CN109179213A - Container pier storage yard automated system - Google Patents
Container pier storage yard automated system Download PDFInfo
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- CN109179213A CN109179213A CN201811054959.8A CN201811054959A CN109179213A CN 109179213 A CN109179213 A CN 109179213A CN 201811054959 A CN201811054959 A CN 201811054959A CN 109179213 A CN109179213 A CN 109179213A
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- Prior art keywords
- truck
- armg
- container
- dimensional laser
- suspender
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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
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/01—General aspects of mobile cranes, overhead travelling cranes, gantry cranes, loading bridges, cranes for building ships on slipways, cranes for foundries or cranes for public works
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of container pier storage yard automated systems, being arranged side by side on the inside of the track bridge has fast and operation lane, three-dimensional laser scanner is set on big crossbeam, the three-dimensional laser scanner is for monitoring fast prevailing state, the three-dimensional laser scanner is connect with controller, and the controller and the control of trolley body power mechanism connect；The data that the present invention is acquired by scanner, are judged, when Operation Van's trace gather sticks into luggage and unloads casing working, if fast truck has passing behavior, trolley stops operation, and guarantee fast truck safety.
Description
Technical field
The present invention relates to track bridge technical field of structures, more particularly to a kind of container pier storage yard automated system.
Background technique
It, can be using fast arranged side by side unilateral on the inside of track bridge and Operation Van in order to improve the operating efficiency of harbour
The scheme in road, fast are walked for non-working truck, and operation lane is walked for working truck, are greatly improved operation effect
Rate.However, suspender need to pass through fast truck, and security risk is larger when sticking into luggage to Operation Van's trace gather and unloading casing working.
Summary of the invention
For above-mentioned the technical problems existing in the prior art, it is an object of the invention to provide a kind of container pier storage yards certainly
Dynamicization system.
To achieve the purpose of the present invention, the present invention provides a kind of container pier storage yard automated system, the tracks
Being arranged side by side on the inside of bridge has fast and operation lane, and three-dimensional laser scanner, the three-dimensional laser are arranged on big crossbeam
Scanner is for monitoring fast prevailing state, and the three-dimensional laser scanner is connect with controller, the controller and trolley
The control connection of mechanism power mechanism；
When sticking into luggage to Operation Van's trace gather and unloading casing working, if fast truck has passing behavior, trolley stops making
Industry guarantees fast truck safety.
Wherein, further includes: truck guides system,
The truck guides system, comprising: the RFID card reader of truck lane inlet is arranged in, setting drives in truck
Indoor RFID card and car-mounted terminal and remote controllers, the RFID card reader reads the data in RFID card, and will count
According to remote controllers are transferred to, navigation information is sent to car-mounted terminal by remote controllers.Wherein, multiple RFID are set along road
Card reader reads the data of RFID card by the multiple RFID card readers being arranged on road, and transfers data to long-range control
Device；
After truck reaches the intelligent sluice gate of harbour, vehicle collection port information is transmitted to far at the first time by RFID card reader
Range controller, remote controllers send task instruction and path navigation information to the car-mounted terminal of trailer driver.
Wherein, further includes: the truck guides system,
The truck guides system, comprising:
The three-dimensional laser scanner that is mounted on big crossbeam is mounted on two dimensional laser scanning instrument at cart thigh crossbeam,
Stopping guide is carried out to inside and outside truck, and shows that truck aligns information using LED display, truck driver adjustment is prompted to stop in time
By position, realizes the zero load of operation and heavily loaded truck exactitude position in ARMG gauge, truck is made accurately to be parked in ARMG lifting in advance
Position mitigates the labor intensity of driver, improves the efficiency of loading and unloading of container；
The three-dimensional laser scanner and two dimensional laser scanning instrument are connect with controller, the controller and LED display
Connection, the LED display show that truck aligns information, and the truck contraposition information includes moving forward or back direction, distance letter
Breath.
Wherein, comprising:
(1) cart positioning system, comprising: Flag plate, opposite type sensor and the first absolute position encoder are positioned:
The Flag plate is used in combination with opposite type sensor, and the position installation on the inside of two siding tracks, on the outside of stockyard is fixed
Position plate FLAG, and one is arranged every 6m, for being corrected in cart traveling process to big truck position；The Flag plate of two sides
Asymmetric installation；
The opposite type sensor is installed a set of respectively in cart two sides, passes through number with first absolute position transducer
It is connected according to line；
The absolute position encoder is mounted on big mechanism of car, for recording the serial number of Flag plate；
(2) lifting mechanism positioning system, comprising: the second absolute position encoder and cam stop, described second absolutely
Position coder is mounted on by hoisting drum, is used to position lifting altitude；The cam stop is mounted on raising
Reel end is used for lifting altitude safeguard protection and verifies to raising position；
(3) trolley body positioning system, comprising: in an encoder of motor side installation, the encoder is used for small
Truck position is positioned.
Compared with prior art, beneficial effects of the present invention are that the data acquired by scanner are judged, made
When industry lane truck carries out handling casing working, if fast truck has passing behavior, trolley stops operation, and guarantees trace gather of overtaking other vehicles
Card safety.
