CN105217472B - Automatic operating system for container yard tire crane - Google Patents
Automatic operating system for container yard tire crane Download PDFInfo
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- CN105217472B CN105217472B CN201510650957.5A CN201510650957A CN105217472B CN 105217472 B CN105217472 B CN 105217472B CN 201510650957 A CN201510650957 A CN 201510650957A CN 105217472 B CN105217472 B CN 105217472B
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Abstract
An automatic operating system for a container yard tire crane can automatically complete n-shaped running, heeling correction, torsion alignment, suspension rectification, container grabbing and putting, and other operation according to measurement information of a laser distance measuring sensor, an absolute value encoder, a high-definition digital camera, a two-way tilt angle sensor and the like and a dispatching instruction of a wharf operation management system in the manner of remote and site automatic control confirmation in the suspension landing stage. The automatic operating system for the container yard tire crane has various functions such as manual/automatic mode complementation, redundancy positioning, bowling preventing, rope loosening descending stopping, rope tightening locking forbidding, emergency shutdown, fault prompting, process recording and remote monitoring, the alignment precision can be remarkably improved, operation efficiency is improved, container collision accidents are reduced, labor cost is saved, and the automatic operating system can be widely applied to various kinds of tire type and rail type portal cranes of a container yard.
Description
Technical field
The present invention relates to a kind of automated job control device for container piling site tyre hoister, especially can be according to sharp
The metrical information of ligh-ranging sensor, absolute value encoder, high-definition digital video camera, two-way obliquity sensor etc. and harbour operation
The dispatch command of management system, by the land stage of hovering it is long-range+scene automatically controls validation testing, be automatically performed it is unloaded (or
Carry case) suspender door word operation, roll amendment, reverse para-position, hovering correction and grab the Container Yard wheel that case puts the operations such as case
Tire hangs automatization operation system.
Background technology
Container piling site tyre hoister (abbreviation tyre crane) is that a kind of gate-type for Container Yard, dependence wheel tyre walking rises
Heavy equipment, compares and relies on the track crane of track travel to have that cost of investment is low, flexible property is good, standardization level is high etc. excellent
Point, but there is also that low working performance, high labor intensive, potential safety hazard be more, automatization realizes the shortcomings of difficulty is big.Current tyre crane
Automatization operation system is still in research and development test (or trial operation) stage, domestic and international there is not yet successfully promoting case.According to data point
Analysis, existing tyre crane automatization operation system scheme adopt laser scanning and ranging instrument, absolute value encoder, high-definition digital mostly
The one (or more) sensor measurement techniques such as video camera, generally existing positioning precision is poor, automaticity is low, place adaptability
Difference, security reliability are low, investment and maintenance cost is high, working performance lifts the defect such as unobvious, thus overall practical less,
It is difficult to popularization and application.
The content of the invention
The technical problem to be solved is：Determining for tyre crane automatization operation system generally existing is being ground for overcoming
Position low precision, low automaticity, place bad adaptability, security reliability are low, investment and maintenance cost height, working performance are lifted
The defect such as unobvious, the present invention provide a kind of container piling site tyre hoister automatization operation system, can be sensed according to laser ranging
The metrical information of device, absolute value encoder, high-definition digital video camera, two-way obliquity sensor etc. and harbour operation management system
Dispatch command, by the land stage of hovering it is long-range+scene automatically controls validation testing, carry out spreader position and speed, suspension bracket turned round
Turn and stretch, revolve the motor controles such as lock opening and closing, the door word for being automatically performed unloaded (or load case) suspender runs, rolls amendment, reverses
Para-position, hovering are rectified a deviation and grab case and put the operations such as case.
