CN210558956U - Automatic change container gantry crane control system - Google Patents
Automatic change container gantry crane control system Download PDFInfo
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- CN210558956U CN210558956U CN201920518059.8U CN201920518059U CN210558956U CN 210558956 U CN210558956 U CN 210558956U CN 201920518059 U CN201920518059 U CN 201920518059U CN 210558956 U CN210558956 U CN 210558956U
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Abstract
The application discloses automatic change container gantry crane control system includes: a central data processor for processing data information; a truck-mounted vehicle position scanning system connected to the central data processor for scanning the truck-mounted vehicle position; an indication system connected to the central data processor for indicating movement of the vehicle; the box landing system is connected with the central data processor and is used for controlling the landing of the lifting appliance; a spreader position control system connected with the central data processor and used for monitoring the vertical position of the spreader and the deflection direction of the container; and a container stack scanning system coupled to the central data processor for monitoring the height of the container stack. The application provides an automatic change container gantry crane control system compares in prior art, has realized gantry crane at the full automatic control of container loading and unloading in-process. The workload of workers is reduced, the labor cost of enterprises is saved, and the production efficiency is improved.
Description
Technical Field
The application relates to the technical field of crane control, more specifically say, especially relate to automatic container gantry crane control system.
Background
Along with the development of global economy, container logistics transportation increases fast, and port wharf and goods yard of each place keep constantly under construction, and the present hoist mainly uses the manual work operation as the owner, and manual operation is easy tired owing to need bow down for a long time to see, and working strength is big, and is with high costs, in order to improve the efficiency of pier loading and unloading container and the needs of using manpower sparingly, improves the loading and unloading degree of accuracy and the speed of hoist, has shortened the time of loading and unloading container, has improved the operating efficiency of whole inland store yard.
However, in the prior art, the system for managing the container gantry crane has the defects of low automation degree and large consumption of manpower and material resources for control and management.
Therefore, how to provide an automatic container gantry crane control system, which has the advantages of intelligent sensing, scanning, identifying, positioning and monitoring, and saves manpower and material resources, has become a technical problem to be solved by those skilled in the art.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the application provides an automatic container gantry crane control system, which is convenient for hoisting and transporting and is more environment-friendly.
The technical scheme provided by the application is as follows:
the application provides an automatic change container gantry crane control system includes: a central data processor for processing data information; a truck-mounted vehicle position scanning system connected to the central data processor for scanning the truck-mounted vehicle position; an indication system connected to the central data processor for indicating movement of the vehicle; the box landing system is connected with the central data processor and is used for controlling the landing of the lifting appliance; a spreader position control system connected with the central data processor and used for monitoring the vertical position of the spreader and the deflection direction of the container; and a container stack scanning system coupled to the central data processor for monitoring the height of the container stack.
Further, in a preferred mode of the present invention, the truck vehicle position scanning system includes: the first vehicle position probe is arranged at the front end of the container loading and unloading area and used for monitoring the left and right positions of a vehicle; and a second vehicle position probe arranged at the side of the container loading and unloading area and used for monitoring the front and rear positions of the vehicle.
Further, in a preferred mode of the present invention, the box system includes: the laser emitter is arranged on a lifting appliance of the portal crane; the laser collector is arranged on a lifting appliance of the portal crane; the laser emitted by the laser emitter is parallel to the vertical wall of the container.
Further, in a preferred mode of the present invention, the spreader position control system includes: a position scanner arranged below the portal crane trolley frame; the reflection bottom plate is arranged above the lifting appliance of the portal crane; the position scanner transmits and receives optical signals or ultrasonic signals; the reflective backplane is used to reflect the optical or ultrasonic signals.
Further, in a preferred aspect of the present invention, a container stack scanning system includes: and the container detection probes are arranged on the periphery of the gantry crane sling.
Further, in a preferred embodiment of the present invention, the present invention further includes: the crane camera management system is connected with the central data processor and used for monitoring the surrounding environment of the crane; the crane camera management system comprises: the camera is arranged on the gantry crane frame and used for monitoring the storage yard condition and the lane condition; and the data collected by the camera is transmitted to the central data processor.
Further, in a preferred embodiment of the present invention, the present invention further includes: the collecting truck vehicle anti-lifting protection system is connected with the central data processor and is used for detecting the vertical position of the collecting truck vehicle; the container truck vehicle anti-lifting protection system comprises: and a truck vehicle height detection probe on the gantry crane frame is arranged.
Further, in a preferred embodiment of the present invention, the present invention further includes: and the remote network vision system is connected with the central data processor and is used for analyzing and judging the image content.