Detailed description of the invention
Fig. 1 show the track bridge structural schematic diagram of the application；
Fig. 2 show the first schematic diagram of damping holder structure of the application scanner；
Fig. 3 show the second schematic diagram of damping holder structure of the application scanner；
In figure, 1- three-dimensional laser scanner, 2- electrical house, 3- fast, 4- operation lane, the stockyard 5-, the hyperbaric chamber 6-, 7-
Crossbeam, 8- furred ceiling bolt, 9- fixed frame, 10- spring, 11- connection bolt, 12- shield, 13- fastening nut, 14- rotate spiral shell
Bolt, 15- sliding bar, 16- arc fixture block, 17- elastic piece.
Specific embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.It should be appreciated that described herein
Specific embodiment be only used to explain the present invention, be not intended to limit the present invention.
It should be noted that " connection " described herein and the word for expressing " connection ", as " being connected ",
" connected " etc. had both included that a certain component is directly connected to another component, and had also included that a certain component passes through other component and another portion
Part is connected.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also be intended to include plural form, additionally, it should be understood that, when in the present specification using belong to "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, component or module, component and/or their combination.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.
As shown in Figure 1-Figure 3, the present invention provides a kind of container pier storage yard automated system,
Being arranged side by side on the inside of the track bridge has fast and operation lane, and 3 D laser scanning is arranged on big crossbeam
Instrument, the three-dimensional laser scanner is for monitoring fast prevailing state, and the three-dimensional laser scanner is connect with controller, institute
It states controller and the control of trolley body power mechanism connects；
When sticking into luggage to Operation Van's trace gather and unloading casing working, if fast truck has passing behavior, trolley stops making
Industry guarantees fast truck safety.
Since the cart of spatial digitizer installation often moves, therefore it provides a kind of cushion socket makes connection more firm.
Including shield, the shield is square shade, and lower ending opening, two sides have been symmetrically arranged a clamp system, institute
Stating clamp system includes gripping block, the side of the gripping block be connected with sliding bar and rotation bolt, described sliding bar one end with
Gripping block is fixedly connected, and the other end passes through the wall of shield and is slidably connected with the wall of shield, and the end of the sliding bar is set
It is equipped with end cap, the rotation bolt passes through the wall of shield, and is threadedly coupled with the wall of shield, and inner end and gripping block are sliding
Dynamic connection rotates bolt by rotation, so that gripping block moves left and right；When use, scanner is mounted on two clampings
Between block, it is threaded with fastening nut on the rotation bolt, the position restriction of rotation bolt is realized by fastening nut；Institute
Stating gripping block is arc fixture block, and elastic piece is provided on the inside of arc fixture block, and the elastic piece is rubber material；The protection
Realize that shield is connect with fixed frame by connection bolt, and protect by the connection bolt being mounted on four angles in cover upper end
Connection bolt between cover and fixed frame is socketed with spring, and connection bolt is slidably connected with shield and fixed frame, and the upper end is logical
It crosses nut to be fixed, damping effect may be implemented by the mechanism, fixed frame is square box, and fixed frame upper end is welded on crossbeam
On, in order to enable connection more fastens, also pass through furred ceiling bolt fastening.
Stockyard inner orbit position is maintained the statusquo, gauge 33m, wherein 01A~05A, 01B~05B, 01C~04C, 01D~
" 7+2, column container truck lane " is arranged in 05D, 01E~stockyard 05E gauge, and case spacing is 460mm, and stacking tier is " heap
6 cross 7 ", and two truck driving channels are arranged in automation case area the same side, the wide 7.8m in lane.05C and 05R refrigerating box stockyard
Arrange+1 truck lane of 8 column container, case spacing 400mm, the wide 6.4m in lane.Automation case area is logical in stockyard track and gauge
It crosses isolation rail or U-shaped guardrail and truck driving passage area to separate, fence is always about 16067m, and U-shaped guardrail is 3455 groups total.
Inside automatic yard and surrounding newly sets fence, and automation case area passes through isolation rail or U-shaped in track and span
Guardrail is separated with truck driving passage area, and fence is always about 16067m, and U-shaped guardrail is 3455 groups total.
The application stockyard automatic control system, comprising:
One, positioning system:
(1) absolute position encoder is installed in lifting mechanism positioning system, the detection of raising position by hoisting drum
Device positions lifting altitude；It is additionally provided with cam stop in hoisting drum end, for lifting altitude safeguard protection and right
Raising position is verified.
(2) big mechanism of car positioning system, cart localization method use FLAG localization method.FLAG localization method is using bilateral
Absolute value encoder+positioning plate FLAG verification mode.1 absolute value encoder and a set of is respectively installed on the big mechanism of car in two sides
Opposite type sensor is detected for the absolute position to cart；Positioning plate FLAG is installed by two siding tracks, is arranged every 6m
One, for being verified in cart traveling process to encoder position.
(3) trolley body positioning system only needs to pacify in motor side since trolley uses rack pinion system
Fill the encoder of a security level.
(4) suspender fine motion system positioning system, in the embodiment of the present application, the suspender fine motion of 31 RMG is hydraulic cylinder
Configuration is then to utilize analog input signal for feeding back, therefore hydraulic cylinder configures meeting pair for the actual signal that suspender verts
The rapidity and accuracy of suspender fine motion are influenced.The quasi- electric pushrod by four transducer drives of this programme suspender fine motion
Motor is realized, while increasing absolute value encoder to feed back the physical location of push rod, can reach it is quick and accurately adjustment hang
Tool shortens suspender to the case time.
