CN103523675B - Track crane automatic yard operation control system and automated container handling method - Google Patents
Track crane automatic yard operation control system and automated container handling method Download PDFInfo
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- CN103523675B CN103523675B CN201310520076.2A CN201310520076A CN103523675B CN 103523675 B CN103523675 B CN 103523675B CN 201310520076 A CN201310520076 A CN 201310520076A CN 103523675 B CN103523675 B CN 103523675B
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Abstract
The invention discloses a kind of track crane automatic yard operation control system and automated container handling method, and provide one can reduce investment for trnasforming urban land, the control system of process simplification and automatic loading and unloading method.This system comprises track crane automation controller, track crane PLC, suspender PLC, 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.This system repacks existing track crane into automation track crane, and pass through the control of automatic loading and unloading method, can complete to freight container case, locking, suspender rising, the case that falls, unblank, the operation such as suspender rising, work cycle does not need the intervention of remote operator automatically to complete, improve operating efficiency, decrease labor cost, reduce operating cost.And equipment investment is little, easy and simple to handle.
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 adds the demand to labour power.Under the promotion of powerful transportation request and good economic benefit, the terminal operation that, manpower consumption high as task duplication 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, the certainty that automatic dock becomes port development is developed.
At present, what the unmanned yard handling technology piling field system of domestic automation 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) lower frame track crane CRMG: be used for freight container to take out from truck to be put into (truck unloads case process) the belly board of buffer zone, or freight container is put into truck (truck binning process) by the taking-up of buffer zone transfer platform.(2) aerial conveyor hangs DRMG: be used for freight container to take out from buffer zone transfer platform to put stockyard (truck unloads case process) into, or freight container is put into buffer zone transfer platform (truck binning process) by stockyard taking-up.(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.This handling technology scheme is utilized at the handling process of automatic yard to be: DRMG and CRMG be running job on respective track, and both cart service directions are mutually vertical.Between every bar heap unwrapping wire two ends and the region of operation of truck, be furnished with buffer zone, and install freight container transfer platform, DRMG and CRMG carries out relay-type operation by transfer platform, realizes the high-efficient homework pattern that freight container " repeatedly loads and unloads, once collects spelling ".DRMG runs in the heap district of heap unwrapping wire, has been responsible for the stacking of freight container, has extracted and mould turnover operation, CRMG then responsible by the container crane on truck to transfer platform or by the container crane on transfer platform on truck.In such scheme, equipment investment is large, trivial operations.
Summary of the invention
The object of the invention is the technological deficiency for existing in prior art, and provide one can reduce investment for trnasforming urban land, 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.
The technical scheme adopted for realizing object of the present invention is:
A kind of track crane automatic yard operation control system, comprises track crane automation controller, track crane PLC, suspender PLC, 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 be installed on track crane bottom girder, and described anti-slinging detects infrared pickoff for the position of detected set vanning relative to truck; Described anti-detection infrared pickoff of slinging is connected with described track crane automation controller, and described track crane automation controller controls suspender action by described track crane PLC;
Described track crane registration device comprises the track crane magnetic scale position detecting device of the cart displacement encoder be installed on cart drive motor and the multiple equidistant setting being installed on track crane track outside, and described cart displacement encoder is connected with track crane automation controller respectively with the mouth of multiple track crane magnetic scale position detecting device; Described track crane automation controller is according to the position calculating track crane;
Described boxes detecting device comprises the weight sensor being installed on freight container four bights, and described weight sensor is connected with described track crane automation controller;
Described box automatic control device comprises multiple goal box and detects the different multiple goal box detecting sensor of infrared transmitter, detecting distance and the receptor with 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 multiple goal box detects infrared transmitter and is arranged on described sling upper rack; The different multiple goal box detecting sensors of described detecting distance are installed on described suspender, the signal output part of each described goal box detecting sensor is connected with described track crane automation controller respectively, on-off model is delivered to described track crane automation controller, described track crane automation controller is according to the information of described multiple goal box detecting sensor, send restriction signal to described track crane PLC, described track crane PLC exports control signal and controls the deceleration of described suspender; 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 multiple described goal box, deliver to described track crane automation controller, the deviation of the signal detection suspender that described track crane automation controller receives according to receptor and dolly, and overlapped with dolly line of centers by track crane PLC adjustment suspender; The center point coordinate of suspender center point coordinate and aims of systems case contrasts by described track crane automation controller, detects the deviation of suspender and goal box, and the center-point of adjustment dolly or suspender is consistent with goal box;
Described goal box registration device comprises the laser scanning device be 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 be installed on vehicle motor output shaft, the vertical displacement coder be installed on high speed shaft, is installed on cam activated switch on slow-speed shaft and dolly magnetic scale position detecting device, 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, described cam activated switch is provided with the locating point of multiple corresponding differing heights; Described horizontal displacement coder, vertical displacement coder are connected with track crane automation controller respectively with the detection signal mouth of magnetic scale position detecting device, 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, control dolly by described track crane PLC and move.
