CN108062092A - RTG long-range control methods and system - Google Patents
RTG long-range control methods and system Download PDFInfo
- Publication number
- CN108062092A CN108062092A CN201610987617.6A CN201610987617A CN108062092A CN 108062092 A CN108062092 A CN 108062092A CN 201610987617 A CN201610987617 A CN 201610987617A CN 108062092 A CN108062092 A CN 108062092A
- Authority
- CN
- China
- Prior art keywords
- rtg
- stockyard
- container
- job instruction
- suspender
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000009471 action Effects 0.000 claims description 18
- 238000004891 communication Methods 0.000 claims description 9
- 230000007423 decrease Effects 0.000 claims description 6
- 235000015170 shellfish Nutrition 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 5
- 238000000354 decomposition reaction Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 208000028571 Occupational disease Diseases 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The present invention relates to a kind of RTG long-range control methods and systems, obtain the job instruction list that RTG needs are completed, the RTG is chosen from the job instruction list needs the job instruction performed in next step, the job instruction is sent to the RTG, the RTG to be controlled to be operated accordingly to container according to the job instruction；The job instruction list of RTG is obtained, and the instruction control RTG in the job instruction list is operated accordingly；It can realize the remote automatic control of RTG, reduce the work of operating personnel, improve operating efficiency.
Description
Technical field
The present invention relates to RTG control fields, more particularly to a kind of RTG long-range control methods and system.
Background technology
RTG (Rubber Tyre Gantry, rubber tyre gantry crane) is the special of Large-scale professional Container Yard
With machinery, TEU (Twenty-foot Equivalent Unit) is loaded and unloaded.It is applicable not only to the stockyard of container terminal, can equally be well applied to container special-use heaps
.It can make the movement of certain angle, and flexibility is higher than rail mounted, and inland container harbour is loaded and unloaded mostly using RTG
Operation.Main large-scale handling facilities of the RTG as harbour core job region, remote control become wisdom port construction success or failure
Key factor.
, it is necessary to which driver is located at more than ten meters of high-altitude, transparent driver's cabin for a long time in traditional RTG work patterns.Work as operation
When, it is rocked, shaken by equipment, the conditions such as noisy live sound, adverse weather are influenced, easily causing inefficiency, it is possible to draw
Send out occupational disease.This not only influences the health of driver, and it is excessively high to also result in driver's labor intensity, while constrains entire harbour effect
The promotion of rate.
The content of the invention
Based on this, it is necessary to provide a kind of RTG long-range control methods and system, can realize the long-range of RTG work flows
Automation control reduces the work of operating personnel, improves operating efficiency.
On the one hand, the present invention proposes a kind of RTG long-range control methods, including：
Obtain the job instruction list that RTG needs are completed；
The RTG is chosen from the job instruction list needs the job instruction performed in next step；
The job instruction is sent to the RTG, the RTG to be controlled to be carried out according to the job instruction to container
Corresponding operation.
On the other hand, the present invention proposes a kind of RTG tele-control systems, including：
Instruction list acquisition module, for obtaining the job instruction list that RTG needs are completed；
Instruct selecting module, the operation performed for the RTG to be chosen to need in next step from the job instruction list
Instruction；
Control module is operated, for the job instruction to be sent to the RTG, to control the RTG according to the work
Industry instruction operates container accordingly.
Above-mentioned RTG long-range control methods and system obtain the job instruction list that RTG needs are completed, refer to from the operation
It makes and the RTG is chosen in list needs the job instruction performed in next step, the job instruction is sent to the RTG, with control
The RTG is made to operate container accordingly according to the job instruction；The job instruction list of acquisition RTG, and according to
Instruction control RTG in the job instruction list is operated accordingly；It can realize the remote automatic control of RTG, reduce
The work of operating personnel, improves operating efficiency.
Description of the drawings
Fig. 1 is the flow chart of RTG long-range control methods in an embodiment；
Fig. 2 is the flow chart of RTG long-range control methods in another embodiment；
Fig. 3 is the flow chart of step S25 decomposition steps in an embodiment；
Fig. 4 is the flow chart of step S28 decomposition steps in an embodiment；
Fig. 5 is the structure chart of RTG tele-control systems in an embodiment；
Fig. 6 is the structure chart of mobile control module；
Fig. 7 is the structure chart of single-set operation module.