(5) load orientation system passes through fine motion push rod, scanner or optical fibre gyro to make up the position error of suspender
The correlation detection technologies such as instrument obtain a relative position of the suspender relative to trolley, the detection knot that PLC system is provided according to system
Fruit calculates a compensation positional value, and real-time monitoring suspender is relative to the distance between trolley and surrounding container.It ties simultaneously
The relative position of suspender and container is closed, instruction can be sent to the suspender fine motion system being mounted in restocking by automatically controlling PLC, be mended
The deviation for repaying measurement is finally completed suspender positioning.Mechanical for eight rope of use of 25 ZPMC supplies to prevent shaking suspender, suspender is fixed
Position system increases suspender rocking-prevention function without additional.
(6) object locating system, object localization method are swept by two three-dimensional lasers being mounted on trolley body panel
It retouches instrument and persistently scans object.Three-dimensional laser scanner scanning speed is fast, precision is high, can be in trolley and big mechanism of car high-speed cruising
Disturbing factor is eliminated in the process, and accurate scan is carried out to object.Object includes container, the inside and outside truck for automating case area
Wheel exterior feature, the inside and outside contained container of truck.
Steps are as follows:
1) system can be scanned case area profile, the various boxes in automatic identification trolley direction and cart direction, such as
45ft, 40ft, 20ft, and the gap size between height, width and the case of container (row gap and shellfish interdigit gap) can be scanned.
The information scanned is made comparisons with the case area information that tele-control system system transmits, and verifies its consistency, after confirmation
Container profile can calculate the anticollision distance of container, complete deceleration and parking toll to trolley.
2) the container profile information that system is read according to three-dimensional laser scanner, calculates optimal route, System guides
Suspender is parked in right above container position or truck to be installed, and is controlled suspender and dropped to safe altitude, then prompt remote operation
Member enters manual working state.
3) three-dimensional laser scanner is pacified in each case area entrance gauge for the accuracy for guaranteeing its measurement data
Fill 1 target positioning apparatus for correcting.
(7) truck guidance positioning system
For conventional method by truck driver by personal range estimation, front and back moves repeatedly truck, completes truck and suspender aligns.
Conventional method reduces handling speed, and the collision between suspender, container and truck is difficult to avoid that.Increase truck guidance positioning system
System, using based on two-dimentional (the in-orbit road side operating condition in two operation lane of loading and unloading capacity scheme), three-dimensional laser scanner (loading and unloading capacity side
Have fast operating condition between one operation lane of case and track) mode, realize truck be quickly accurately positioned.Three-dimensional laser scanner
Be mounted on crossbeam, two dimensional laser scanning instrument is mounted at thigh crossbeam, for carrying out stopping guide to inside and outside truck, and use
LED display shows truck contraposition information (moving forward or back the information such as direction, distance), prompts truck driver to adjust in time and stops
Position realizes the zero load of operation and heavily loaded truck exactitude position in gauge, truck is made accurately to be parked in lifting position, mitigation department in advance
The labor intensity of machine improves the efficiency of loading and unloading of container.
In addition, also increasing video monitoring system
Video monitoring is mainly completed by being installed on web camera above, can in time and clearly in whole Job Operations
Monitor comprehensive work visual angle and surrounding working environment.Front end camera deployment scenarios are as follows:
1) automatic box function is realized by suspender lockhole camera, guarantees the standard that remote manual operates when outer truck operation
Really efficiently；
2) whole full-view camera is used to check feelings immediately below in sling upper rack platform cable drum situation and operation process
Condition；
3) truck lane full-view camera is used to the case where observing truck lane；
4) when big machine street crossing camera manually controls street crossing for Central Control Room operator, to the road in former and later two directions
Situation is observed, and guarantees crossing the street in security；
5) truck lane front camera and rear camera is installed on the big car door leg in truck lane side, is mainly used for observing the collection in operation lane
Clamping lock head, when guaranteeing that big machine carries out vanning casing working to truck, tapered end fully ensures that handling operation to lock situation before and after truck
Safety；
6) big machine walking camera is when big machine is walked for checking the barrier in cart direction, it is ensured that safety.
(8) truck license plate number identifying system
Using dual RFID checksum set card information, active RFID card reader (model is installed in truck lane entrance and big machine
Unanimously), to obtain and the label information of truck binding (inside and outside truck is both needed to configuration RFID card).When collection is stuck in truck road entrance
When, it will identify the RFID card on truck, information notified that, to control system, control system carries out handling operation arrangement in advance.Collection
It snaps into up to after stockyard, RFID system reads information of vehicles automatically, and by database analysis, the information such as truck license plate number are issued control
System processed handles related job task, the container of automatic checking operation whether with truck information matches.
(9) recognition of container number and chamber door detection system
To meet container number automatic identification demand when operation, system passes through butt-joint operation management system and corresponding
PLC obtains the signals such as working condition type, lift height, operation container number, case number (CN) and the triggering of chamber door automatic recognition system
It enables container number monitoring camera and intercepts corresponding case number (CN) image, it is right using technologies such as image analysis, signal processing, pattern-recognitions
Image comprising container number and chamber door in picture carries out character locating, Character segmentation, character recognition, and then realizes container number
And the automatic identification of chamber door.
(10) truck is anti-slings system
The application increases between truck operation lane and cart track arranges fast, due to safety concerns, in order to keep away
Exempt from fast vehicle protection system of slinging anti-to truck and cause signal interference, the anti-protection system of slinging of this engineering truck is used big
Truck scanning system (three-dimensional laser scanner) is installed on beam, judges whether truck is hung by scanning operation lane truck profile
It rises, realizes that truck is anti-and sling defencive function.