The technical solution adopted for the present invention to solve the technical problems is：Container piling site tyre hoister automatization operation system
Mainly by remote monitoring computer (RMC), industrial computer (IPC) or programmable automation controller (PAC), absolute value encoder
(AVE), laser range sensor (LDS), two-way obliquity sensor (TAS), high-definition digital video camera (HDC), automatically control really
Recognize the components such as button (ACB), scram button (ESB), Programmable Logic Controller (PLC) or motion controller (SMC) composition.The system
Principle is：Two AVE on trolley travelling and lifting mechanism power transmission shaft measure dolly level respectively to absolute position and
The vertical absolute position of suspender, four be symmetrically mounted on dolly corner LDS measure the stockyard height of suspender down either side respectively,
Before and after TAS measurement tyre crane on dolly/and the level inclination of left and right directions, two be symmetrically mounted on dolly
HDC gathers the visual pattern in suspender both sides and lower section stockyard respectively, the ACB and ESB on the lower limb post alien invasion of track side point
Not Jie Shou truck driver confirmation and emergent stop signal；Installed in drivers' cab IPC or PAC by COM1 receive respectively AVE,
The data flow that LDS, TAS, HDC send, and receive the level signal of ACB and ESB by digital I/O mouths respectively, and pass through nothing
Line LAN receives the remote control instruction of the RMC positioned at Central Control Room and adjusts from the case position of harbour operation management system (TOPS)
Degree instruction, while feed back to RMC and TOPS by the monitoring information of operation field；IPC or PAC is according to handss/automatically-controlled door word motion control
Control instruction is sent to PLC or SMC by COM1 by algorithm processed；Control instruction is passed through Motor drive by PLC or SMC again
Device drive respectively wheeling mechanism, suspender lifting mechanism, rotation lock switching mechanism and suspension bracket reverse telescoping mechanism operation, PLC or
SMC also receives the input signals such as tyre crane monitoring running state, operation handle switch simultaneously, and it is defeated to send running status instruction etc.
Go out signal.
The handss of operating system/automatically-controlled door word motion control arithmetic：Mainly manually and automatically two kinds of operational modes are divided to, and have
Handss/automatic mode complementary function；Start acquiescence automatic running pattern, such as switches to manual mode of operation, and system will be suspended automatic
Operation subsequent job step, after switching back into automatic running pattern again and releasing time-out, system is subsequently made automatic running is recovered
Industry step.Under manual mode of operation, it is capable of achieving crab traversing speed, sling lifting speed, suspension bracket and reverses/flexible, rotation lock opening and closing
Etc. control function, crab traversing speed control also includes preventing beating bowling function, and sling lifting speed controlling also stops drop including slack rope
Function, rotation lock open and close controlling also include that tight rope prohibits unlocking function.Under automatic running pattern, when job instruction does not update or is wrong
Job instruction is waited, otherwise order performs preparatory stage (including rising to a top, moving to a jack-up point), starting point stage (bag
Include drop to hanging low level, prompting automatically control confirmations, drop to bottom out slack rope, locking and grab case, rise to and to push up), transition rank
A section (including a top terminal is moved to), the terminal stage (including drop to hanging low level, prompting automatically control confirmation, drop to it is tactile
Bottom slack rope, unlocking are put case, rise to top) 13 job steps, period can perform jerk at any time and exit automatic running, termination
Automatic running, skip currently go to next step, suspend subsequent step, switch to manual mode and suspend subsequent step etc. behaviour
Make；When LDS exceeds thresholding with HDC position errors, suspend subsequent step, fault cues and record；Suspender hovers the land stage, place
When track ranks, palpus is long-range and truck driver keeps acknowledgement state continue automatic running simultaneously, when ranking in other only
Remote acknowledgement state must be kept to continue automatic running.
The remote operator interface of operating system：System main panel mainly includes that working scene flash demo, working scene are taken the photograph
As monitoring, case position dispatch command, by the instruction of box type, suspender working condition, suspender current location, suspender present speed, cart
Current inclination, automatic running pattern, manual mode of operation, fault alarm, instruction are completed, jerk outer button, are automatically controlled
Confirm outer button, settings, startups, jerk, the control position such as exit, arranging sub-panel mainly includes preservation user's setting, extensive
Multiplexing family settings, factory reset, apply exit, flash demo parameter, cart structural parameters, vehicle structure parameter, suspender
Structural parameters, container structure parameter, storage yard structure parameter, encoder configuration parameters, laser configurations parameter, inclinometer configuration
The control positions such as parameter, photographic head configuration parameter, motor control parameter, controller configuration parameter, user can be aobvious by touch
Display screen is monitored and is operated.