Specific embodiment
Referring to Fig. 1, Fig. 1 is the flow chart of RTG long-range control methods in an embodiment.
In the present embodiment, which includes the following steps：
S11 obtains the job instruction list that RTG needs are completed.
Remote control center is established, establishes the communication connection between the remote control center and the Terminal Operating System of RTG,
The job instruction list that RTG needs are completed is obtained from the Terminal Operating System.Terminal Operating System is arranged on RTG, is
The core controller of RTG for managing and controlling the computer management system of dock operation links, mainly includes stockyard and manages
Reason, the plan of handling ship, Operation control etc..
S12, the RTG is chosen from the job instruction list needs the job instruction performed in next step.
Choose RTG from above-mentioned job instruction list according to preset rules needs the job instruction performed in next step, such as presses
It selects according to the order of job instruction in lists or selects otherwise successively.
The job instruction is sent to the RTG by S13, to control the RTG according to the job instruction to container
It is operated accordingly.
The job instruction performed is needed to be sent to RTG in next step RTG by above-mentioned Terminal Operating System, RTG is received should
Job instruction, and corresponding operation is performed according to the job instruction.
The job instruction includes the RTG operation informations that needs are completed in next step, and the identity information including operation object comes
Source location information and target position information etc. specifically include the letters such as case number (CN), size, source position and the target location of container
Breath.Wherein, which can be some position or the carrier loader on stockyard, and corresponding respectively to will be on carrier loader
Some position on transporting container to stockyard or by the operation on the transporting container on stockyard to carrier loader.
The action type of container and the corresponding stockyard location information of the container can be got by these information,
The action type includes container is transported to carrier loader from stockyard or is transported to stockyard, source position from carrier loader
Information and target position information contain the corresponding stockyard location information of the container, which will for container
The stockyard location information placed or currently placed.
The RTG long-range control methods of the present embodiment obtain the job instruction list of RTG, and according to the job instruction list
In instruction control RTG operated accordingly, can realize the remote automatic control of RTG, reduce the labor of operating personnel
It is dynamic, improve operating efficiency.
Referring to Fig. 2, Fig. 2 is the flow chart of RTG long-range control methods in another embodiment.
In the present embodiment, which includes the following steps：
S21 establishes the communication connection between the Terminal Operating System of the RTG, sets the number of the RTG.
Above-mentioned remote control center can connect the Terminal Operating System of more RTG, realize the data communication with more RTG
Connection, and every RTG is numbered, it can realize that the operation to more RTG controls, which is PLC (Programmable
Logic Controller, programmable logic controller (PLC)) it numbers, which passes through operation control of the PLC realizations to RTG
System.
S22, obtaining RTG by the Terminal Operating System needs the job instruction list completed.
S23, the RTG is chosen from the job instruction list needs the job instruction performed, the operation in next step
Instruction includes the action type of container and the corresponding stockyard location information of the container.
RTG includes the operation of container the above-mentioned transporting container by carrier loader to some position on stockyard,
Or by two kinds of action types on the transporting container on stockyard to carrier loader.If perform former operation, RTG and carrier loader
Traveling is needed to reach the position that container will be placed on stockyard, if performing latter operation, RTG and carrier loader need to go
The position being currently placed on up to container on stockyard is sailed to, further realizes the carrying operation of container, is i.e. both operations are equal
RTG and carrier loader is needed to travel and reach the corresponding stockyard position of container, which is stored in above-mentioned stockyard position letter
In breath.
The job instruction is sent to the RTG by S24, and the job instruction includes action type and the institute of container
State the corresponding stockyard location information of container.
The stockyard location information of S25, the RTG in the job instruction reaches the stockyard specific bit of the container
It puts.
After the Terminal Operating System of RTG receives the job instruction of remote control center transmission, according to the job instruction certainly
Dynamic control RTG arrival needs the corresponding stockyard designated position of container carried in next step, which is the packaging
The stockyard specific location that case will be placed or currently placed.Wherein, above-mentioned stockyard location information, which will include container, to place
Or the location informations such as column, shellfish, row and layer on stockyard are currently placed on, it can accurately determine this according to these location informations
The corresponding stockyard designated position of container.