This programme considers for cart operation safety and efficiently, using the installation truck scanning system (three on big crossbeam
Tie up laser scanner), judge whether truck is lifted by scanning operation lane truck profile, realizes that truck is anti-and sling protection function
Can, while by unloaded truck profile in scanning lane and the container of the heavily loaded truck of identification, and according to its position, guide truck
It is moved to ideal position, realizes truck guidance positioning.For this mode compared with traditional approach, Operation Van's road truck is anti-to sling protection
System and truck guidance positioning system are hardly interfered by fast vehicle, it is ensured that automatic yard lift van operation safety, height
Effect.If the Bei Weishang Operation Van trace gather card failure that works is immovable, handling casing working, truck scanning system must be carried out in fast
System being capable of fast truck.If the drivers' cab of operation lane fault set card is in suspender lower position, due to safety concerns, need
Want failure truck driver manual confirmation whether safe.
More preferably, in field truck waits the advantages that activity duration is short, major trunk roads traffic organization is more smooth for above system flexibility,
And peak period container bridge, truck operating efficiency and utilization rate are higher, while work organization and status are close, it is relatively simple
It is single.
Two, stockyard automatic control system, concrete scheme are as follows:
By RFID initial survey, remote controllers activate task, hair for automatic yard inlet or truck lane entrance
Send a work order to cart, which includes the information such as the specific case position of work, container number, truck number, model.
After cart is connected to task, start automatic running pattern, the source position of corresponding work order is automatically moved to according to mission requirements
It sets.Outer truck stops to after the position that is prepared to stop, and cart starts corresponding subsystem, completes container position or truck truck position
Detection, and trolley, fine motion system are adjusted according to the exact position detected, to realize that suspender is accurately positioned, then check collection
Case number, suspender is dropped into safe altitude (about 6m from the ground, even lower), after be switched to long-range Central Control Room by driver's hand
Dynamic operation, video monitoring picture can know the operating condition of current live to Central Control Room driver at the scene.It is wide by voice system
Speech message is broadcast, and remotely truck is carried out to grab casing working by operation button or rocking bar realization, it will be on suspender after vanning
Safe altitude is risen to, automatic mode is returned to, stockyard is completed and puts case automatically.
In entire operation process, the suspender above outer collection card channel works by long-range driver in middle control to case and open locking
Indoor completion, the suspender in stockyard are automatically performed case and open locking work, and it is complete that the internal truck of cart carries out handling casing working
Automatically, it is not required to manpower intervention.
Three, remote controlled manner
Under teleoperation mode, ARMG all work orders are all directly from tele-control system.No matter receive case or
Pick-up operation, most of operations can be automatically performed, and vert control, truck of automatic running, suspender including belt path optimization draws
It leads, automatic case etc. in stockyard；In order to ensure safety, operator only needs to connect manually in the truck safe altitude of lane side
Limited several movements such as the operation of pipe mechanism and open locking, and automatic, During manual operation can accomplish seamless switching.ARMG is upper automatic
The realization for changing function can effectively reduce driver's working strength, and improve the working efficiency in stockyard.
There are two lanes for the side in the area gauge Nei Xiang, are fast close to cart track, forbid operation；Close to case area
Lane is operation lane, is used for inside and outside truck loading and unloading container.Lane information defines in the parameter list of ARMG, above lane
There is a safe altitude, in outer truck operation, this is highly the lower limit declined automatically, is needed when being lower than the safe altitude manual
Intervene.
When an automatic work instruction is given to lane, such as the instruction of case or suitcase is put, enters lane in suspender
Before must satisfy certain conditions, suspender is waited in holding fix until condition meets.Holding fix can be default by parameter, small
On vehicle direction, the container which is located at close to lane ranks center；Cart direction is related to current work position, and raising
Height selects the maximum value of following parameter as height: 1. safe altitude (according to shellfish bit scan result)；2. lane safe altitude
(default)；3. following situations allows automatically into lane；4. entry instruction is from defined Work List medium-long range control system
It sends；5. reporting truck in place；6. detecting vehicle in lane within the acceptable range.
When holding fix waits, if being transmitted into instruction, but TPS does not detect vehicle, then long-range control
Platform is connected to ARMG, and operator can enter lane by automatic supplemental button movable hanger, and reach safe altitude.Such as
Fruit meets the requirements, then is automatic case by suspender/load when automatic supplemental button.
Under normal circumstances, job instruction is sent to ARMG by tele-control system, then can triggers automatic motor function.
Complete job instruction generally includes a suitcase and one puts two, case movements, is only provided with enough location informations, ARMG
Operation could be executed.ARMG can firstly evaluate suitcase instruction, because it will be executed in working normally sequence first.For long-range
Control system instruction, if only putting box part in job instruction will be performed, the value of the suitcase instruction in work order should be set
It is set to " -1 ".The intermediate report of ARMG progress will be sent in the form of DoneReport after the operation of each open locking.Operation
DoneReport includes important information, so that tele-control system can safeguard its container position information.Job instruction is held
Row may be full automatic, it is also possible to operator be needed to operate.
ARMG control system sends position and speed report to long-range control by ARMG status message during ARMG is moved
System, to provide the information of the position in the process of running ARMG.