The invention has the beneficial effects as follows：Can according to laser range sensor, absolute value encoder, high-definition digital video camera,
The dispatch command of the metrical information of two-way obliquity sensor etc. and harbour operation management system, by the land stage of hovering it is long-range+
Scene automatically controls validation testing, is automatically performed the door word operation of unloaded (or load case) suspender, rolls amendment, reverse para-position, hang
Stop rectifying a deviation and grabbing case and put the operations such as case；And there is complementary handss/automatic mode, redundancy positioning, the anti-bowling, slack rope beaten to stop drop, tight rope
Prohibit the several functions such as unlocking, emergency shutdown, fault cues, process record, remote monitoring, aligning accuracy, lifting can be significantly improved
Working performance, reduction hit case accident and save human cost, can be widely used for all kinds of rubber-tyreds and rail mounted of Container Yard
Straddle truck.
Description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the mechanical construction drawing of operating system in the present invention.
Fig. 2 is the electrical structure diagram of operating system in the present invention.
Fig. 3 is the control flow chart of operating system in the present invention.
Fig. 4 is the system main panel of the remote operator interface of operating system in the present invention.
Fig. 5 is the setting sub-panel of the remote operator interface of operating system in the present invention.
Specific embodiment
Below with reference to accompanying drawing, the invention will be further described.
In the embodiment shown in fig. 1, in the present invention, the frame for movement of operating system mainly includes：Tyre crane (1), dolly
(11), suspender (12), lower limb post (13), container (2), truck (3), absolute value encoder (111), laser range sensor
(112), high-definition digital video camera (113), two-way obliquity sensor (114), scram button (131), automatically control ACK button
(132) component such as.Wherein：Storage yard container is sequentially longitudinally deposited in below tyre crane, and truck passage is located at one below tyre crane
Sling lifting operation is drawn by hoist cable in side, dolly level run on beam track, the lifting mechanism on dolly, and suspender includes
Suspension bracket reverses the components such as telescoping mechanism, rotation lock switching mechanism, and measurement dolly level is to position and the absolute value of suspender vertical position
Encoder is separately mounted on the power transmission shaft of trolley travelling and lifting mechanism, and measure suspender down either side stockyard height four swash
Ligh-ranging sensor is respectively symmetrically (recommends front/rear sensor installing space W installed in dolly cornerl=2Wc+2Wi, WcFor packaging
Case width, WiFor container stacking gap；Recommend left/right sensor installing space LlIt is as far as possible long, but it is long to should be less than the short case of 20 chis；
The flying height H of unloaded suspender/box to target heap position when recommending start point/end point stage hanging low levelg=Hc, HcFor container
Highly), suspender both sides are gathered and lower section stockyard, three high-definition digital video cameras of truck track visual pattern is respectively symmetrically installation
(recommend front/rear video camera installing space W at Plantago minuta/rear portionh=Wc+Wi) and track side lower limb post lower inside (recommend shooting
Machine setting height(from bottom) is the average terrain clearance of truck load bed), before and after measuring tyre crane/one of left and right directions level inclination two-way incline
Angle transducer is arranged on dolly, scram button, automatically controls the lower outside that ACK button is separately mounted to track side lower limb post.
