CN106698194B - Automation loaded van track crane cart positioning system based on Flag positioning plates - Google Patents
Automation loaded van track crane cart positioning system based on Flag positioning plates Download PDFInfo
- Publication number
- CN106698194B CN106698194B CN201611147513.0A CN201611147513A CN106698194B CN 106698194 B CN106698194 B CN 106698194B CN 201611147513 A CN201611147513 A CN 201611147513A CN 106698194 B CN106698194 B CN 106698194B
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- China
- Prior art keywords
- cart
- flag
- track crane
- positioning plates
- loaded van
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C11/00—Trolleys or crabs, e.g. operating above runways
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
- Warehouses Or Storage Devices (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The automation loaded van track crane cart positioning system based on Flag positioning plates that the present invention relates to a kind of, Flag positioning plates are asymmetric on the outside of the inside of " H " type track and stockyard, and opposite type sensor is detected for Flag positioning plates；Two cart absolute position encoders are separately mounted to track crane both sides, two incremental encoders are separately mounted to step-by-step counting of the track crane both sides high speed counting module for incremental encoder, when automating loaded van track crane cart by Flag positioning plates, the signal detected is transmitted to cart absolute position encoder by opposite type sensor, Flag positioning plate serial numbers are determined by cart absolute position encoder, and pulse signal is sent to counting module by incremental encoder, after counting module supercomputing, determine automation loaded van track crane cart left and right sides deviation, and cart is adjusted to control cart driver by central control module, ensure to automate loaded van track crane cart positioning accuracy.
Description
Technical field
The automation loaded van track crane cart positioning system based on Flag positioning plates that the present invention relates to a kind of.
Background technology
It automates in loaded van track crane operation, the precise positional relationship of cart is to the efficiency of automated job and to big vehicle device
The protection of structure.If cart positioning is inaccurate, it is likely to result in when carrying out hanging box operation and case is not allowed, or cause other
The failure of system can cause to fall case accident when serious；Simultaneously be expert at cart when, due to left and right sides deviation it is excessive be easy to equipment
Mechanical structure damage.So a set of accurate cart positioning system is the key that automation projects success.
Conventional automated equipment mostly uses absolute value encoder, and cooperation magnetic nail positions cart, actually using
Occurs situations such as positioning inaccurate, high failure rate, the compartment time just needs to be adjusted cart zero-bit in journey.
Invention content
The present invention is to provide for a kind of automation loaded van track crane cart positioning system based on Flag plates, which uses
The cooperation positioning of Flag positioning plates has the advantages that convenient to install and maintain, at low cost, accurate positioning relative to magnetic nail technology.
The technical scheme is that：A kind of automation loaded van track crane cart positioning system based on Flag positioning plates,
" H " type for automating loaded van track crane cart positions, which includes that Flag positioning plates, opposite type sensor, cart are absolute
Position coder, incremental encoder, high speed counting module, several Flag positioning plates are asymmetric mounted on the inside of " H " type track
With stockyard on the outside of, for automating loaded van track crane cart position correction；The opposite type sensor includes emission sensor and connects
Sensor is received, is detected for Flag positioning plates；Two cart absolute position encoders are separately mounted to track crane both sides, for remembering
Record Flag positioning plate serial numbers；Two incremental encoders are separately mounted to track crane both sides, for sending pulse signal to count module
Block；The high speed counting module, be used for incremental encoder step-by-step counting, calculation automation loaded van track crane cart relative to
The relative position of Flag positioning plates；When automating loaded van track crane cart by Flag positioning plates, opposite type sensor will detect
To signal be transmitted to cart absolute position encoder, Flag positioning plate serial numbers are determined by cart absolute position encoder, and lead to
It crosses incremental encoder and sends pulse signal to counting module, after counting module supercomputing, determine automation loaded van track crane
Cart left and right sides deviation, and automation loaded van track crane cart is adjusted to control cart driver by central control module
Section, it is ensured that automation loaded van track crane cart positioning accuracy.