(1) teleinstruction
1) move
Move includes: to be moved to destination locations；Suspender is flexible to be executed automatically by work order.Movement directive is neither wrapped
Including case does not include open locking operation yet.When ARMG reaches target position, safe altitude position will remain in.Refer to far from function
If an ARMG obtains a job instruction, but occupied on cart direction of travel by another ARMG, another ARMG is just
One " internal work instruction " can be automatically generated to remove, First ARMG is enable to complete its job instruction.
2) parking bit instruction is returned
Returning parking bit instruction includes: predefined parking position (small truck position, the cart being 1. stored in ARMG control system
Position, lifting altitude)；Wherein small truck position=predefined parameter value, is usually located at small crossbeam center, and raising position=most
Big height, big truck position=provided by client.2. suspender is retracted into 20 foot locations.Cutoff command neither includes case nor wraps
Include open locking operation.Can be prepared to stop instruction in software, such as normal parking position and anchor station.
3) suitcase function
ARMG can from the stockyard in the area truck Shang Huoxiang in lane suitcase.According to the type of job instruction, it is automatic or
Manually perform on internal truck case instruction, manually perform on external truck case instruction.Suitcase is moved to including 1. suspender
Position；2. if desired, suspender stretches；3. case；4. lock operation (terminates, suspender is parked in after executing lock operation
On container).
4) box function is put
Container can be placed in the stockyard in the area truck Shang Huoxiang in lane.According to the type of job instruction, automatically
Or manually perform on internal truck case instruction, manually perform on external truck case instruction.Include:
1. suspender, which moves to, puts case position；2. case；3. unlocking operation (release) (terminates, suspender stops after executing unlocking operation
It is placed on container.
(2) ARMG is run
The mobile instruction being generally viewed as from tele-control system of ARMG, but come from the viewpoint of ARMG control system
It sees, it is made of multiple job instructions, such as suitcase is instructed with case is put.When ARMG is in the work of shellfish position, trolley/lifting machine
Structure will use optimal path.Cart/lifting mechanism does not have optimal path, but when cart starts mobile, has one " to prevent beating guarantor
Age " defencive function.In addition to this, suspender only just allows cart to move when being higher than safe altitude.
1) path optimizing
It is to keep the raising movement in trolley traveling minimum using the reason of optimal path.
2) automatically fall case
The operation of falling case (container is moved to another storage position from a storage position in region) is mentioned by one
Case instruction puts case instruction composition with one, and usually this is automatically performed.
3) it is moved to maximum height
After the case of yard container zone and after the completion of unlocking, if not receiving new instruction, suspender is still parked on chest and ties up
Preset time (being defaulted as 5 seconds) is held, then automatic lifting to maximum height.The waiting time can be changed by adjusting parameter.
In waiting time or during the mobile execution of safe altitude, new work order is sent and can be received by ARMG control system.
4) yard container zone operates
1. suspender is higher than maximum stacking height: being moved in case area, container and suspender are higher than possible barrier most
Big height (maximum stacks height), then there is no limit for the speed of trolley or cart.
2. suspender is lower than maximum stacking height: only enabling rate limitation, container or suspender could be fallen below
The position of predetermined stroke height, but ARMG is moved, there is no limit as long as ARMG is in case area.
3. the variation of suspender size: telescopic spreader can only be on the stroke height of setting.
4. ARMG intelligently slows down: according to the information of case area figure, realizing that raising is intelligently slowed down in case area.
5) lane operates
1. it is high that suspender is higher than most raft: small when raising/suspender mechanism (or with container) is when safe altitude operates above
Vehicle/big vehicle speed is unrestricted.If trolley in correct position and receives work order, cart can be in safe altitude
Track on run.Around the target position that work order provides, cart movement will be limited in the range of a very little.
2. raising is intelligently slowed down: according to given work order, raising intelligently decelerates to the safe altitude on lane.
3. work order and safety verification: moving to truck lane, container and suspender (or with case) descend below safety
Height needs work order and safety verification simultaneously.
4. the variation of suspender size: the size of suspender can only be changed more than safe altitude.
5. suspender declines: only suspender size defined in real work instruction just allows to be reduced to safe altitude or less.
(3) outer truck work flow
(4) interior truck work flow
Interior truck and outer truck work flow are mostly similar, and the following are differences: on internal truck case can be manually
, as described by outer collection card portion, it can also be carried out automatically according to the work order of tele-control system.Truck guides system
System will also monitor whole process during automatic case, and truck headstock is avoided to be pounded under chest.
(5) ARMG failure
If an ARMG breaks down in stockyard and the communication between ARMG disconnects, adjacent ARMG will also stop
Only, until setting barrier zone by station.Later, adjacent ARMG will continue operation and because of shielding area,
It is prohibited from entering the region failure ARMG.Failure ARMG, which must be drawn to, intervenes position as few as possible with other ARMG.
(6) case chorography
Case chorography (stockyard configuration files database) includes each stacking height, the number such as container length in each stacking
According to, and realize and the safety of container in case area and optimization are automatically processed.It is deposited in the controller of all ARMG in case area
There is identical map.All ARMG casees area figure can all be updated with movement of each container in case area.It is stored in case area
Before any container, case area figure is configured using stockyard.
Before each job instruction is received, reasonableness check will be carried out to the case chorography that ARMG control system uses
It (before any container is placed in case area, is configured using stockyard.) check to include stacking height, container length, packaging
Case type and logical place.In the case where detecting problem in work order, tele-control system will show work order quilt
It rejects, code indicates the reason of refusing.