Also comprise cart anticollision device, described cart anticollision device comprises and is installed on the equipment room that periphery on cart four pin detects on ultrasonic transduter and crossbeam and detects ultrasonic transduter, described periphery detects ultrasonic transduter for detecting the position of trailer or pedestrian and cart around cart, described equipment room detecting sensor for detect adjacent orbit hang between distance, described periphery detects ultrasonic transduter and is connected with track crane automation controller respectively with equipment room detection ultrasonic transduter, controls cart action by described track crane PLC.
The method that freight container is unloaded automatically, the method comprises the steps:
(1) track crane moves, and carries out location, position according to the cart displacement encoder on cart drive motor and the track crane magnetic scale position detecting device of the multiple equidistant setting being installed on track crane track outside, arrives the truck parking stall that instruction of unloading is specified;
(2) travelling car and suspender arrive the top of freight container on truck, track crane automation controller is according to the switching value information of the different multiple goal box detecting sensor middle and long distance sensors of detecting distance, control dolly by track crane PLC 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 is overlapped with dolly line of centers by track crane PLC adjustment suspender; The center point coordinate of suspender center point coordinate and aims of systems case contrasts by described track crane automation controller, detects the deviation of suspender and goal box, consistent with goal box by the center point coordinate of track crane PLC adjustment dolly or suspender;
(4) suspender declines, and suspender lock pin enters freight container keyhole automatically, locking, lifting;
(5) when lifting by crane 3-5 second, detect anti-slinging and detect the signal of infrared pickoff, if do not detect that the anti-signal detecting infrared pickoff of slinging returns, then continue lifting operation; If detect that the anti-signal detecting infrared pickoff of slinging returns, then stop hoisting, and descending at slow speed, until receive case signal feedback, the action that hoists stops, and sends truck and be not separated information with freight container;
(6) track crane moves, and carries out location, position according to the cart displacement encoder on cart drive motor and the magnetic scale position detecting device of the multiple equidistant setting being installed on track crane track outside, arrives the shellfish position that instruction of unloading is specified;
(7) the shellfish position profile provided 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 of the different multiple goal box detecting sensor middle and long distance sensors of detecting distance, 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, and unblank after receiving case signal, suspender hoists, and completes the automatic car unloading operation of freight container.
Step (7) judges when goal box is placed on bottom case by needs, four bights of laser scanning device scan containers used in goal box registration device and the correspondence position in suspender four bights, regulate the position of suspender, four of suspender bights are overlapped with bottom case, and suspender is transferred.
In track crane moving process, when described track crane automation controller receives described periphery detection ultrasonic transduter or equipment room detects the information of ultrasonic transduter, control track crane and stop.