The Flag positioning plates are made of " L-type " stainless steel plate, wherein the Flag positioning plates of land side are mounted on each 40 English
The center of ruler container shellfish position, the Flag positioning plates of extra large side are mounted on the center of each 20 forty equivalent unit 40 shellfish position, every two pieces
It is divided into 6.5m between Flag positioning plates.
When automation loaded van track crane cart often passes through one piece of Flag positioning plate, the numerical value of the counting module is " clear
Zero ".
When automating loaded van track crane cart deviation more than 100mm, the positioning system alarm, when automation loaded van rail
When road hangs cart deviation more than 150mm, the automation loaded van track crane cart is shut down.
When Flag positioning plates after installation is complete, accurately measure position of each block of plate in the coordinate system of stockyard, establish one
The Map tables of Flag positioning plates in a stockyard, and judge that the Flag that will pass through is fixed by the value of cart absolute position encoder
The serial number x of position plate, formula are：Y=kx+b, wherein y is the value of cart absolute position encoder, and k is between two pieces of Flag positioning plates
Distance, it is that fixed value is less than 6.5 to take k=6.5, b.
The beneficial effects of the invention are as follows：
Cart positioning system used in the present invention based on Flag positioning plates has following features：
It is positioned first using cart " H " type, the asymmetric installation of Flag positioning plates.The mode of asymmetric installation, land side
Flag positioning plates be mounted on the center of each 40 forty equivalent unit 40 shellfish position, the Flag positioning plates of extra large side are mounted on each 20 feet
The center of container shellfish position, between every two pieces of Flag positioning plates between be divided into 6.5m.There are Flag positioning plates in shellfish position each in this way,
More one layer of protection, more increase cart positioning accuracy.
For cart often after one piece of Flag positioning plate, the value of high speed counting module will be clearly at initial followed by the present invention
Value, " clearing " being just known as.It is most in conventional items to be carried out in the maximum position or minimum position in stockyard " clearly
Zero " operation, if in equipment fault, need carry out " clearings " operation, equipment often not full speed (when equipment fault, such as
Fruit cart at full speed, may damage equipment, substantially speed limit is in 10%-30% or so, subject to actual setpoint),
Cart needs row that may need to take a long time to position is reset in this way.And the design of the present invention can save the repairing time
While have protective effect to equipment.
Description of the drawings
Fig. 1 is the automation loaded van track crane cart positioning system block diagram based on Flag plates of the present invention；
Fig. 2, which is that Flag positioning plates are asymmetric, is mounted on " H " type track schematic diagram.
Specific implementation mode
Below according to the drawings and specific embodiments, the invention will be further described.
Such as Fig. 1, shown in 2, a kind of automation loaded van track crane cart positioning system based on Flag positioning plates, for automatic
Change " H " type positioning of loaded van track crane cart, which includes Flag positioning plates, opposite type sensor, cart absolute position encoder
Device, incremental encoder, high speed counting module, central control module, cart driver.
Several Flag positioning plates 4 are asymmetric in the high pressure room siding track 2 and electrical house siding track 3 of " H " type track
5 outside of side and stockyard, for automating 1 position correction of loaded van track crane cart.When automation loaded van track crane cart 1 is logical
When crossing Flag positioning plates 4, the signal detected is transmitted to cart absolute position encoder by opposite type sensor, by the absolute position of cart
It sets encoder and determines 4 serial number of Flag positioning plates, and pulse signal is sent to counting module, by counting module by incremental encoder
After supercomputing, 1 left and right sides deviation of automation loaded van track crane cart is determined, and driven to control cart by central control module
Cart is adjusted in dynamic device, it is ensured that 1 positioning accuracy of automation loaded van track crane cart.
Flag positioning plates 4 use " L-type " stainless steel plate to be made, and are mounted in high pressure room siding track 2 and electrical house siding track 3
Side, 5 outside of stockyard.Every 6.5 meter ampere fills 1 piece, and asymmetric installation is used for cart position correction.
Opposite type sensor：One group of each two (emission sensor and each one of receiving sensor), each one group of extra large land side is used for
Flag positioning plates detect.