Referring to Fig. 3, step S25 is specifically included：
S2501 detects the height residing for the suspender of the RTG.
Before RTG drives to the corresponding stockyard designated position of container, in order to which safe operation need to be used it for carrying collection
The suspender of vanning rises to safe altitude.
S2502, judges whether the suspender of the RTG reaches safe altitude, if so, S2503 is entered step, if it is not, into
Step S2504.
S2503, the RTG are proceeded by according to the stockyard location information runs cart movement.
S2504, the suspender rise.
If being found by detecting, the height of the suspender is not reaching to safe altitude, it is necessary to first be risen to safe altitude,
It could start to run cart movement.It runs cart movement and refers to that RTG is moved integrally, RTG does not sling container at this time, runs cart movement
Flexibly, stockyard designated position near zone can quickly be reached by running cart RTG.
S2505 monitors the position of the RTG in real time.The location information of acquisition RTG in real time, and according to the location information and
Above-mentioned stockyard designated position controls the movement locus of RTG.
S2506, judges whether the RTG reaches the shellfish position in the stockyard location information, if so, S2507 is entered step,
S2508 is entered step if not.
S2507, the RTG stop running cart movement, and proceed by race moving of car.
S2508, the RTG run cart movement.
S2509, judges whether the trolley reaches the stockyard designated position of the container, if so, entering step
S2510, if it is not, entering step S2511.
S2510, the RTG stop running moving of car.
S2511, the RTG run moving of car.
If detecting, RTG has arrived at the shellfish position in the location information of stockyard, i.e., near the designated position of stockyard, automatic trigger
RTG carries out race moving of car, is reached by running moving of car above the designated position of stockyard, stops running moving of car.
S26 controls the suspender of the RTG to drop to manual intervention height, switches to manual intervention state, display unit behaviour
Make interface, and camera is switched to the picture of the RTG.
After RTG moves to stockyard designated position, the suspender for triggering RTG declines automatically, when it drops to manual intervention height
When spending, remote control center automatically switches to single-set operation interface, and obtains the picture of the monitoring camera captured in real-time of RTG,
Operating personnel can carry out remote operation on single-set operation interface according to the picture to RTG.
Taking and putting as subtleer operation, it is necessary to which operating personnel's Attended Operation, will specifically carry due to container
Operation is switched to manual intervention state, has ensured the accuracy for carrying operation, and operating personnel need to only participate in manipulating at this stage, pole
Big reduces manual labor, improves working environment, improves dock operation efficiency.
S27 obtains operational order by the single-set operation interface, and according to the operational order and the picture of the RTG
It is operated accordingly in face of the container.
The single-set operation interface, which includes completing to carry, operates required various buttons, operating personnel can flexibly select with
Realize the carrying operation of container.
Referring to Fig. 4, step S27 is specifically included：
S271 detects the position of carrier vehicle.
S272, judges whether carrier vehicle reaches the stockyard designated position, if so, S273 is entered step, if it is not, into
Step S274.
During the transporting container of pier storage yard, carrier loader is also required to move to stockyard designated position, and the fortune
The lower section of RTG need to be moved to by carrying trolley, and carrier loader has fixed running rail, has relatively fixed position relation with RTG,
RTG is facilitated to be carried.S273 takes case to instruct described in acquisition, takes case instruction that the suspender is controlled to decline to complete to take according to described
Case operates.
S274 is waited.
For operating personnel by above-mentioned single-set operation interface, input takes case instruction and the completion of other operational orders that case is taken to grasp
Make.Aforesaid operations instruct the dimension information for including above-mentioned container, and RTG selects corresponding suspender to decline according to the dimension information
Completion takes case to operate.
S275, the suspender rise to manual intervention height automatically, and the RTG starts to run trolley to target location top,
Stop running the operation of trolley, and the suspender is dropped into manual intervention height.
After taking case completion, suspender rises to manual intervention height automatically, and triggering RTG starts to run trolley to target location
Side, since RTG and carrier loader have a relatively fixed position relation, suspender take after the completion of case according to the fixed position relationship and
Action type in operational order is by running trolley travelling to target location.
Container is is transported to carrier loader from stockyard or is transported to stockyard from carrier loader by the action type, the target
Position is the position that container will be placed, which is the carrier loader or the stockyard designated position, i.e., by container
It is placed on the carrier loader or is placed on the designated position of stockyard.
