track crane automation controller respectively, described track crane automation controller calculates the position of suspender by the detection signal of described horizontal displacement coder, vertical displacement coder and magnetic scale position detecting device, deliver to described track crane PLC controller, by described track crane PLC controller, control dolly and move.
In order to prevent between cart, between the object of cart and pedestrian or movement, produce collision, also comprise cart anticollision device, described cart anticollision device comprises that the equipment room that the periphery being installed on cart four pin detects on ultrasonic transduter and crossbeam detects ultrasonic transduter, described periphery detects ultrasonic transduter for detection of the position of trailer around cart or pedestrian and cart, the distance of described equipment room detecting sensor between hanging for detection of adjacent orbit, described periphery detects ultrasonic enough sensors and is connected with track crane automation controller respectively with equipment room detection ultrasonic transduter, by described track crane PLC controller, controlling cart moves.When periphery on cart four pin detects ultrasonic transduter and people or other object proximities detected, or/and the equipment room on crossbeam detects distance that ultrasonic transduter detects neighbouring device while being less than setting value, stop the movement of cart.
The assignment command of track crane automation controller receiving management system, the track crane automatic yard operation control system by above-mentioned, can realize track crane unattended.The concrete method of automatically unloading, comprises the steps:
(1) track crane moves, and according to the cart displacement encoder on cart drive motor and the track crane magnetic scale position detecting device that is installed on a plurality of equidistant settings of track crane track outside, carries out location, position, arrives the truck parking stall of the instruction appointment of unloading;
(2) travelling car and suspender arrive the top of freight container on truck, track crane automation controller is according to the switching value information that detects a plurality of goal box detecting sensor middle and long distance sensors that distance is different, by track crane PLC controller, control dolly and realize primary speed-down, according to the switching value information of short-range sensors, control dolly and realize double reduction;
(3) goal box that track crane automation controller receives according to receptor detects the signal detection suspender of infrared pickoff and the deviation of dolly, and overlaps with dolly line of centers by track crane PLC controller control suspender; Described track crane automation controller contrasts the center point coordinate of suspender center point coordinate and aims of systems case, detects the deviation of suspender and goal box, and the center point coordinate of adjusting dolly or suspender by track crane PLC controller is consistent with goal box;
(4) suspender declines, and suspender lock pin enters freight container keyhole automatically, locking, lifting;
(5) lift by crane after 3 seconds, detect anti-slinging and detect the signal of infrared pickoff, if the anti-signal of slinging detection infrared pickoff detected, do not return, continue lifting operation; If the anti-signal of slinging detection infrared pickoff detected, return, stop hoisting, and descending at slow speed, until receiving case signal feedback, the action that hoists stops, and sends truck and the not separated information of freight container;
(6) track crane moves, and according to the cart displacement encoder on cart drive motor and the magnetic scale position detecting device that is installed on a plurality of equidistant settings of track crane track outside, carries out location, position, arrives the shellfish position of the instruction appointment of unloading;
(7) the shellfish position profile providing according to goal box registration device and the number of plies of freight container, determine goal box placement location;
(8) travelling car and suspender, simultaneously, track crane automation controller is according to the switching value information that detects a plurality of goal box detecting sensor middle and long distance sensors that distance is different, control dolly and realize primary speed-down, according to the switching value information of short-range sensors, control dolly and realize double reduction; Goal box is placed into assigned address, unblanks after receiving case signal, suspender hoists, and completes the automatic car unloading operation of freight container.
Above-mentioned steps (7) judgement is when needs are placed on goal box on bottom case, four bights of laser scanning device scan containers used and the correspondence position in four bights of suspender in goal box registration device, the position that regulates suspender, makes four bights of suspender overlap with bottom case, and suspender is transferred.