In the embodiment depicted in figure 2, in the present invention, the electrical structure of operating system mainly includes：Positioned at the harbour of Central Control Room
Operation management system (TOPS) and remote monitoring computer (RMC), and the absolute value encoder (AVE) positioned at tyre crane, swash
Ligh-ranging sensor (LDS), two-way obliquity sensor (TAS), high-definition digital video camera (HDC), industrial computer (IPC) or programmable
Automation controller (PAC), monitoring running state (RSM), operation handle switch (OHS), scram button (ESB), automatically control
ACK button (ACB), Programmable Logic Controller (PLC) or motion controller (SMC), motor driver (MPD), cart walking mechanism
(GTM), wheeling mechanism (TTM), suspender lifting mechanism (SLM), rotation lock switching mechanism (SLSM) and suspension bracket reverse telescopic machine
The components such as structure (HTTM).Its operation principle is：Two AVE measure dolly level respectively to the vertical absolute position in absolute position and suspender
Put, four LDS measure the stockyard height of suspender down either side respectively, before and after a TAS measurement tyre crane/level of left and right directions
Inclination angle, two HDC gather the visual pattern in suspender both sides and lower section stockyard respectively, and ESB and ACB receives the urgency of truck driver respectively
Stop and confirmation signal；IPC or PAC receives the data flow of AVE, LDS, TAS, HDC transmission respectively by COM1, and by number
Word I/O mouths receive the level signal of ESB and ACB respectively, and the remote control for receiving RMC by WLAN (WLAN) refers to
Make and from the case position dispatch command of TOPS, while the monitoring information of operation field is fed back to RMC and TOPS；IPC or PAC are pressed
According to handss/automatically-controlled door word motion control arithmetic, control instruction is sent to by PLC or SMC by COM1；PLC or SMC again will controls
System instruction drives GTM, TTM, SLM, SLSM and HTTM to run by MPD respectively, PLC or SMC also simultaneously reception tyre crane RSM,
The input signals such as OHS, and send the output signals such as running status instruction.
In the embodiment shown in fig. 3, in the present invention, the control flow of operating system mainly includes：System start-up, parameter set
Put, the four part flow process such as operation, automatic running manually, operational mode is mainly divided to manually and automatically two kinds, and has handss/automatic mold
Formula complementary function；Start acquiescence automatic running pattern, such as switches to manual mode of operation, and system is subsequently walked automatic running is suspended
Suddenly, after switching back into automatic running pattern again and releasing time-out, system will recover automatic running subsequent step.1) system start-up：
Control initialization/enable/disabling, reads in systematic parameter and exits setting, and system fault diagnosis (if any the system failure, then exit and are
System, prompting and record failure), it is continuous to read AVE position xaAnd ya, LDS range finding yl, TAS inclination angle thetaszAnd θx, HDC visions, RMC refer to
Make, PLC feedback etc. port communication data.2) parameter setting：Recover user/Default Value, modification/preservation user to arrange, application
And exit parameter setting.3) run manually：Achievable crab traversing speed, sling lifting speed, suspension bracket reverse/flexible, rotation lock
The control functions such as opening and closing, crab traversing speed control also include anti-beating bowling function (dolly slowing down until stopping when hitting case early warning
Operation), sling lifting speed controlling also including slack rope stop drop function (drop to bottom out slack rope when suspender stop decline), revolve lock open
Closing control also includes that tight rope prohibits unlocking function (revolving lock to forbid unlocking during tight rope state).4) automatic running：Job instruction does not update
Or job instruction when wrong, is waited, otherwise order performs the preparatory stage (including rising to a top, moving to a jack-up point), rises
The point stage (automatically controls confirmation, drops to and bottom out slack rope, locking and grab case, rise to door including hanging low level, prompting is dropped to
Top), a transition stage (including a top terminal is moved to), terminal stage (automatically controlled really including hanging low level, prompting is dropped to