Further, in a preferred embodiment of the present invention, the present invention further includes: the automatic voice guidance system is connected with the central data processor and used for guiding the vehicle body to move; the automatic human voice guidance system includes: the system comprises a sound player and a truck vehicle position scanning and positioning device for acquiring real-time position information of a truck vehicle.
Further, in a preferred embodiment of the present invention, the present invention further includes: a container number identification system connected to the central data processor for identifying the container number; and the collection card vehicle number identification system is connected with the central data processor and is used for detecting and verifying collection card vehicle information.
The utility model provides a pair of automatic change container gantry crane control system, include: a central data processor for processing data information; a truck-mounted vehicle position scanning system connected to the central data processor for scanning the truck-mounted vehicle position; an indication system connected to the central data processor for indicating movement of the vehicle; the box landing system is connected with the central data processor and is used for controlling the landing of the lifting appliance; a spreader position control system connected with the central data processor and used for monitoring the vertical position of the spreader and the deflection direction of the container; and a container stack scanning system coupled to the central data processor for monitoring the height of the container stack. Compared with the prior art, the automatic container gantry crane control system can guide the truck to adjust the position of the truck body in a container loading and unloading area under the synergistic action of the truck position scanning system and the indicating system. The position of the container is automatically identified, the portal crane trolley is automatically driven to move to the top of the container to be loaded and unloaded, and the lifting appliance is automatically put down. Under the action of the box system, the spreader is accurately lowered to the upper end of the container, so that the container is quickly clamped. Under the action of the lifting appliance position control system, the positions and the angles of the lifting appliance and the container are monitored in real time. And then, combining a container stacking scanning system to automatically stack the containers according to requirements. Thereby realizing the full-automatic control of the gantry crane in the loading and unloading process of the container. The workload of workers is reduced, the labor cost of enterprises is saved, and the production efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings 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 of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an automated container gantry crane control system according to an embodiment of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or be indirectly disposed on the other element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, refer to an orientation or positional relationship illustrated in the drawings for convenience in describing the present application and to simplify description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, the meaning of a plurality of or a plurality of is two or more unless specifically limited otherwise.
It should be understood that the structures, ratios, sizes, and the like shown in the drawings are only used for matching the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the practical limit conditions of the present application, so that the modifications of the structures, the changes of the ratio relationships, or the adjustment of the sizes, do not have the technical essence, and the modifications, the changes of the ratio relationships, or the adjustment of the sizes, are all within the scope of the technical contents disclosed in the present application without affecting the efficacy and the achievable purpose of the present application.
Referring to fig. 1, an automated container gantry crane control system provided in an embodiment of the present application includes: a central data processor 1 for processing data information; a truck-mounted vehicle position scanning system 2 connected to the central data processor 1 for scanning the position of the truck-mounted vehicle; an indication system connected with the central data processor 1 and used for indicating the movement of the vehicle; the box landing system 3 is connected with the central data processor 1 and is used for controlling the landing of the lifting appliance; a spreader position control system 4 connected with the central data processor 1 and used for monitoring the vertical position of the spreader and the deflection direction of the container; and a container stack scanning system 5 connected to the central data processor 1 for monitoring the height of the container stack. Compared with the prior art, the automatic container gantry crane control system can guide the truck to adjust the position of the truck body in a container loading and unloading area under the synergistic action of the truck position scanning system 2 and the indicating system. The position of the container is automatically identified, the portal crane trolley is automatically driven to move to the top of the container to be loaded and unloaded, and the lifting appliance is automatically put down. Under the action of the spreader against the container system 3, the spreader is accurately lowered to the upper end of the container, thereby rapidly clamping the container. And under the action of the lifting appliance position control system 4, the positions and the angles of the lifting appliance and the container are monitored in real time. And then the containers are automatically stacked according to the requirements by combining with the container stacking and scanning system 5. Thereby realizing the full-automatic control of the gantry crane in the loading and unloading process of the container. The workload of workers is reduced, the labor cost of enterprises is saved, and the production efficiency is improved.
An embodiment of the utility model provides an automatic change container gantry crane control system, include: a central data processor 1 for processing data information; a truck-mounted vehicle position scanning system 2 connected to the central data processor 1 for scanning the position of the truck-mounted vehicle; an indication system connected with the central data processor 1 and used for indicating the movement of the vehicle; the box landing system 3 is connected with the central data processor 1 and is used for controlling the landing of the lifting appliance; a spreader position control system 4 connected with the central data processor 1 and used for monitoring the vertical position of the spreader and the deflection direction of the container; and a container stack scanning system 5 connected to the central data processor 1 for monitoring the height of the container stack.