S276 automatically switches to manual intervention state, display single-set operation interface, and camera is switched to the RTG
Picture.
Suspender moves to drops to manual intervention height automatically behind target location, remote control center again switches to manually
Container is placed on target location by intervention states by operating personnel.
S277 puts case instruction described in acquisition, according to the picture for putting case instruction and the RTG suspender is controlled to decline
The container is placed on the target location.
For example, if action type is that container is transported to carrier loader from stockyard, operating personnel are from stockyard designated position
After taking case, suspender rises automatically, and according to relatively fixed position relation between the action type and RTG and carrier loader, from
Dynamic to run to above carrier loader, suspender drops to manual intervention height, and putting case by operating personnel's completion operates.
The RTG long-range control methods of the present embodiment are established logical between remote control center and the Terminal Operating System of RTG
Letter connection, the job instruction list of RTG, the work that RTG is assigned according to the remote control center are obtained by the Terminal Operating System
Industry instruction automatic running moves to the stockyard designated position of container, and suspender declines automatically, when it drops to manual intervention height
When, manual intervention state is automatically switched to, remote control center shows single-set operation interface, and camera is switched to RTG and is drawn
Face, operating personnel flexibly can accurately carry container on the single-set operation interface；This method can be realized
The remote control of entire handling process, operating personnel need not be in tens meters of high driver's cabins, reduce the work of operating personnel,
Improve operating efficiency.
Referring to Fig. 5, Fig. 5 is the structure chart of RTG tele-control systems in an embodiment.
In the present embodiment, which includes：
Instruction list acquisition module 12, for obtaining the job instruction list that RTG needs are completed.
Instruct selecting module 13, the work performed for the RTG to be chosen to need in next step from the job instruction list
Industry instructs.
Control module 14 is operated, for the job instruction to be sent to the RTG, to control the RTG according to
Job instruction operates container accordingly.
In one of the embodiments, which further includes：
Module 10 is established in communication connection, for establishing the communication connection between the Terminal Operating System of the RTG；
Number setup module 11, for setting the number of the RTG.
In one of the embodiments, action type and the container of the job instruction including container are corresponding
Stockyard location information, the action type include the container being transported to carrier loader or from the carrier loader from stockyard
It is transported to the stockyard；The operation control module 14 includes：
Instruction sending module 141, for the job instruction to be sent to the RTG.
Mobile control module 142 reaches the collection for stockyard location informations of the RTG in the job instruction
The stockyard designated position of vanning.
First state handover module 143, the suspender for controlling the RTG drop to manual intervention height, switch to people
Work intervention states show single-set operation interface, and camera is switched to the picture of the RTG.
Single-set operation module 144 obtains operational order for passing through the single-set operation interface, and is referred to according to the operation
The picture of order and the RTG operate the container accordingly.
In one of the embodiments, referring to Fig. 6, the mobile control module 142 includes：
Spreader height judging unit 1421, for judging whether the suspender of the RTG reaches safe altitude.
Cart control unit 1422 is run, if reaching safe altitude for the suspender of the RTG, the RTG is according to the heap
Field location information, which proceeds by, runs cart movement.
Position monitoring unit 1423, for monitoring the position of the RTG in real time.
First trolley control unit 1424, it is described if reaching the shellfish position in the stockyard location information for the RTG
RTG stops running cart movement, and proceeds by race moving of car, if the trolley reaches the stockyard specific bit of the container
It puts, stops running moving of car.
In one of the embodiments, the operational order includes case is taken to instruct and put case instruction, referring to Fig. 7, institute
Stating single-set operation module 144 includes：
Vehicle location judging unit 1441, for judging whether carrier vehicle reaches the stockyard designated position.
Case operation control unit 1442 is taken, if reaching the stockyard designated position for the carrier vehicle, described in acquisition
Case is taken to instruct, takes case instruction that the suspender decline is controlled to complete that case is taken to operate according to described.
Second trolley control unit 1443 rises to manual intervention height automatically for the suspender, and the RTG is according to institute
It states action type and runs trolley to target location top, stop running moving of car, and the suspender is dropped into manual intervention height.
Second status toggle unit 1444 for automatically switching to manual intervention state, shows single-set operation interface, and will
Camera switches to the picture of the RTG.