Four, PLC control system on ARMG machine
Control system function is described as follows on machine:
(1) raising, trolley travelling, cart walking mechanism are all made of the transmission system of discrete control, and each mechanism can nothing
Grade speed regulation.The speed-regulating system of each mechanism plays braking should be steady, is quick on the draw, speed adjustable range is wide, and low-speed performance is good, easy to operate.
Lifting mechanism should set Constant-power drive control.
(2) when master controller is from quickly at a slow speed or when the position that stops is mobile, the movement of the mechanism should first pass through electricity
Gas braking make its deceleration, when speed is reduced to rated value 5% or so, brake, but stop in emergency or power supply occur
When failure, brake should be braked immediately.
(3) ARMG in operation process, completed by programmable controller by the operation interlocking and instruction of each mechanism.On
Position machine should have a self-diagnostic function, the operating parameter of each part of ARMG, failure should the touch monitor screen in ground control centre and on
Respectively with Chinese display on the machine of position, and there is the management function loaded and unloaded and safeguard data, it, can when ARMG part breaks down
It shows on the screen of touch screen and host computer, and according to the sequencing print fault list of appearance, can be looked on host computer
Ask the historical record to break down recently.Programmable controller is answered independently-powered.By host computer can also to speed-regulating system into
The functions such as row monitoring management, including parameter setting, performance adjustment.
(4) programmable controller should be advanced reliable, strong antijamming capability, be suitble to produce used in severe industrial environment
Product, configuration should there are 15% surpluses for I/O point, and there are the module slot surplus of extension function, input signal uses passive touch
Point, output signal is using relaying isolation.The CPU speed and memory size of PLC should meet the requirement of ARMG control and management, and
With high-speed communication interface.
The identification of ARMG case number (CN) and chamber door detection system
To meet container number automatic identification demand when ARMG operation, system passes through butt-joint operation management system and correspondence
The PLC of ARMG obtains signals, case number (CN) and the chamber door automatic identification systems such as working condition type, lift height, operation container number
System triggering enables container number monitoring camera and intercepts corresponding case number (CN) image, using skills such as image analysis, signal processing, pattern-recognitions
Art carries out character locating, Character segmentation, character recognition to the image in picture including container number and chamber door, and then realizes collection
The automatic identification of vanning number and chamber door.
ARMG anticollision technology
Collision avoidance system can be using technologies such as ultrasonic sensor, laser sensor, video cameras or by the way of combining
To realize.
(1) anticollision technology of the ARMG in storage yard operation
When ARMG cart, raising, trolley are run in stockyard, exist between the container under container and suspender in case area
Intersection between physical spatial location, therefore anticollision processing is carried out using distinct methods according to different situations；When cart, trolley carry out
When long distance running, lifting altitude will rise to the highest point of barrier, and cart, trolley just can enter operation；When handling packaging
When case, ARMG determines the movement running track such as raising, trolley, cart, suspender according to the complaint message in stockyard.
(2) the anticollision technology between ARMG and truck
When the trolley travelling of ARMG is to truck lane, the bottom (suspender band case) of suspender (empty suspender) bottom or container must
Safe altitude must be operated in operate above, when trolley travelling is to target position, only remote central control room monitoring personnel confirms
After safety, the movement of loading and unloading container can be carried out, it is ensured that the safety of truck and truck driver.
(3) the anticollision technology between adjacent two ARMG
With across adjacent two ARMG of track when close to each other, different anticollisions will be used according to different operation modes
Method:
A. during normal operation, ARMG is in automatic job mode or long-range middle control operates work pattern, between ARMG
Anticollision mainly passes through the data communication between two ARMG, the respective big truck position of other side is informed, when mutual big truck position
When less than safe distance between adjacent ARMG, ARMG by respective PLC system respectively control cart slow down, parking.
B. in service mode, ARMG is in manual operation mode, and the anticollision between ARMG is mainly by being mounted on the ARMG
The binocular camera of two siding track cart lower beam ends carries out alarming anticollision, while linking with the PLC of ARMG, and realization subtracts automatically
Speed, parking.The direction of motion vision signal of ARMG carries out local acquisition, analysis, storage, is transferred to control centre by optical fiber,
Control centre carry out unified view, in conjunction with ARMG controller transmit real time kinematics track data, establish stereoscopic camera mould
Type forms three-dimensional space data, realizes detection of obstacles alarm alarm, and return deceleration, brake control signal.
(4) the anticollision technology between ARMG and other barriers
By being mounted on the binocular camera of the two siding track cart lower beam end ARMG, movement front is likely to occur
The larger barrier such as people, vehicle carries out alarming anticollision, while linking with the PLC of ARMG, realizes automatic retarding, parking.The fortune of ARMG
Dynamic direction vision signal carries out local acquisition, analysis, storage, is transferred to control centre by optical fiber, unites in control centre
One browsing, the real time kinematics track data that transmits of controller in conjunction with ARMG, establish stereoscopic camera model, form three-dimensional space number
According to, realization detection of obstacles alarm alarm, and return deceleration, brake control signal.
ARMG remotely controls intelligent video switching
Front-end camera acquires the relevant vision signal of all ARMG operations, by Transmission system by video signal transmission to far
Control center, this project system pass through the PLC Control management system of seamless interfacing ARMG, according to different ARMG operating statuses, certainly
Dynamic corresponding real-time video picture to the intelligent video client that switches is shown, is automatically provided for ARMG remote control person real-time and complete
The operation visual angle in face.ARMG remote control person can also remotely control camera by intelligent video client operation interface
(such as cradle head control, monitored picture scale).