A method for freight container automatic loading, comprises the steps:
(1) track crane moves, and carries out location, position according to the cart displacement encoder on cart drive motor and the track crane magnetic scale position detecting device of the multiple equidistant setting being installed on track crane track outside, arrives the shellfish position that entrucking instruction is specified;
(2) travelling car and suspender arrive above the freight container of assigned address, and track crane automation controller, according to the switching value information of the different multiple goal box detecting sensor middle and long distance sensors of detecting distance, controls dolly and realizes primary speed-down; Described track crane automation controller detects the calculated signals suspender of infrared transmitter transmitting and the deviation of dolly according to the goal box that receptor receives, and is overlapped with dolly line of centers by track crane PLC adjustment suspender; The center point coordinate of suspender center point coordinate and aims of systems case contrasts by described track crane automation controller, detects the deviation of suspender and goal box, and the center-point of adjustment dolly or suspender is consistent with goal box; Again according to the switching value information of short-range sensors, control dolly and realize double reduction;
(3) suspender declines, and suspender lock pin enters freight container keyhole automatically, locking, lifting;
(4) information that provides according to track crane registration device and positioning device of hoist of track crane automation controller, controls above track crane and dolly and lifting appliance moving to the truck of assigned address;
(5) four bights of laser scanning device scan containers used in goal box registration device and the correspondence position in suspender four bights, regulate the position of suspender, four of suspender bights are overlapped with truck corner, suspender is transferred, stop transferring until receive case signal, unblank, suspender hoists, and completes car loading operation.
In track crane moving process, when described track crane automation controller receives described periphery detection ultrasonic transduter or equipment room detects the information of 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 cycles operation obtained from system to freight container case, locking, suspender rises, fall case, unblank, the operations such as suspender rising, work cycle does not need the intervention of remote operator automatically to complete, improve operating efficiency, decrease labor cost, reduce 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 avoiding because truck is not separated from dropping in the air with freight container, and the vehicle caused and personnel's injury, decrease the loss of Vehicle And Personnel.
3, in track crane automatic yard operation control system of the present invention, there is box automatic control device; automatically the distance of suspender and goal box can be detected; and double reduction protection is carried out in the distance set; when preventing suspender from transferring and goal box generation strong collision, for Part II suspender flexible case prepare.Meanwhile, by calculating suspender position of center line and goal box place-centric linear distance, automatically adjust spreader position, to realize after suspender twist lock steady target approach case 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 having the laser scanning device of goal box positioning function, first can realize scanning the height profile of all freight containers in current work shellfish position in operation process, track bridge is made to hoist in operational process, according to scanning Hou Xiang district profile, arrange the most rational work route, improve efficiency and the safety of operation process.Secondly, when carrying out single target casing working, after scanning the profile of goal box, adjustment dolly and cart deviation in direction in time, ensures squareness during 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, achieve track crane automated job, work cycle does not need the intervention of remote operator automatically to complete, and improves operating efficiency, decrease labor cost, reduce operating cost.And can automatic calibration be carried out, improve the accuracy rate of operation.
6, track crane automatic loading and unloading method of the present invention is in suspender decline process, can control suspender and realize double reduction, ensure production safety.
Accompanying drawing explanation
Figure 1 shows that the schematic diagram of track crane automatic yard operation control system of the present invention.
Detailed description of the invention
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, suspender PLC (not shown), 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 be installed on track crane bottom girder, and described anti-slinging detects infrared pickoff for the position of detected set vanning relative to truck; Described anti-detection infrared pickoff of slinging is connected with described track crane automation controller, and described track crane automation controller controls to hang the perverse work of Wu by described track crane PLC.When having truck under track bridge during operation, the anti-wire harness detecting infrared pickoff transmitting of slinging is blocked and has signal to return, and at this moment track crane automation controller detects and truck is mounted with freight container.When hoisting operation after case locking by suspender after 3 seconds, if at this moment freight container is separated with truck, anti-slinging detects infrared pickoff owing to not having shelter, does not have signal to return, and hoists and continues normally upwards to run lifting cargo.As left, signal returns, represent that truck is separated with freight container is not yet in effect, at this moment hoist out of service, and transfer at a slow speed, until there is case signal feedback, action is transferred in the stopping that hoisting, and 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 track crane magnetic scale position detecting device of the cart displacement encoder be installed on cart drive motor and the multiple equidistant setting being installed on track crane track outside.In the present embodiment, put a track crane magnetic scale position detecting device in large Car Track outside every 15 meter amperes.Described cart displacement encoder is connected with track crane automation controller respectively with the mouth of multiple track crane magnetic scale position detecting device; Described track crane automation controller is according to the position calculating track crane.The numerical value of cart displacement encoder for calculating the position of track crane, then corrects result of calculation, accurately to locate according to track crane magnetic scale position detecting device.