Case operation control unit 1445 is put, is instructed for obtaining the case of putting, case instruction and the RTG's are put according to described
Picture controls container described in general who has surrendered under the suspender to be placed on the target location.The target location is the carrier loader
Or the stockyard designated position.
Above-mentioned RTG tele-control systems, establish the communication link between remote control center and the Terminal Operating System of RTG
It connects, the job instruction list of RTG is obtained by the Terminal Operating System, RTG refers to according to the operation that the remote control center is assigned
Automatic running is made to move to the stockyard designated position of container, suspender declines automatically, when it drops to manual intervention height, from
Dynamic to be switched to manual intervention state, remote control center shows single-set operation interface, and camera is switched to RTG pictures, grasps
Making personnel flexibly can accurately carry container on the single-set operation interface.During carrying, when hanging
Tool is sling after container according to action type automatic running to target location, and drops to manual intervention height, in remote control
The heart again switches to manual intervention state, realizes that putting case operates by operating personnel；This method can realize entire handling process
Remote control, operating personnel need not be in tens meters of high driver's cabins, reduce the work of operating personnel, while specific carrying
Operation carries out under manual intervention state, and operating efficiency is improved while transporting container operation accuracy is ensured.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope that this specification is recorded all is considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and description is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that come for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of RTG long-range control methods, which is characterized in that including：
Obtain the job instruction list that RTG needs are completed；
The RTG is chosen from the job instruction list needs the job instruction performed in next step；
The job instruction is sent to the RTG, the RTG to be controlled to be carried out accordingly to container according to the job instruction
Operation.
2. RTG long-range control methods according to claim 1, which is characterized in that the operation for obtaining RTG needs and completing
Before the step of instruction list, further include：
The communication connection between the Terminal Operating System of the RTG is established, the number of the RTG is set；
It is described obtain RTG needs complete job instruction list the step of be specially：RTG is obtained by the Terminal Operating System
Need the job instruction list completed.
3. RTG long-range control methods according to claim 1, which is characterized in that the job instruction includes container
Action type and the corresponding stockyard location information of the container, the action type include carrying the container from stockyard
The stockyard is transported to carrier loader or from the carrier loader；
It is described that the job instruction is sent to the RTG, RTG to be controlled to be carried out accordingly to container according to the job instruction
Operation the step of be specially：
The job instruction is sent to the RTG；
Stockyard location informations of the RTG in the job instruction reaches the stockyard designated position of the container；
The suspender of the RTG is controlled to drop to manual intervention height, switches to manual intervention state, shows single-set operation interface,
And camera is switched to the picture of the RTG；
Operational order is obtained by the single-set operation interface, and according to the picture of the operational order and the RTG to described
Container is operated accordingly.
4. RTG long-range control methods according to claim 3, which is characterized in that the RTG is according in the job instruction
Stockyard location information the step of reaching the stockyard designated position of the container be specially：
Judge whether the suspender of the RTG reaches safe altitude, if so, the RTG according to the stockyard location information start into
Row runs cart movement；
The position of the RTG is monitored in real time, if the RTG reaches the shellfish position in the stockyard location information, the RTG stops running
Cart moves, and proceeds by race moving of car；
If the trolley reaches the stockyard designated position of the container, stop running moving of car.
5. RTG long-range control methods according to claim 3, which is characterized in that the operational order includes case is taken to instruct
With put case instruction, it is described that operational order is obtained by the single-set operation interface, and according to the operational order and the RTG
The step of picture is carried out and operated accordingly to the container includes：
Judge whether carrier vehicle reaches the stockyard designated position, if so, described in obtaining case is taken to instruct, according to described case is taken to refer to
Order controls the suspender to decline and completes that case is taken to operate；
The suspender rises to manual intervention height automatically, and the RTG runs trolley to target location according to the action type
Side stops running moving of car, and the suspender is dropped to manual intervention height；
Manual intervention state is automatically switched to, shows single-set operation interface, and camera is switched to the picture of the RTG；
Case instruction is put described in acquisition, according to collection described in general who has surrendered under the picture control suspender for putting case instruction and the RTG
Vanning is placed on the target location；
The target location is the carrier loader or the stockyard designated position.