Specifically, in the embodiment of the present invention, the truck vehicle position scanning system 2 includes: the first vehicle position probe is arranged at the front end of the container loading and unloading area and used for monitoring the left and right positions of a vehicle; and a second vehicle position probe arranged at the side of the container loading and unloading area and used for monitoring the front and rear positions of the vehicle.
More specifically, in the embodiment of the present invention, the truck vehicle position scanning System 2 (CAS for short) is provided. When the truck enters the range of the RMG container loading and unloading area, the CAS system automatically scans the truck, and not only can the CAS system identify whether the truck is a single-layer truck or a double-layer truck, but also more importantly can scan and identify the moving position of the truck and carry out information interaction on the position information of the truck and the traffic indicator light, so that the driver of the truck is guided by the light of the traffic indicator light and the arrow to accurately advance, retreat or stop, and the truck can arrive at a preset stopping place in a short time so that the rail crane can accurately and quickly grab or landing the container for loading and unloading the container.
Specifically, in the embodiment of the present invention, the box aligning system 3 includes: the laser emitter is arranged on a lifting appliance of the portal crane; the laser collector is arranged on a lifting appliance of the portal crane; the laser emitted by the laser emitter is parallel to the vertical wall of the container.
More specifically, in the embodiment of the present invention, the box System 3(Final drawing System, FLS for short) is provided. The FLS system carries out the identification of the position of the container and the identification and adjustment of the position of the lifting appliance through cameras or laser instruments arranged on four corners of the lifting appliance. The FLS system using the laser instrument element as position detection emits laser beams in a limited mode through lasers arranged on four corners of a lifting appliance, and the 4 laser beams are parallel to the four vertical wall surfaces of the container. When the lifting appliance acts, if a laser beam irradiates on the container, the FLS system can acquire information fed back by the laser beam, and the lifting appliance position is adjusted to enable the laser beam to be kept parallel to the four vertical wall surfaces of the container to be lifted, so that the lifting appliance can accurately act when being placed in the container, and the lifting appliance is prevented from being placed on the container in a skew mode.
Specifically, in the embodiment of the present invention, the spreader position control system 4 includes: a position scanner arranged below the portal crane trolley frame; the reflection bottom plate is arranged above the lifting appliance of the portal crane; the position scanner transmits and receives optical signals or ultrasonic signals; the reflective backplane is used to reflect the optical or ultrasonic signals.
Stated more specifically, in the embodiment of the present invention, the sling position control System 4 (SPCS for short) is provided. The SPCS system detects the positions of the lifting appliance and the container in real time in the lifting and descending processes of the lifting appliance through 2 SPCS scanners arranged below the RMG trolley frame and a reflection bottom plate arranged on the lifting appliance. When loading or unloading the container, the SPCS system automatically detects whether the positions of the spreader and the container have tilting or not and instructs the spreader to perform tilting adjustment according to the detected position information, thereby ensuring the position accuracy of loading and unloading the container by the RMG.
Specifically, in the embodiment of the present invention, the container stack scanning system 5 includes: and the container detection probes are arranged on the periphery of the gantry crane sling.
More specifically, in the embodiment of the present invention, the container stacking Scanning System 5 (SPSS for short) is provided. The SPSS system is used for scanning and detecting the stacking layer number and the stacking height of a single row of containers below the RMG hanger, and if the detected stacking height of the containers needs to be consistent with the height set in the ABMS system, the loading and unloading operation of the containers can be continuously operated. The SPSS system can also detect whether the parallel movement of the spreader collides with the stacking of the containers, when the SPSS system scans and detects that the height data of the running spreader and the stacking of the containers are inconsistent with the height set in the ABMS system, namely the spreader possibly collides with the containers stacked on the ground, the SPSS system can stop the running of the trolley and the spreader, thereby preventing the RMG spreader from colliding with the containers in the storage yard.
Specifically, in the embodiment of the present invention, the present invention further includes: a crane camera management system 6 connected with the central data processor 1 and used for monitoring the surrounding environment of the crane; the crane camera management system 6 includes: the camera is arranged on the gantry crane frame and used for monitoring the storage yard condition and the lane condition; the data collected by the camera is transmitted to the central data processor 1.