Cart absolute position encoder：Each one of track crane both sides, for recording Flag positioning plate serial numbers.
Incremental encoder：Each one of track crane both sides send pulse signal to counting module.
High speed counting module：For the step-by-step counting of incremental encoder, phase of the cart relative to Flag positioning plates is calculated
To position.
Flag positioning plates after installation is complete, accurately measure position of each block of plate in the coordinate system of stockyard, establish one
The Map tables of Flag positioning plates in stockyard, 2 DB blocks are established in program, and (DB370, DB371 are used to store the Map of Flag positioning plates
Table).Then the serial number for the Flag positioning plates that will pass through is judged by the value of absolute position encoder：
Formula is：Y=kx+b.Y is the value of absolute position encoder, and k is that two pieces of Flag position distance between plates (k=6.5),
B is that fixed value is less than 6.5.Such as when y=19, x values are determined between 3 and 4, it is next if equipment is dynamic toward great Bei displacements
A serial number 4 by Flag positioning plates, on the contrary it is 3.
When cart passes through Flag positioning plates, opposite type sensor detects, detects the pulse signal by Flag positioning plates
Afterwards, using the position of the Flag positioning plates of current sequence number as calculating benchmark position.High speed counting module is judged absolute by calculating
The deviation of the position of position coder and the Flag positioning Board positions passed through.Basic principle is that detection is positioned by every piece of Flag
The pulse sum of plate compares Map tables, calculates each pulse in conjunction with the Flag positioning plate serial numbers that absolute position encoder determines
The distance of cart movement.
Central processing module is will send information to, changes the output torque of cart driver with deviation data, is executed big
Vehicle correction acts, and is accurately positioned to cart to realize.
To reduce the error problem in data accumulation calculating process, all can when cart often passes through one piece of Flag positioning plate
By the numerical value " clearing " of high speed counting module.To be protected to equipment, setting can alarm when deviation is more than 100mm, be more than
It can be shut down when 150mm.
Claims (5)
1. a kind of automation loaded van track crane cart positioning system based on Flag positioning plates, big for automating loaded van track crane
" H " type of vehicle positions, it is characterised in that：The system include Flag positioning plates, opposite type sensor, cart absolute position encoder,
Incremental encoder, high speed counting module, several Flag positioning plates are asymmetric on the outside of the inside of " H " type track and stockyard,
For automating loaded van track crane cart position correction；The opposite type sensor includes emission sensor and receiving sensor, is used
It is detected in Flag positioning plates；Two cart absolute position encoders are separately mounted to track crane both sides, for recording Flag positioning
Plate serial number；Two incremental encoders are separately mounted to track crane both sides, for sending pulse signal to counting module；The high speed
Counting module is used for the step-by-step counting of incremental encoder, and calculation automation loaded van track crane cart is relative to Flag positioning plates
Relative position；When automating loaded van track crane cart by Flag positioning plates, opposite type sensor sends out the signal detected
It penetrates and gives cart absolute position encoder, Flag positioning plate serial numbers are determined by cart absolute position encoder, and pass through incremental encoding
Device sends pulse signal to counting module, after counting module supercomputing, determines automation loaded van track crane cart left and right sides
Deviation, and automation loaded van track crane cart is adjusted to control cart driver by central control module, it is ensured that from
Dynamicization loaded van track crane cart positioning accuracy.
2. the automation loaded van track crane cart positioning system according to claim 1 based on Flag positioning plates, feature
It is：The Flag positioning plates are made of " L-type " stainless steel plate, wherein the Flag positioning plates of land side are mounted on each 40 feet
The center of container shellfish position, the Flag positioning plates of extra large side are mounted on the center of each 20 forty equivalent unit 40 shellfish position, every two pieces of Flag
6.5m is divided between positioning plate.
3. the automation loaded van track crane cart positioning system according to claim 1 based on Flag positioning plates, feature
It is：When automation loaded van track crane cart often passes through one piece of Flag positioning plate, the numerical value " clearing " of the counting module.