6. a kind of RTG tele-control systems, which is characterized in that including：
Instruction list acquisition module, for obtaining the job instruction list that RTG needs are completed；
Instruct selecting module, the job instruction performed for the RTG to be chosen to need in next step from the job instruction list；
Control module is operated, for the job instruction to be sent to the RTG, the RTG to be controlled to refer to according to the operation
Order operates container accordingly.
7. RTG tele-control systems according to claim 6, which is characterized in that further include：
Module is established in communication connection, for establishing the communication connection between the Terminal Operating System of the RTG；
Number setup module, for setting the number of the RTG.
8. RTG tele-control systems according to claim 6, which is characterized in that the job instruction includes container
Action type and the corresponding stockyard location information of the container, the action type include carrying the container from stockyard
The stockyard is transported to carrier loader or from the carrier loader；The operation control module includes：
Instruction sending module, for the job instruction to be sent to the RTG；
Mobile control module reaches the container for stockyard location informations of the RTG in the job instruction
Stockyard designated position；
First state handover module, the suspender for controlling the RTG drop to manual intervention height, switch to manual intervention shape
State shows single-set operation interface, and camera is switched to the picture of the RTG；
Single-set operation module obtains operational order for passing through the single-set operation interface, and according to the operational order and institute
The picture for stating RTG operates the container accordingly.
9. RTG tele-control systems according to claim 8, which is characterized in that the mobile control module includes：
Spreader height judging unit, for judging whether the suspender of the RTG reaches safe altitude；
Cart control unit is run, if reaching safe altitude for the suspender of the RTG, the RTG believes according to the stockyard position
Breath, which proceeds by, runs cart movement；
Position monitoring unit, for monitoring the position of the RTG in real time；
First trolley control unit, if reaching the shellfish position in the stockyard location information for the RTG, the RTG stops running
Cart moves, and proceeds by race moving of car, if the trolley reaches the stockyard designated position of the container, stops running small
Vehicle moves.
10. RTG tele-control systems according to claim 8, which is characterized in that the operational order includes taking case
Case instruction is instructed and puts, the single-set operation module includes：
Vehicle location judging unit, for judging whether carrier vehicle reaches the stockyard designated position；
Case operation control unit is taken, if reaching the stockyard designated position for the carrier vehicle, described in acquisition case is taken to instruct,
Take case instruction that the suspender decline is controlled to complete that case is taken to operate according to described；
Second trolley control unit rises to manual intervention height automatically for the suspender, and the RTG is according to the operation class
Type runs trolley to target location top, stops running moving of car, and the suspender is dropped to manual intervention height；
Second status toggle unit for automatically switching to manual intervention state, display single-set operation interface, and camera is cut
Shift to the picture of the RTG；
Case operation control unit is put, instructs for obtaining the case of putting, is controlled according to the picture for putting case instruction and the RTG
Container described in general who has surrendered is placed on the target location under the suspender；
The target location is the carrier loader or the stockyard designated position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610987617.6A CN108062092A (en) | 2016-11-07 | 2016-11-07 | RTG long-range control methods and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610987617.6A CN108062092A (en) | 2016-11-07 | 2016-11-07 | RTG long-range control methods and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108062092A true CN108062092A (en) | 2018-05-22 |
Family
ID=62137337
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610987617.6A Pending CN108062092A (en) | 2016-11-07 | 2016-11-07 | RTG long-range control methods and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108062092A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110510523A (en) * | 2019-09-04 | 2019-11-29 | 重庆科硕起重设备有限公司 | Container control system and working method for freight transport center |