More specifically, in the embodiment of the present invention, the Crane camera management System 6 (cane video management System, CVMS for short) is provided. The CVMS carries out real-time monitoring on the storage yard condition, the lane condition and the running condition of other RMGs in the same storage yard through a plurality of cameras arranged on the RMGs, and synchronously transmits monitoring pictures corresponding to all parts to a CVMS information processing center and a central control remote control operation room (ACOC for short) of a wharf. The CVMS system is a comprehensive management system of all picture monitoring cameras installed on the RMG, looks over and monitors the conditions and states of a storage yard, a lane, the RMG operation and the like according to the ACOC requirements, and can also switch the shooting pictures according to the requirements and look over and monitor the conditions around the RMG without dead angles.
Specifically, in the embodiment of the present invention, the present invention further includes: the collecting truck vehicle anti-lifting protection system 7 is connected with the central data processor 1 and is used for detecting the vertical position of the collecting truck vehicle; the truck vehicle anti-lifting protection system 7 includes: and a truck vehicle height detection probe on the gantry crane frame is arranged.
Stated more specifically, in the embodiment of the present invention, the truck vehicle lifting prevention Protection System 7 (referred to as CLPS for short) is provided. When the RMG spreader is locked to lift the container loaded on the truck, if the lock head for locking the container on the truck is not opened, the spreader can lift the container together with the loaded truck, and the damage of the truck is easily caused by the condition, even the personal safety of a truck driver is threatened. The CLPS system of the RMG can scan the position of the truck-collecting vehicle, and if the CLPS scans that the truck-collecting vehicle rises to exceed the safety set height by 1m, the RMG stops lifting operation, and the safety of the truck-collecting vehicle, a driver and a container is automatically protected.
Specifically, in the embodiment of the present invention, the present invention further includes: a remote network vision system 8 connected to the central data processor 1 for analyzing and judging the image content.
Stated more specifically, in the embodiment of the present invention, the Remote Network vision system 8(Remote vision system/Network Video Recorder, RVS or NVR for short). The RVS/NVR system is characterized in that picture detection is added on the basis of camera picture monitoring, and an obtained real-time monitoring picture is compared and analyzed with a preset Video Encoder picture to detect whether the manual and automatic running conditions of the RMG are within a set operation range. The system also has the function of storing the monitoring picture so as to be convenient for the follow-up calling of the monitoring picture for analysis.
Specifically, in the embodiment of the present invention, the present invention further includes: an automatic voice guidance system 9 connected with the central data processor 1 for guiding the vehicle body to move; the automatic human voice guidance system 9 includes: the system comprises a sound player and a truck vehicle position scanning and positioning device for acquiring real-time position information of a truck vehicle.
Stated more specifically, the embodiment of the present invention provides an automatic voice guidance system 9(Public Address, PA for short). When the truck-collecting vehicle enters a special lane outside a storage yard and approaches a track crane, the traveling truck-collecting vehicle is subjected to voice guidance through a scanning and positioning system of the RMG, so that the truck-collecting vehicle reaches an accurate parking position. When the truck collection vehicle needs to continue to drive forwards, the PA system can continuously send forward voice prompt, and when the truck collection vehicle reaches a preset accurate position, the PA system sends stop voice prompt; when the truck collection vehicle runs beyond a preset parking position, the PA system continuously sends a 'back-off' voice prompt, the truck collection vehicle backs off to a preset accurate position, and the PA system sends a 'stop' voice prompt. The voice prompt of the PA system can guide a driver to park the truck-collecting vehicle to a preset position in a short time, thereby ensuring that the automatic crane can carry out quick container loading and unloading operation.
Specifically, in the embodiment of the present invention, the present invention further includes: a container number recognition system 10 connected to the central data processor 1 for recognizing the container number; and a container truck number identification system 11 connected to the central data processor 1 for detecting and verifying container truck information.
More specifically, in the embodiment of the present invention, the container number Recognition System 10 (CNRS for short) is provided. A plurality of CNRS cameras for identifying numbers of the front, the back, the side and the top of the container are arranged at the parts of the RMG saddle beam, the support legs and the like, when a truck for loading the container arrives at the lower part of the RMG side, the image of the number of the container is transmitted to a CNRS system through the camera function of the CNRS cameras, then the CNRS system identifies, reads and records the number of the container by the image identification technology, converts the number of the container into the number and the letter which can be identified by a computer and transmits the read number of the container to a control system and a yard management system of the RMG.
More specifically, in the embodiment of the present invention, the truck vehicle number identification System 11(Prime number registration System, PMNRS for short) is provided. The PM is a quay interior truck or exterior truck used to connect shipping containers to and from the shore container crane and the RMG. The loading and unloading of the container need to identify, check and record the serial number of the truck head, which is the main function of the PMNRS on RMG. And when the truck-collecting vehicle approaches the track crane, a PMNRS system arranged at the RMG saddle beam part reads data on the Tag of the truck-collecting vehicle through an RFID radio frequency identification function, so that the information of the truck-collecting vehicle is acquired.