Described boxes detecting device is same as the prior art, and comprise the weight sensor being installed on freight container four bights, 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 multiple goal box and detects the different multiple goal box detecting sensor of infrared transmitter, detecting distance and the receptor with 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 multiple goal box detects infrared transmitter and is arranged on described sling upper rack; The different multiple goal box detecting sensors of described detecting distance are installed on described suspender, the signal output part of each described goal box detecting sensor is connected with described track crane automation controller respectively, on-off model is delivered to described track crane automation controller, described track crane automation controller is according to the information of described multiple goal box detecting sensor, send restriction signal to described track crane PLC, described track crane PLC exports control signal and controls the deceleration of described suspender; 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 multiple described goal box, deliver to described track crane automation controller, the deviation of the signal detection suspender that described track crane automation controller receives according to receptor and dolly, and overlapped with dolly line of centers by the hydraulic pressure micro-tensioning system adjustment suspender be installed on suspension bracket by track crane PLC; The center point coordinate of suspender center point coordinate and aims of systems case contrasts by described track crane automation controller, detects the deviation of suspender and goal box, and the center-point of adjustment dolly or suspender is consistent with goal box.
Described goal box registration device comprises the 3D laser scanning device be installed on track crane crossbeam, described laser scanning device is connected with described track crane automation controller, is calculated the stereo profile forming shellfish position, goal box place by described track crane automation controller.Conventional approach is adopted to carry out the synthesis of stereo profile.
Described positioning device of hoist comprises the horizontal displacement coder be installed on vehicle motor output shaft, the vertical displacement coder be installed on high speed shaft, is installed on cam activated switch on slow-speed shaft and dolly magnetic scale position detecting device, 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, described cam activated switch is provided with the locating point of multiple corresponding differing heights, in the present embodiment, cam activated switch is provided with the locating point of 6 differing heights, corresponding different suspender falling heads.Described horizontal displacement coder, vertical displacement coder are connected with track crane automation controller respectively with the detection signal mouth of magnetic scale position detecting device, 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, control dolly by described track crane PLC and move.
In order to prevent between cart, produce between the object of cart and pedestrian or movement and collide, also comprise cart anticollision device, described cart anticollision device comprises and is installed on the equipment room that periphery on cart four pin detects on ultrasonic transduter and crossbeam and detects ultrasonic transduter, described periphery detects ultrasonic transduter for detecting the position of trailer or pedestrian and cart around cart, described equipment room detecting sensor for detect adjacent orbit hang between distance, described periphery detects ultrasonic transduter and is connected with track crane automation controller respectively with equipment room detection ultrasonic transduter, cart action is controlled by described track crane PLC.When the periphery detection ultrasonic transduter on cart four pin detects people or other object proximities, or/and when the equipment room detection ultrasonic transduter on crossbeam detects that the distance of neighbouring device is less than setting value, stop the movement of cart.