It includes: large vehicle walking monitoring camera, entrucking road monitoring camera, trolley that ARMG, which remotely monitors the monitor camera being related to,
Monitoring camera, suspender monitoring camera, trailer confirmation monitoring camera, binocular (solid) camera etc..
ARMG positioning and target detection
ARMG is detected including at least following two: one is the positioning of the spatial position to ARMG, are embodied as cart
Positioning, the positioning of trolley, the positioning of raising, suspender Micro-positioning；Another kind is the intelligence to target object in operating area
It can detection.And according to both detected data informations, controls the correlations such as ARMG raising, trolley, cart, suspender fine motion and hold
The adjustment of row mechanism；Or the objects such as notice truck carry out relevant position adjustment.
ARMG receives production management system instruction, controls its suspender and container exists in the case where automating unattended mode
X, Y, Z-direction precision be ± 20mm within.
Object detection system can identify that the collection card position for being parked in loading-unloading vehicle road in ARMG span, system can combine ARMG
On the PLC controller target position information passback control system that will test that treated, controlled, adjusted by ARMG control system
The movement of the executing agencies such as raising, cart, trolley, suspender fine motion is last to realize that ARMG is directed to the adjustment of target position
Lift van prepare.Meanwhile object detection system can carry out position deviation to the truck for being parked in loading-unloading vehicle road in ARMG span
Detection, it is logical by stockyard auxiliary system when the error of the parking position of truck and the target position of ARMG operation is greater than 1.5m
Know that truck driver completes the adjustment of parking position, ARMG is translated or rotated horizontally, fine motion by the large and small vehicle direction of suspender, real
The positive location of existing truck loading, unloading case is grasped if error occurs in positive location by long-range monitoring room manual intervention
Make, adjusts spreader position, last manual confirmation lift van operation.
Truck license plate number identifying system
On ARMG machine, sluice gate, every piece of stockyard inlet setting RFID to truck carry out infomation detection.
RFID technique is a kind of contactless automatic identification technology, the basic principle is that utilizing radiofrequency signal and its space coupling
It closes, transmission characteristic, realizes and the automaton of article to be identified static or on the move is identified.Fixed RFID reader system
System includes RFID reader, reading and writing device antenna, equipment installation upright bar, reader triggering equipment, device line connection, equipment peace
Adjustment examination and reader software interface.
With the communication interface of tele-control system
It is primarily used to processing heap area figure Block Map information with the communication interface of tele-control system, and to ARMG
Job instruction (putting the job instructions such as case, suitcase from stockyard to truck including snap into stockyard from collection).ARMG reception comes from
Heap area figure information provided by tele-control system is (including the case number (CN) of box-shaped profile and all containers, position in certain a pile area
Set, size etc.), it is compared with box-shaped profile scanning result in actual job, and calculate excellent working path automatically.If any comparison
Exception makes warning note, and requires manually to carry out verification adjustment.Meanwhile every completion one-stop operation, ARMG feed back to long-range control
System processed confirms that the job instruction is completed and updates in tele-control system system the heap area figure information in the heap area.
Under teleoperation mode, ARMG all work orders are all directly from tele-control system.No matter receive case or
Pick-up operation, most of operations can be automatically performed, and vert control, truck of automatic running, suspender including belt path optimization draws
It leads, automatic case etc. in stockyard；In order to ensure safety, operator only needs to connect manually in the truck safe altitude of lane side
Limited several movements such as the operation of pipe mechanism and open locking, and automatic, During manual operation can accomplish seamless switching.ARMG is upper automatic
The realization for changing function can effectively reduce driver's working strength, and improve the working efficiency in stockyard.
The above is only a preferred embodiment of the present invention, it is noted that for the common skill of the art
For art personnel, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (4)
1. a kind of container pier storage yard automated system, which is characterized in that being arranged side by side on the inside of the track bridge has fast
With operation lane, three-dimensional laser scanner is set on big crossbeam, the three-dimensional laser scanner is logical for monitoring fast
Row state, the three-dimensional laser scanner are connect with controller, and the controller and the control of trolley body power mechanism connect；
When sticking into luggage to Operation Van's trace gather and unloading casing working, if fast truck has passing behavior, trolley stops operation, and protects
Demonstrate,prove fast truck safety.
2. a kind of container pier storage yard automated system according to claim 1, which is characterized in that further include: truck
Guidance system,
The truck guides system, comprising: the RFID card reader of truck lane inlet is arranged in, is arranged in truck driver's cabin
RFID card and car-mounted terminal and remote controllers, the RFID card reader reads the data in RFID card, and data are passed
Remote controllers are defeated by, navigation information is sent to car-mounted terminal by remote controllers.Wherein, multiple RFID card readings are set along road
Device reads the data of RFID card by the multiple RFID card readers being arranged on road, and transfers data to remote controllers；
After truck reaches the intelligent sluice gate of harbour, vehicle collection port information is transmitted at the first time by long-range control by RFID card reader
Device processed, remote controllers send task instruction and path navigation information to the car-mounted terminal of trailer driver.