4. positioning system according to automation loaded van track crane cart of the claim 1-3 any one of them based on Flag positioning plates
System, it is characterised in that：When automating loaded van track crane cart deviation more than 100mm, automation is worked as in the positioning system alarm
When loaded van track crane cart deviation is more than 150mm, the automation loaded van track crane cart is shut down.
5. positioning system according to automation loaded van track crane cart of the claim 1-3 any one of them based on Flag positioning plates
System, it is characterised in that：When Flag positioning plates after installation is complete, accurately measure position of each block of plate in the coordinate system of stockyard,
Establish the Map tables of Flag positioning plates in a stockyard, and judge will to pass through by the value of cart absolute position encoder
The serial number x of Flag positioning plates, formula are：Y=kx+b, wherein y is the value of cart absolute position encoder, and k is two pieces of Flag fixed
Position distance between plates, it is that fixed value is less than 6.5 to take k=6.5, b.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611147513.0A CN106698194B (en) | 2016-12-13 | 2016-12-13 | Automation loaded van track crane cart positioning system based on Flag positioning plates |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611147513.0A CN106698194B (en) | 2016-12-13 | 2016-12-13 | Automation loaded van track crane cart positioning system based on Flag positioning plates |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106698194A CN106698194A (en) | 2017-05-24 |
| CN106698194B true CN106698194B (en) | 2018-09-11 |
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| Application Number | Title | Priority Date | Filing Date |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000044178A (en) * | 1998-07-27 | 2000-02-15 | Kato Works Co Ltd | Method for automatically adjusting detector |
| CN201321348Y (en) * | 2008-11-27 | 2009-10-07 | 比亚迪股份有限公司 | Crown block positioning device and crown block hauling system |
| CN101670981A (en) * | 2009-10-13 | 2010-03-17 | 上海理工大学 | Long rail crane group simultaneous localization system with semi-closed loop position feedback and location method thereof |
| CN101691187A (en) * | 2009-09-07 | 2010-04-07 | 上海海得控制系统股份有限公司 | Self-correcting system for displacement deviation of rigid and flexible legs of gantry crane |
| CN103979411A (en) * | 2014-05-05 | 2014-08-13 | 江苏格雷特起重机械有限公司 | Deviation rectification control apparatus for long-span gantry crane |
| CN204661150U (en) * | 2014-12-29 | 2015-09-23 | 范沛 | Telecommunication and the position detecting device of overhead and gantry cranes |
| CN206278839U (en) * | 2016-12-13 | 2017-06-27 | 上海国际港务（集团）股份有限公司振东集装箱码头分公司 | Automation loaded van track crane cart alignment system based on Flag location-plates |
-
2016
- 2016-12-13 CN CN201611147513.0A patent/CN106698194B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000044178A (en) * | 1998-07-27 | 2000-02-15 | Kato Works Co Ltd | Method for automatically adjusting detector |
| CN201321348Y (en) * | 2008-11-27 | 2009-10-07 | 比亚迪股份有限公司 | Crown block positioning device and crown block hauling system |
| CN101691187A (en) * | 2009-09-07 | 2010-04-07 | 上海海得控制系统股份有限公司 | Self-correcting system for displacement deviation of rigid and flexible legs of gantry crane |
| CN101670981A (en) * | 2009-10-13 | 2010-03-17 | 上海理工大学 | Long rail crane group simultaneous localization system with semi-closed loop position feedback and location method thereof |
| CN103979411A (en) * | 2014-05-05 | 2014-08-13 | 江苏格雷特起重机械有限公司 | Deviation rectification control apparatus for long-span gantry crane |
| CN204661150U (en) * | 2014-12-29 | 2015-09-23 | 范沛 | Telecommunication and the position detecting device of overhead and gantry cranes |
| CN206278839U (en) * | 2016-12-13 | 2017-06-27 | 上海国际港务（集团）股份有限公司振东集装箱码头分公司 | Automation loaded van track crane cart alignment system based on Flag location-plates |
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| CN106698194A (en) | 2017-05-24 |
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