The assignment command of track crane automation controller receiving management system, by above-mentioned track crane automatic yard operation control system, can realize track crane unattended.The concrete method of automatically unloading, comprises the steps:
(1) track crane moves, and carries out location, position according to the cart displacement encoder on cart drive motor and the track crane magnetic scale position detecting device of the multiple equidistant setting being installed on track crane track outside, arrives the truck parking stall that instruction of unloading is specified;
(2) travelling car and suspender arrive the top of freight container on truck, track crane automation controller is according to the switching value information of the different multiple goal box detecting sensor middle and long distance sensors of detecting distance, control dolly by track crane PLC 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 is overlapped with dolly line of centers by track crane PLC control suspender; The center point coordinate of suspender center point coordinate and aims of systems case contrasts by described track crane automation controller, detects the deviation of suspender and goal box, consistent with goal box by the center point coordinate of track crane PLC adjustment dolly or suspender;
(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 do not detect that the anti-signal detecting infrared pickoff of slinging returns, then continue lifting operation; If detect that the anti-signal detecting infrared pickoff of slinging returns, then stop hoisting, and descending at slow speed, until receive case signal feedback, the action that hoists stops, and sends truck and be not separated information with freight container;
(6) track crane moves, and carries out location, position according to the cart displacement encoder on cart drive motor and the magnetic scale position detecting device of the multiple equidistant setting being installed on track crane track outside, arrives the shellfish position that instruction of unloading is specified;
(7) the shellfish position profile provided 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 of the different multiple goal box detecting sensor middle and long distance sensors of detecting distance, 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, and unblank after receiving case signal, suspender hoists, and completes the automatic car unloading operation of freight container.
Above-mentioned steps (7) judges when goal box is placed on bottom case by needs, four bights of laser scanning device scan containers used in goal box registration device and the correspondence position in suspender four bights, regulate the position of suspender, four of suspender bights are overlapped with bottom case, and suspender is transferred.
The method of concrete automatic loading, comprises the steps:
(1) track crane moves, and carries out location, position according to the cart displacement encoder on cart drive motor and the track crane magnetic scale position detecting device of the multiple equidistant setting being installed on track crane track outside, arrives the shellfish position that entrucking instruction is specified;
(2) travelling car and suspender arrive above the freight container of assigned address, and track crane automation controller, according to the switching value information of the different multiple goal box detecting sensor middle and long distance sensors of detecting distance, controls dolly and realizes primary speed-down; Described track crane automation controller detects the calculated signals suspender of infrared transmitter transmitting and the deviation of dolly according to the goal box that receptor receives, and is overlapped with dolly line of centers by track crane PLC adjustment suspender; The center point coordinate of suspender center point coordinate and aims of systems case contrasts by described track crane automation controller, detects the deviation of suspender and goal box, and the center-point of adjustment dolly or suspender is consistent with goal box; Again according to the switching value information of short-range sensors, control dolly and realize double reduction;
(3) suspender declines, and suspender lock pin enters freight container keyhole automatically, locking, lifting;
(4) information that provides according to track crane registration device and positioning device of hoist of track crane automation controller, controls above track crane and dolly and lifting appliance moving to the truck of assigned address;
(5) four bights of laser scanning device scan containers used in goal box registration device and the correspondence position in suspender four bights, regulate the position of suspender, four of suspender bights are overlapped with truck corner, suspender is transferred, stop transferring until receive case signal, unblank, suspender hoists, and completes car loading operation.
In track crane moving process, when described track crane automation controller receives described periphery detection ultrasonic transduter or equipment room detects the information of ultrasonic transduter, control track crane and stop.In equipment running process, track bridge automation controller carries out position calculation constantly and judges the spacing with adjacent orbit bridge, ensures the effective and safe distance of equipment room.Periphery is installed in cart corner and detects ultrasonic transduter; monitoring equipment safety of surrounding environment constantly; this periphery detects ultrasonic transduter and arranges two class protection; have within the scope of 15 meters when people, car activity and slow down; when having people, car movable within the scope of 5 meters, equipment is out of service; avoid equipment and people, car to crash, improve 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, achieve track crane automated job, work cycle does not need the intervention of remote operator automatically to complete, improve operating efficiency, decrease labor cost, reduce operating cost.And can automatic calibration be carried out, improve 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, suspender PLC, 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 be installed on track crane bottom girder, and described anti-slinging detects infrared pickoff for the position of detected set vanning relative to truck; Described anti-detection infrared pickoff of slinging is connected with described track crane automation controller, and described track crane automation controller controls suspender action by described track crane PLC;