| CN113784087A (en) * | 2021-07-29 | 2021-12-10 | 天津港太平洋国际集装箱码头有限公司 | Automatic change bridge cold box storage yard one deck case operation video monitor system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101303591A (en) * | 2008-06-24 | 2008-11-12 | 上海振华港口机械（集团）股份有限公司 | Control system and method for implementing harbor automatic dock operation |
| CN101329561A (en) * | 2008-07-09 | 2008-12-24 | 上海振华港口机械（集团）股份有限公司 | Automatic dock equipment operation control system and method with emergency handling function |
| CN103064386A (en) * | 2012-12-21 | 2013-04-24 | 招商局国际信息技术有限公司 | Stock dump control system and stock dump control method |
| CN103332597A (en) * | 2013-07-08 | 2013-10-02 | 宁波大榭招商国际码头有限公司 | Active visual technology-based monitoring system used for crane remote operation and implementation method thereof |
| CN105253776A (en) * | 2015-11-25 | 2016-01-20 | 北京金自天正智能控制股份有限公司 | Semi-automatic control method of gantry crane |
| CN105523479A (en) * | 2016-01-12 | 2016-04-27 | 南开大学 | Bridge crane electrical control system based on PLC (Programmable Logic Controller) and variable frequency motor |
-
2016
- 2016-11-07 CN CN201610987617.6A patent/CN108062092A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101303591A (en) * | 2008-06-24 | 2008-11-12 | 上海振华港口机械（集团）股份有限公司 | Control system and method for implementing harbor automatic dock operation |
| CN101329561A (en) * | 2008-07-09 | 2008-12-24 | 上海振华港口机械（集团）股份有限公司 | Automatic dock equipment operation control system and method with emergency handling function |
| CN103064386A (en) * | 2012-12-21 | 2013-04-24 | 招商局国际信息技术有限公司 | Stock dump control system and stock dump control method |
| CN103332597A (en) * | 2013-07-08 | 2013-10-02 | 宁波大榭招商国际码头有限公司 | Active visual technology-based monitoring system used for crane remote operation and implementation method thereof |
| CN105253776A (en) * | 2015-11-25 | 2016-01-20 | 北京金自天正智能控制股份有限公司 | Semi-automatic control method of gantry crane |
| CN105523479A (en) * | 2016-01-12 | 2016-04-27 | 南开大学 | Bridge crane electrical control system based on PLC (Programmable Logic Controller) and variable frequency motor |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110510523A (en) * | 2019-09-04 | 2019-11-29 | 重庆科硕起重设备有限公司 | Container control system and working method for freight transport center |
| CN110510523B (en) * | 2019-09-04 | 2021-10-26 | 重庆科硕起重设备有限公司 | Container control system for freight center and working method |
| CN113784087A (en) * | 2021-07-29 | 2021-12-10 | 天津港太平洋国际集装箱码头有限公司 | Automatic change bridge cold box storage yard one deck case operation video monitor system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105435993B (en) | Transport system and carrying method for panzer application | |
| CN108163717B (en) | A kind of section bar lifting intelligence Overhead travelling crane system | |
| CN101277863A (en) | Method of driving plurality of mine vehicles in mine, and transport system | |
| CN206872296U (en) | A kind of bridge type vehicle-driving device | |
| CN104030164B (en) | Bank bridge job control method and system | |
| CN108263952B (en) | Working method of intelligent tower crane centralized control system based on cloud server | |
| CN205983220U (en) | Remove location and navigation head equipped based on spatial vision sensor | |
| CN107563708A (en) | Goods sorting system and method | |
| CN110282319A (en) | Intelligent AGV logistics resource | |
| CN108062092A (en) | RTG long-range control methods and system | |
| CN108358081B (en) | Working method of intelligent tower crane system capable of realizing automatic hoisting | |
| CN206170699U (en) | Automatic mould changing system with safety monitoring device | |
| CN101301982A (en) | Graphical display system and method for track type container crane job state | |
| JP6014535B2 (en) | Container terminal premise trailer work management system | |
| CN109923578A (en) | System and method for running the commercial vehicle independently travelled | |
| CN114229302A (en) | Simulation method for three-dimensional warehouse management system of four-way shuttle | |
| CN206278844U (en) | The double car avoiding devices of automation track crane | |
| JP4426499B2 (en) | Container delivery method and delivery device for foreign chassis in container terminal | |
| CN206172819U (en) | Overhead traveling crane operating condition monitoring system | |
| CN107750367A (en) | For running the method and handling facilities of handling facilities | |
| CN109282809A (en) | A kind of greenhouse transportation system and transportation resources | |
| CN206162709U (en) | Fork truck monitored control system | |
| CN210214637U (en) | Automatic put in device and have its air transport vehicle | |
| CN106094767A (en) | The comprehensive centralized control system of monorail crane | |
| CN110482411A (en) | A kind of crane control system and method based on autonomous control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180522 |
|
| RJ01 | Rejection of invention patent application after publication |