Recognize, drop to bottom out slack rope, unlocking and put case, rise to top) 13 job steps, period can perform at any time jerk and exit from
Dynamic operation, stop automatic running, skip currently go to next step, suspend subsequent step, switch to manual mode and time-out after
Continuous step etc. is operated；| LDS positioning-HDC positioning |, during >=error threshold ξ, suspends subsequent step, fault cues and record；Suspender
In the hovering land stage, when ranking in track, palpus is long-range and truck driver keeps acknowledgement state continue automatic running simultaneously,
Continue automatic running by remote acknowledgement state must only be kept when ranking in other.Below to moving of car direction side two-way
LDS para-position algorithms, hanging low level box upper limb are illustrated away from critical workflows such as door heights of roofs algorithms：
When | Xo-xa|≤Wc/2+2WiAnd | Xo-xa|≥WcWhen/2, if yl0-yl2≥Hc/ 2 and yl1-yl2≥Hc/ 2, then
When | Xo-xa|≤Wc/2+2WiAnd | Xo-xa| ＜ WcWhen/2, then
To yl(xa∈[Xo-Wc/2+Wi,Xo+Wc/2-Wi]) be filtered, then sy=ylmin-Hg(or ylmin-Hg-Hc)。
In formula：Wc、Hc、WiRespectively the width of container, height and stack spacing；
HpFor the vertical distance of rope point to target heap position on start point/end point stage hoist cable；
HgThe flying height of unloaded suspender/box to target heap position during low level hanging for the start point/end point stage；
θzFor the inclination angle that the tyre crane relative level that TAS is measured is turned round around z-axis；
LlFor the installing space of left/right two-way LDS；
xaFor the dolly x-axis current location that trolley travelling AVE is measured；
XoFor dolly x-axis target location；
yl0、yl1、yl2 are respectively 3 cyclic shift register values that moving of car direction side two-way Laser Measuring is obtained；
xyl0、xyl1、xyl2Respectively yl0、yl1、yl2 corresponding dolly x-axis current locations；
For the x that two-way LDS is measuredyl0With XoThe average of spacing；
ΔsxFor the x that two-way LDS is measuredyl0With XoThe difference of spacing；
Reverse to parallactic angle for suspension bracket.
ylminFor ylMinima；
syFor hanging low level when box upper limb away from door heights of roofs.
In the embodiment shown in fig. 4, the present invention in operating system remote operator interface system main panel mainly by two
Dimension picture control (including working scene flash demo), vision imaging control (including working scene shoot and monitor), character string show
Show that control (including case position dispatch command, by the instruction of box type, suspender working condition), numerical value show that control is (current including suspender
Position, suspender present speed, cart current inclination), tab control (including automatic running pattern, manual mode of operation), cloth
You show control (including fault alarm, instruction complete, jerk outer button, automatically control confirmation outer button), boolean it is defeated
Enter the position compositions such as control (including setting, startup, jerk, exiting), user can be monitored by touch-sensitive display screen and be grasped
Make.Working scene flash demo, working scene shoot and monitor are respectively used to show the laser scanning figure of storage yard operation process in real time
Picture and machine vision image (three road HDC video combinations)；Case position dispatch command includes starting point row number, terminal 2 character strings of row number
Show control；Included by box height, by 2 character string display controls of box length by the instruction of box type；Suspender working condition includes
Rotation lock/load, 2 character string display controls of hawser/land；Suspender current location includes that X-axis position, the numerical value of Y-axis position 2 show
Show control；Suspender present speed includes that X-axis speed, 2 numerical value of Y-axis speed show control；Cart current inclination includes that X-axis is inclined
Angle, 2, Y-axis inclination angle numerical value show control；Automatic running pattern includes current work step, 2 character strings of the amount of fulfiling assignment
Show control, and start automatic running, suspend automatic running, hovering land stage and automatically control confirmation, skip and currently go to
4 boolean's input controls of next job step；Manual mode of operation includes that crab traversing speed, sling lifting speed, suspension bracket are turned round
The flexible knob of button, suspension bracket, rotation lock opening and closing 5 numerical value input controls of knob are rotated, and this instruction has manually completed 1 boolean
Input control.