Described track crane registration device comprises the track crane magnetic scale position detecting device of the cart displacement encoder be installed on cart drive motor and the multiple equidistant setting being installed on track crane track outside, and described cart displacement encoder is connected with track crane automation controller respectively with the mouth of multiple track crane magnetic scale position detecting device; Described track crane automation controller is according to the position calculating track crane;
Described boxes detecting device comprises the weight sensor being installed on freight container four bights, and described weight sensor is connected with described track crane automation controller;
Described box automatic control device comprises multiple goal box and detects the different multiple goal box detecting sensor of infrared transmitter, detecting distance and the receptor with 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 multiple goal box detects infrared transmitter and is arranged on described sling upper rack; The different multiple goal box detecting sensors of described detecting distance are installed on described suspender, the signal output part of each described goal box detecting sensor is connected with described track crane automation controller respectively, on-off model is delivered to described track crane automation controller, described track crane automation controller is according to the information of described multiple goal box detecting sensor, send restriction signal to described track crane PLC, described track crane PLC exports control signal and controls the deceleration of described suspender; 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 multiple described goal box, deliver to described track crane automation controller, the deviation of the signal detection suspender that described track crane automation controller receives according to receptor and dolly, and overlapped with dolly line of centers by track crane PLC adjustment suspender; The center point coordinate of suspender center point coordinate and aims of systems case contrasts by described track crane automation controller, detects the deviation of suspender and goal box, and the center-point of adjustment dolly or suspender is consistent with goal box;
Described goal box registration device comprises the laser scanning device be 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 be installed on vehicle motor output shaft, the vertical displacement coder be installed on high speed shaft, is installed on cam activated switch on slow-speed shaft and dolly magnetic scale position detecting device, 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, described cam activated switch is provided with the locating point of multiple corresponding differing heights; Described horizontal displacement coder, vertical displacement coder are connected with track crane automation controller respectively with the detection signal mouth of magnetic scale position detecting device, 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, control dolly by described track crane PLC 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 and is installed on the equipment room that periphery on cart four pin detects on ultrasonic transduter and crossbeam and detects ultrasonic transduter, described periphery detects ultrasonic transduter for detecting the position of trailer or pedestrian and cart around cart, described equipment room detecting sensor for detect adjacent orbit hang between distance, described periphery detects ultrasonic transduter and is connected with track crane automation controller respectively with equipment room detection ultrasonic transduter, cart action is controlled by described track crane PLC.
3. a freight container method of automatically unloading, it is characterized in that, comprise the track crane automatic yard operation control system according to any one of claim 1-2, the method comprises the steps:
(1) track crane moves, and carries out location, position according to the cart displacement encoder on cart drive motor and the track crane magnetic scale position detecting device of the multiple equidistant setting being installed on track crane track outside, arrives the truck parking stall that instruction of unloading is specified;
(2) travelling car and suspender arrive the top of freight container on truck, track crane automation controller is according to the switching value information of the different multiple goal box detecting sensor middle and long distance sensors of detecting distance, control dolly by track crane PLC 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 is overlapped with dolly line of centers by track crane PLC adjustment suspender; The center point coordinate of suspender center point coordinate and aims of systems case contrasts by described track crane automation controller, detects the deviation of suspender and goal box, consistent with goal box by the center point coordinate of track crane PLC adjustment dolly or suspender;
(4) suspender declines, and suspender lock pin enters freight container keyhole automatically, locking, lifting;
(5) when lifting by crane 3-5 second, detect anti-slinging and detect the signal of infrared pickoff, if do not detect that the anti-signal detecting infrared pickoff of slinging returns, then continue lifting operation; If detect that the anti-signal detecting infrared pickoff of slinging returns, then stop hoisting, and descending at slow speed, until receive case signal feedback, the action that hoists stops, and sends truck and be not separated information with freight container;
(6) track crane moves, and carries out location, position according to the cart displacement encoder on cart drive motor and the magnetic scale position detecting device of the multiple equidistant setting being installed on track crane track outside, arrives the shellfish position that instruction of unloading is specified;
(7) the shellfish position profile provided 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 of the different multiple goal box detecting sensor middle and long distance sensors of detecting distance, 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, and unblank after receiving case signal, suspender hoists, and completes the automatic car unloading operation of freight container.