At present, single automatic systems are integrated into one or more electric system elements, and the automatic port container inland yard crane performs rapid information interaction through network communication protocols by using technologies such as RFID (radio frequency identification), far infrared ray sensor technology, position monitoring technology, laser scanning imaging and positioning, camera shooting identification and monitoring and the like, so that operations such as intelligent induction, scanning, identification, positioning, monitoring and the like are realized.
The utility model discloses an automatic change container gantry crane control system, can be through the container positional information and the case number information that the control room issued in the pier, walk to corresponding region automatically and snatch the container and unload the case. The unmanned fully-automatic container portal crane has high loading and unloading efficiency, reduces the detention time of container ships, particularly large container ships, and greatly improves the container handling capacity of ports, thereby bringing great economic benefits to container ports.
By last, the embodiment of the utility model provides an automatic container gantry crane control system who relates to compares in prior art, can have the advantage of intelligent response, scanning, discernment, location, control, has realized the full automatic control of gantry crane in container handling. Thereby reducing the workload of workers, saving the labor cost of enterprises and improving the production efficiency.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An automated container gantry crane control system, comprising:
a central data processor for processing data information;
a truck-mounted vehicle position scanning system connected to the central data processor for scanning the truck-mounted vehicle position;
an indication system connected to the central data processor for indicating movement of the vehicle;
the box landing system is connected with the central data processor and is used for controlling the landing of the lifting appliance;
a spreader position control system connected with the central data processor and used for monitoring the vertical position of the spreader and the deflection direction of the container;
and a container stack scanning system coupled to the central data processor for monitoring the height of the container stack.
2. The automated container gantry crane control system of claim 1, wherein said truck vehicle position scanning system comprises: the first vehicle position probe is arranged at the front end of the container loading and unloading area and used for monitoring the left and right positions of a vehicle; and a second vehicle position probe arranged at the side of the container loading and unloading area and used for monitoring the front and rear positions of the vehicle.
3. The automated container gantry crane control system of claim 2, wherein the binning system comprises: the laser emitter is arranged on a lifting appliance of the portal crane; the laser collector is arranged on a lifting appliance of the portal crane; the laser emitted by the laser emitter is parallel to the vertical wall of the container.
4. The automated container gantry crane control system of claim 3, wherein the spreader position control system comprises: a position scanner arranged below the portal crane trolley frame; the reflection bottom plate is arranged above the lifting appliance of the portal crane; the position scanner transmits and receives optical signals or ultrasonic signals; the reflective backplane is used to reflect the optical or ultrasonic signals.
5. The automated container gantry crane control system of claim 4, wherein the container stack scanning system comprises: and the container detection probes are arranged on the periphery of the gantry crane sling.
6. The automated container gantry crane control system of claim 5, further comprising: the crane camera management system is connected with the central data processor and used for monitoring the surrounding environment of the crane; the crane camera management system comprises: the camera is arranged on the gantry crane frame and used for monitoring the storage yard condition and the lane condition; and the data collected by the camera is transmitted to the central data processor.
7. The automated container gantry crane control system of claim 6, further comprising: the collecting truck vehicle anti-lifting protection system is connected with the central data processor and is used for detecting the vertical position of the collecting truck vehicle; the container truck vehicle anti-lifting protection system comprises: and a truck vehicle height detection probe on the gantry crane frame is arranged.
8. The automated container gantry crane control system of claim 7, further comprising: and the remote network vision system is connected with the central data processor and is used for analyzing and judging the image content.
9. The automated container gantry crane control system of claim 8, further comprising: the automatic voice guidance system is connected with the central data processor and used for guiding the vehicle body to move; the automatic human voice guidance system includes: the system comprises a sound player and a truck vehicle position scanning and positioning device for acquiring real-time position information of a truck vehicle.
10. The automated container gantry crane control system of claim 9, further comprising: a container number identification system connected to the central data processor for identifying the container number; and the collection card vehicle number identification system is connected with the central data processor and is used for detecting and verifying collection card vehicle information.
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| CN201920518059.8U CN210558956U (en) | 2019-04-17 | 2019-04-17 | Automatic change container gantry crane control system |
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| CN201920518059.8U CN210558956U (en) | 2019-04-17 | 2019-04-17 | Automatic change container gantry crane control system |
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