In the embodiment shown in fig. 5, the present invention in operating system remote operator interface setting sub-panel mainly by cloth
That input control (exiting including preservation user's setting, recovery user's setting, factory reset, application), tab control (are wrapped
Include flash demo parameter, cart structural parameters, vehicle structure parameter, hanger structure parameter, container structure parameter, storage yard structure
Parameter, encoder configuration parameters, laser configurations parameter, inclinometer configuration parameter, photographic head configuration parameter, motor control ginseng
Number, controller configuration parameter) etc. position composition.Preserve user to be provided for opening file path dialog box, preserve current setting
Arrange as User Defined；Recover user to be provided for opening file path dialog box, the user preserved before recovery makes by oneself
Justice is arranged；Factory reset is used for recovering factory default setting；Current setting is automatically saved as program using exiting
Initial setting up when restarting, using changing and exit setting subfunction；Flash demo parameter includes scaling, the upper left arm of angle
Away from, 3 numerical value input controls of radius of corner；Cart structural parameters include crossbeam length, crossbeam height, lower limb post width, lower limb pillar height, suspension
High, big wheel is wide, 7 numerical value input controls of big wheel radius；Vehicle structure parameter includes little overall width, little overall height, dolly from beam
Gap, dolly wheel base, 5 numerical value input controls of trundle radius；Hanger structure parameter include suspender width, spreader height,
3 numerical value input controls of hawser spacing；Container structure parameter includes container width, low case height, high case 3 numerical value of height
Input control；Storage yard structure parameter includes case column pitch, left post/numerical value input control of case spacing 2；Encoder configuration parameters bag
Include X-axis/Y-axis encoder zero-bit, X-axis/Y-axis/numerical value input control of angle-position encoder multiplying power 5, X-axis/Y-axis/angle-position encoder
The I/O input controls of port 3, encoder traffic rate drop-down list input control；Laser configurations parameter includes that X-axis/Z axis swash
Light device spacing, it is negative outer/just outer/negative in/the high 6 numerical value input controls of just interior laser instrument base, bear in outer/just outer/negative/just interior laser
The I/O input controls of device port 4, laser instrument traffic rate drop-down list input control；Inclinometer configuration parameter includes inclinometer
Port I/O input controls, inclinometer traffic rate drop-down list input control；Photographic head configuration parameter includes negative sense/forward direction/car
Road camera video file 3 path input controls of the storing path, negative sense/forward direction/I/O of track camera interface 3 input controls
Part；Motor control parameter includes that Y-axis zero-bit is risen away from door, hovered to bottoming out the discrepancy in elevation, dolly/suspender speed of service, dolly/suspender
Plus/minus speed 6 numerical value input controls of time；Controller configuration parameter includes IP address character string input control etc..
Claims (3)
1. a kind of container piling site tyre hoister automatization operation system, can be according to laser range sensor, absolute value encoder, height
The dispatch command of clear digital camera, the metrical information of two-way obliquity sensor and harbour operation management system, by hovering
Fall the stage it is long-range+scene automatically controls validation testing, carry out spreader position and speed, suspension bracket reversed and flexible, rotation lock opening and closing fortune
Dynamic control, is automatically performed zero load or carries the door word operation of box hanger, roll amendment, reverse para-position, hovering correction and grab case and put case
Operation, and stop drop, tight rope taboo unlocking, emergency shutdown, event with handss/automatic mode complementation, redundancy positioning, the anti-bowling, slack rope beaten
Barrier prompting, process record, remote monitoring function；The system is mainly by remote monitoring computer (RMC), industrial computer (IPC) or can
Prgraming automatized controller (PAC), absolute value encoder (AVE), laser range sensor (LDS), two-way obliquity sensor
(TAS), high-definition digital video camera (HDC), automatically control ACK button (ACB), scram button (ESB), Programmable Logic Controller
(PLC) or motion controller (SMC) constitute；The system principle is：Two AVE measure dolly level respectively to absolute position and hang
Has vertical absolute position, four LDS measure the stockyard height of suspender down either side respectively, and TAS measurement tyre cranes are square all around
To level inclination, two HDC gather the visual pattern in suspender both sides and lower section stockyard respectively, and ACB and ESB receives truck respectively
The confirmation of driver and emergent stop signal, IPC or PAC receive the data flow of AVE, LDS, TAS, HDC transmission respectively by COM1,
And receive the level signal of ACB and ESB, and the remote control for receiving RMC by WLAN by digital I/O mouths respectively
Instruction and the case position dispatch command of harbour operation management system (TOPS), while feed back to RMC by the monitoring information of operation field
And TOPS, IPC or PAC are according to handss/automatically-controlled door word motion control arithmetic, by COM1 by control instruction be sent to PLC or
Control instruction is driven wheeling mechanism, suspender lifting mechanism, rotation lock by motor driver by SMC, PLC or SMC again respectively
Switching mechanism and suspension bracket reverse telescoping mechanism operation, and PLC or SMC also receives tyre crane monitoring running state, operation handle simultaneously
Switch input signal, and send running status instruction output signal.