The method of concrete automatic loading, comprises the steps:
(1) track crane moves, and according to the cart displacement encoder on cart drive motor and the track crane magnetic scale position detecting device that is installed on a plurality of equidistant settings of track crane track outside, carries out location, position, arrives the shellfish position of entrucking instruction appointment;
(2) travelling car and suspender arrive the freight container top of assigned address, and track crane automation controller, according to the switching value information that detects a plurality of goal box detecting sensor middle and long distance sensors that distance is different, is controlled dolly and realized primary speed-down; The goal box that described track crane automation controller receives according to receptor detects the calculated signals suspender of infrared transmitter transmitting and the deviation of dolly, and overlaps with dolly line of centers by track crane PLC controller adjustment suspender; Described track crane automation controller contrasts the center point coordinate of suspender center point coordinate and aims of systems case, detects the deviation of suspender and goal box, and the center-point of adjusting dolly or suspender is consistent with goal box; According to the switching value information of short-range sensors, control dolly and realize double reduction again;
(3) suspender declines, and suspender lock pin enters freight container keyhole automatically, locking, lifting;
(4) information that track crane automation controller provides according to track crane registration device and positioning device of hoist, controls track crane and dolly and lifting appliance moving above the truck of assigned address;
(5) four bights of laser scanning device scan containers used and the correspondence position in four bights of suspender in goal box registration device, regulate the position of suspender, four bights of suspender are overlapped with four jiaos of trucks, suspender is transferred, until receiving that case signal stops transferring, unblank, suspender hoists, and completes car loading operation.
In track crane moving process, when described track crane automation controller receives the information of the ultrasonic enough sensors of described periphery detection or equipment room detection ultrasonic transduter, control track crane and stop.In equipment running process, track bridge automation controller carries out distance between position calculation judgement and adjacent orbit bridge constantly, guarantees the effective and safe distance of equipment room.In four jiaos, cart, periphery is installed and detects ultrasonic enough sensors; monitoring equipment safety of surrounding environment constantly; this periphery detects ultrasonic enough sensor setting two-stage protections; within the scope of 15 meters, there are people, car to slow down when movable; while having people, car activity within the scope of 5 meters, equipment is out of service; avoid equipment and people, car to crash, raising equipment property safe and reliable to operation.
Track crane automatic yard operation control system of the present invention and track crane automatic loading and unloading method are by coordinating the operation between each device, realized track crane automated job, work cycle does not need the intervention of remote operator automatically to complete, improved operating efficiency, reduce labor cost, reduced operating cost.And can carry out automatic calibration, improved the accuracy rate of operation.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (7)
1. a track crane automatic yard operation control system, it is characterized in that, comprise track crane automation controller, track crane PLC controller, suspender PLC controller, the anti-hoisting device of truck, track crane registration device, boxes detecting device, box automatic control device, goal box registration device and positioning device of hoist;
The anti-hoisting device of described truck comprises the anti-detection infrared pickoff of slinging being installed on track crane bottom girder, and the described anti-detection infrared pickoff of slinging is the position with respect to truck for detection of freight container; The described anti-detection infrared pickoff of slinging is connected with described track crane automation controller, and described track crane automation controller is controlled suspender by described track crane PLC controller and moved;
Described track crane registration device comprises the cart displacement encoder being installed on cart drive motor and the track crane magnetic scale position detecting device that is installed on a plurality of equidistant settings of track crane track outside, and the mouth of described cart displacement encoder and a plurality of track crane magnetic scale position detecting devices is connected with track crane automation controller respectively; Described track crane automation controller is according to the position that calculates track crane;
Described boxes detecting device comprises the weight sensor that is installed on four bights of freight container, and described weight sensor is connected with described track crane automation controller;
Described box automatic control device comprises that a plurality of goal boxes detect infrared transmitter, detect a plurality of goal box detecting sensors that distance is different and with the receptor of cross system of axes; Suspender and sling upper rack are for being rigidly connected, and described suspender overlaps with sling upper rack line of centers; Described a plurality of goal box detects infrared transmitter and is arranged on described sling upper rack; The different a plurality of goal box detecting sensors of described detection distance are installed on described suspender, described in each, the signal output part of goal box detecting sensor is connected with described track crane automation controller respectively, switching value signal is delivered to described track crane automation controller, described track crane automation controller is according to the information of described a plurality of goal box detecting sensors, to described track crane PLC controller, send restriction signal, described track crane PLC controller output control signal is controlled described suspender and is slowed down; Described receptor is installed on trolley frame, the signal output part of described receptor is connected with described track crane automation controller, described receptor detects the information of infrared transmitter transmitting for receiving a plurality of described goal boxes, deliver to described track crane automation controller, the signal detection suspender that described track crane automation controller receives according to receptor and the deviation of dolly, and overlap with dolly line of centers by track crane PLC controller adjustment suspender; Described track crane automation controller contrasts the center point coordinate of suspender center point coordinate and aims of systems case, detects the deviation of suspender and goal box, and the center-point of adjusting dolly or suspender is consistent with goal box;