3. a kind of container pier storage yard automated system according to claim 2 characterized by comprising
The truck guides system, further includes:
The three-dimensional laser scanner that is mounted on big crossbeam is mounted on two dimensional laser scanning instrument at cart thigh crossbeam, internally
Outer truck carries out stopping guide, and shows that truck aligns information using LED display, prompts truck driver to adjust in time and stops position
It sets, realizes the zero load of operation and heavily loaded truck exactitude position in ARMG gauge, truck is made accurately to be parked in ARMG lifting position in advance,
The labor intensity for mitigating driver, improves the efficiency of loading and unloading of container；
The three-dimensional laser scanner and two dimensional laser scanning instrument are connect with controller, and the controller is connect with LED display,
The LED display shows that truck aligns information, and the truck contraposition information includes moving forward or back direction, range information.
4. a kind of container pier storage yard automated system according to claim 1 characterized by comprising
(1) cart positioning system, comprising: Flag plate, opposite type sensor and the first absolute position encoder are positioned:
The Flag plate is used in combination with opposite type sensor, and positioning plate is installed at the position on the inside of two siding tracks, on the outside of stockyard
FLAG, and one is arranged every 6m, for being corrected in cart traveling process to big truck position；The Flag plate of two sides is non-right
Claim installation；
The opposite type sensor is installed a set of respectively in cart two sides, passes through data line with first absolute position transducer
Connection；
The absolute position encoder is mounted on big mechanism of car, for recording the serial number of Flag plate；
(2) lifting mechanism positioning system, comprising: the second absolute position encoder and cam stop, second absolute position
Encoder is mounted on by hoisting drum, is used to position lifting altitude；The cam stop is mounted on hoisting drum
End is used for lifting altitude safeguard protection and verifies to raising position；
(3) trolley body positioning system, comprising: in an encoder of motor side installation, the encoder is used for small parking stall
It sets and is positioned.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811054959.8A CN109179213A (en) | 2018-09-11 | 2018-09-11 | Container pier storage yard automated system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811054959.8A CN109179213A (en) | 2018-09-11 | 2018-09-11 | Container pier storage yard automated system |
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| CN109179213A true CN109179213A (en) | 2019-01-11 |
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| CN201811054959.8A Pending CN109179213A (en) | 2018-09-11 | 2018-09-11 | Container pier storage yard automated system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110264128A (en) * | 2019-05-25 | 2019-09-20 | 宁波梅山岛国际集装箱码头有限公司 | Harbour container handling method and system |
| CN110414904A (en) * | 2019-08-09 | 2019-11-05 | 中国外运福建有限公司 | A kind of container intelligence station system |
| CN111309470A (en) * | 2020-05-13 | 2020-06-19 | 北京主线科技有限公司 | Job scheduling method and device |
| CN112919161A (en) * | 2021-03-03 | 2021-06-08 | 苏州车泊特智能科技有限公司 | Automatic disassembly and assembly system for container lock button |
| CN113753760A (en) * | 2020-06-04 | 2021-12-07 | 重庆柯沃起重机械有限公司 | Intelligence sign indicating number brick loading system |
| CN113979367A (en) * | 2021-10-12 | 2022-01-28 | 深圳中集智能科技有限公司 | Automatic identification system and method for container position |
| CN115140563A (en) * | 2022-07-20 | 2022-10-04 | 万宝矿产有限公司 | Automatic compensation system and method for building and stacking position of mining spreader |
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2018
- 2018-09-11 CN CN201811054959.8A patent/CN109179213A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110264128A (en) * | 2019-05-25 | 2019-09-20 | 宁波梅山岛国际集装箱码头有限公司 | Harbour container handling method and system |
| CN110414904A (en) * | 2019-08-09 | 2019-11-05 | 中国外运福建有限公司 | A kind of container intelligence station system |
| CN111309470A (en) * | 2020-05-13 | 2020-06-19 | 北京主线科技有限公司 | Job scheduling method and device |
| CN111309470B (en) * | 2020-05-13 | 2021-01-05 | 北京主线科技有限公司 | Job scheduling method and device |
| CN113753760A (en) * | 2020-06-04 | 2021-12-07 | 重庆柯沃起重机械有限公司 | Intelligence sign indicating number brick loading system |
| CN113753760B (en) * | 2020-06-04 | 2023-10-03 | 重庆柯沃起重机械有限公司 | Intelligent stacking brick loading system |
| CN112919161A (en) * | 2021-03-03 | 2021-06-08 | 苏州车泊特智能科技有限公司 | Automatic disassembly and assembly system for container lock button |
| CN112919161B (en) * | 2021-03-03 | 2022-06-14 | 苏州车泊特智能科技有限公司 | Automatic disassembly and assembly system for container lock button |
| CN113979367A (en) * | 2021-10-12 | 2022-01-28 | 深圳中集智能科技有限公司 | Automatic identification system and method for container position |
| CN115140563A (en) * | 2022-07-20 | 2022-10-04 | 万宝矿产有限公司 | Automatic compensation system and method for building and stacking position of mining spreader |
| CN115140563B (en) * | 2022-07-20 | 2023-10-31 | 万宝矿产有限公司 | Automatic compensation system and method for building stacking position of mining distributing machine |
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Effective date of registration: 20190828 Address after: Room 903, Kaili Building, 188 Tianbao Avenue, Free Trade Test Zone, Tianjin Binhai New Area, 300000 Applicant after: Tianjin Port Container Terminal Co., Ltd. Address before: Room 105, 77 Tianbao Avenue, Tianjin Free Trade Test Area, Tianjin Binhai New Area, Tianjin Applicant before: Tianjin Five Continents International Container Terminal Co., Ltd. |
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Application publication date: 20190111 |
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| WD01 | Invention patent application deemed withdrawn after publication |