2. container piling site tyre hoister automatization operation system according to claim 1, the handss/automatically-controlled door word motion control
Algorithm processed is mainly divided to manually and automatically two kinds of operational modes, and has handss/automatic mode complementary function；Start acquiescence automatic running
Pattern, such as switches to manual mode of operation, and system will be suspended automatic running subsequent job step, and switch back into automatic running mould again
Formula and release time-out after, system will recover automatic running subsequent job step；Under manual mode of operation, trolley travelling speed is capable of achieving
Degree, sling lifting speed, suspension bracket are reversed/are stretched, rotation lock open and close controlling function, and crab traversing speed control also includes preventing beating bowling
Function, sling lifting speed controlling also stop drop function including slack rope, and rotation lock open and close controlling also includes that tight rope prohibits unlocking function；Automatically
Under operational mode, job instruction does not update or waits when wrong job instruction, and otherwise order performs rising to for preparatory stage
Door top, move to a jack-up point, the starting point stage drop to hanging low level, prompting automatically control confirmation, drop to bottom out slack rope,
Locking grabs case, rises to top, and transition stage moves to a top terminal, the terminal stage drop to hanging low level, prompting from
Dynamic control confirms, drop to and bottom out slack rope, unlocking and put case, rise to 13 job step in top, and period can perform jerk at any time
And exit automatic running, stop automatic running, skip
And suspend subsequent step operation；When LDS exceeds thresholding with HDC position errors, suspend subsequent step, fault cues and record；Hang
In the tool hovering land stage, when ranking in track, palpus is long-range and truck driver keeps acknowledgement state continue to transport automatically simultaneously
OK, continue automatic running by must only keeping remote acknowledgement state when ranking in other.
3. container piling site tyre hoister automatization operation system according to claim 1, the long-range behaviour of the operating system
Making the system main panel at interface mainly includes working scene flash demo, working scene shoot and monitor, case position dispatch command, is hung
Box instruction, suspender working condition, suspender current location, suspender present speed, cart current inclination, automatic running pattern, handss
Dynamic operational mode, fault alarm, instruction complete, jerk outer button, automatically control confirmation outer button, settings, startup, urgency
Stop, exit control position, arranging sub-interface mainly includes that preserving user arranges, recovers user's setting, factory reset, application
Exit, flash demo parameter, cart structural parameters, vehicle structure parameter, hanger structure parameter, container structure parameter, stockyard
Structural parameters, encoder configuration parameters, laser configurations parameter, inclinometer configuration parameter, photographic head configuration parameter, motor control
Parameter, controller configuration parameter control position, user can be monitored by touch-sensitive display screen and be operated.
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| CN201510650957.5A CN105217472B (en) | 2015-10-09 | 2015-10-09 | Automatic operating system for container yard tire crane |
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| CN201510650957.5A CN105217472B (en) | 2015-10-09 | 2015-10-09 | Automatic operating system for container yard tire crane |
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| CN116443732A (en) * | 2023-04-20 | 2023-07-18 | 上海安渊电子科技有限公司 | Visual inspection device for automatic box placing of collection card |
| CN118524186A (en) * | 2024-05-30 | 2024-08-20 | 博大视野(厦门)科技有限公司 | Visual container loading and unloading information transmission and display method |
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| CN103231990A (en) * | 2012-12-30 | 2013-08-07 | 上海胜迈机电科技有限公司 | Lifting appliance path optimization control system used for container gantry crane |
| CN203229326U (en) * | 2013-02-06 | 2013-10-09 | 上海理工大学 | Intelligent container gantry crane loading and unloading control system |
| CN203301649U (en) * | 2013-06-09 | 2013-11-20 | 青岛外轮理货有限公司 | Monitoring center management system applied to a visualized cargo handling system for container |
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