Described goal box registration device comprises the laser scanning device being installed on track crane crossbeam; Described laser scanning device is connected with described track crane automation controller;
Described positioning device of hoist comprises the horizontal displacement coder that is installed on vehicle motor output shaft, be installed on vertical displacement coder on high speed shaft, be installed on cam activated switch and dolly magnetic scale position detecting device on slow-speed shaft, the magnetic scale of described magnetic scale position detecting device is installed on crossbeam, the magnetic head of described magnetic scale position detecting device is installed on trolley frame, is provided with the locating point of a plurality of corresponding differing heights on described cam activated switch; The detection signal mouth of described horizontal displacement coder, vertical displacement coder and magnetic scale position detecting device is connected with track crane automation controller respectively, described track crane automation controller calculates the position of suspender by the detection signal of described horizontal displacement coder, vertical displacement coder and magnetic scale position detecting device, deliver to described track crane PLC controller, by described track crane PLC controller, control dolly and move.
2. track crane automatic yard operation control system according to claim 1, it is characterized in that, also comprise cart anticollision device, described cart anticollision device comprises that the equipment room that the periphery being installed on cart four pin detects on ultrasonic transduter and crossbeam detects ultrasonic transduter, described periphery detects ultrasonic transduter for detection of the position of trailer around cart or pedestrian and cart, the distance of described equipment room detecting sensor between hanging for detection of adjacent orbit, described periphery detects ultrasonic enough sensors and is connected with track crane automation controller respectively with equipment room detection ultrasonic transduter, by described track crane PLC controller, controlling cart moves.
3. the method that freight container is unloaded automatically, is characterized in that, comprises the control system in claim 1-2, and the method comprises the steps:
(1) track crane moves, and according to the cart displacement encoder on cart drive motor and the track crane magnetic scale position detecting device that is installed on a plurality of equidistant settings of track crane track outside, carries out location, position, arrives the truck parking stall of the instruction appointment of unloading;
(2) travelling car and suspender arrive the top of freight container on truck, track crane automation controller is according to the switching value information that detects a plurality of goal box detecting sensor middle and long distance sensors that distance is different, by track crane PLC controller, control dolly and realize primary speed-down, according to the switching value information of short-range sensors, control dolly and realize double reduction;
(3) goal box that track crane automation controller receives according to receptor detects the signal detection suspender of infrared pickoff and the deviation of dolly, and overlaps with dolly line of centers by track crane PLC controller adjustment suspender; Described track crane automation controller contrasts the center point coordinate of suspender center point coordinate and aims of systems case, detects the deviation of suspender and goal box, and the center point coordinate of adjusting dolly or suspender by track crane PLC controller is consistent with goal box;
(4) suspender declines, and suspender lock pin enters freight container keyhole automatically, locking, lifting;
(5) lift by crane 3-5 during second, detect anti-slinging and detect the signal of infrared pickoff, if the anti-signal of slinging detection infrared pickoff detected, do not return, continue lifting operation; If the anti-signal of slinging detection infrared pickoff detected, return, stop hoisting, and descending at slow speed, until receiving case signal feedback, the action that hoists stops, and sends truck and the not separated information of freight container;
(6) track crane moves, and according to the cart displacement encoder on cart drive motor and the magnetic scale position detecting device that is installed on a plurality of equidistant settings of track crane track outside, carries out location, position, arrives the shellfish position of the instruction appointment of unloading;
(7) the shellfish position profile providing according to goal box registration device and the number of plies of freight container, determine goal box placement location;
(8) travelling car and suspender, simultaneously, track crane automation controller is according to the switching value information that detects a plurality of goal box detecting sensor middle and long distance sensors that distance is different, control dolly and realize primary speed-down, according to the switching value information of short-range sensors, control dolly and realize double reduction; Goal box is placed into assigned address, unblanks after receiving case signal, suspender hoists, and completes the automatic car unloading operation of freight container.