4. the freight container according to claim 3 method of automatically unloading, it is characterized in that, step (7) judges when goal box is placed on bottom case by needs, four bights of laser scanning device scan containers used in goal box registration device and the correspondence position in suspender four bights, regulate the position of suspender, four of suspender bights are overlapped with bottom case, and suspender is transferred.
5. the method that the freight container according to claim 3 or 4 is unloaded automatically, it is characterized in that, in track crane moving process, when described track crane automation controller receives periphery detection ultrasonic transduter or equipment room detects the information of ultrasonic transduter, control track crane and stop.
6. a method for freight container automatic loading, is characterized in that, comprises the track crane automatic yard operation control system according to any one of claim 1-2, comprises the steps:
(1) track crane moves, and carries out location, position according to the cart displacement encoder on cart drive motor and the track crane magnetic scale position detecting device of the multiple equidistant setting being installed on track crane track outside, arrives the shellfish position that entrucking instruction is specified;
(2) travelling car and suspender arrive above the freight container of assigned address, and track crane automation controller, according to the switching value information of the different multiple goal box detecting sensor middle and long distance sensors of detecting distance, controls dolly and realizes primary speed-down; Described track crane automation controller detects the calculated signals suspender of infrared transmitter transmitting and the deviation of dolly according to the goal box that receptor receives, and is overlapped with dolly line of centers by track crane PLC adjustment suspender; The center point coordinate of suspender center point coordinate and aims of systems case contrasts by described track crane automation controller, detects the deviation of suspender and goal box, and the center-point of adjustment dolly or suspender is consistent with goal box; Again according to the switching value information of short-range sensors, control dolly and realize double reduction;
(3) suspender declines, and suspender lock pin enters freight container keyhole automatically, locking, lifting;
(4) information that provides according to track crane registration device and positioning device of hoist of track crane automation controller, controls above track crane and dolly and lifting appliance moving to the truck of assigned address;
(5) four bights of laser scanning device scan containers used in goal box registration device and the correspondence position in suspender four bights, regulate the position of suspender, four of suspender bights are overlapped with truck corner, suspender is transferred, stop transferring until receive case signal, 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 periphery detection ultrasonic transduter or equipment room detects the information of ultrasonic transduter, control track crane and stop.
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Inventor after: Li Xun Inventor after: Yi Yingqiang Inventor after: Wang Hongliang Inventor after: Li Enen Inventor after: Gao Haitao Inventor after: Zhang Lei Inventor after: Ji Cheng Inventor after: Wang Fuzhong Inventor after: Liu Bin Inventor after: Zhang Biao Inventor after: Chen Pei Inventor after: Yang Zhixin Inventor after: Tang You Inventor after: Fan Wei Inventor after: Lin Hongbin Inventor after: Zhou Xiaofeng Inventor after: Lv Jingxuan Inventor after: Wang Yigang Inventor after: Chen Yan Inventor after: An Guoli Inventor after: Ma Huijun Inventor after: Zhang Peng Inventor after: Xin Yi Inventor after: Chu Yingshuang Inventor after: Ma Guoxue Inventor after: Yang Rong Inventor before: Li Xun Inventor before: Yi Yingqiang Inventor before: Wang Hongliang Inventor before: Li Enen Inventor before: Gao Haitao Inventor before: Zhang Lei Inventor before: Ji Cheng Inventor before: Wang Fuzhong Inventor before: Liu Bin Inventor before: Chen Pei Inventor before: Tang You Inventor before: Yang Zhixin Inventor before: Fan Wei Inventor before: Lin Hongbin Inventor before: Zhou Xiaofeng Inventor before: Lv Jingxuan Inventor before: Wang Yigang Inventor before: Chen Yan Inventor before: An Guoli Inventor before: Ma Huijun Inventor before: Zhang Peng Inventor before: Xin Yi Inventor before: Chu Yingshuang Inventor before: Ma Guoxue Inventor before: Yang Rong |
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