4. the method that freight container according to claim 3 is unloaded automatically, it is characterized in that, step (7) judgement is when needs are placed on goal box on bottom case, four bights of laser scanning device scan containers used and the correspondence position in four bights of suspender in goal box registration device, regulate the position of suspender, four bights of suspender are overlapped with bottom case, and suspender is transferred.
5. the method for automatically unloading according to the freight container described in claim 3 or 4, it is characterized in that, in track crane moving process, when described track crane automation controller receives the information of the ultrasonic enough sensors of described periphery detection or equipment room detection ultrasonic transduter, control track crane and stop.
6. a method for freight container automatic loading, is characterized in that, comprises the control system in claim 1-2, comprises the steps:
(1) track crane moves, and according to the cart displacement encoder on cart drive motor and the track crane magnetic scale position detecting device that is installed on a plurality of equidistant settings of track crane track outside, carries out location, position, arrives the shellfish position of entrucking instruction appointment;
(2) travelling car and suspender arrive the freight container top of assigned address, and track crane automation controller, according to the switching value information that detects a plurality of goal box detecting sensor middle and long distance sensors that distance is different, is controlled dolly and realized primary speed-down; The goal box that described track crane automation controller receives according to receptor detects the calculated signals suspender of infrared transmitter transmitting and the deviation of dolly, and overlaps with dolly line of centers by track crane PLC controller adjustment suspender; Described track crane automation controller contrasts the center point coordinate of suspender center point coordinate and aims of systems case, detects the deviation of suspender and goal box, and the center-point of adjusting dolly or suspender is consistent with goal box; According to the switching value information of short-range sensors, control dolly and realize double reduction again;
(3) suspender declines, and suspender lock pin enters freight container keyhole automatically, locking, lifting;
(4) information that track crane automation controller provides according to track crane registration device and positioning device of hoist, controls track crane and dolly and lifting appliance moving above the truck of assigned address;
(5) four bights of laser scanning device scan containers used and the correspondence position in four bights of suspender in goal box registration device, regulate the position of suspender, four bights of suspender are overlapped with four jiaos of trucks, suspender is transferred, until receiving that case signal stops transferring, unblank, suspender hoists, and completes car loading operation.
7. the method for freight container automatic loading according to claim 6, it is characterized in that, in track crane moving process, when described track crane automation controller receives the information of the ultrasonic enough sensors of described periphery detection or equipment room detection ultrasonic transduter, control track crane and stop.
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Effective date of registration: 20190828 Address after: Room 903, Kaili Building, 188 Tianbao Avenue, Free Trade Test Zone, Tianjin Binhai New Area, 300000 Patentee after: Tianjin Port Container Terminal Co., Ltd. Address before: 300456 No. 4380, No. 4 Xingang Road, Binhai New Area, Tianjin Patentee before: Tianjin Five Continents International Container Terminal Co., Ltd. |