CN109368069B - Container spin lock detection system and method - Google Patents
Container spin lock detection system and method Download PDFInfo
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- CN109368069B CN109368069B CN201811393026.1A CN201811393026A CN109368069B CN 109368069 B CN109368069 B CN 109368069B CN 201811393026 A CN201811393026 A CN 201811393026A CN 109368069 B CN109368069 B CN 109368069B
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- 238000001514 detection method Methods 0.000 title claims abstract description 87
- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000003993 interaction Effects 0.000 claims abstract description 32
- 230000002452 interceptive effect Effects 0.000 claims description 21
- 230000007246 mechanism Effects 0.000 claims description 9
- 238000012840 feeding operation Methods 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 2
- 239000013307 optical fiber Substances 0.000 claims description 2
- 230000008569 process Effects 0.000 description 9
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D90/00—Component parts, details or accessories for large containers
- B65D90/0006—Coupling devices between containers, e.g. ISO-containers
- B65D90/0013—Twist lock
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention relates to a container spin lock detection system and method, the detection system includes AGV and includes eight mutual supports that arrange in four rows and two columns; a passage through which the AGVs pass is formed between the two rows of brackets; the channel is provided with an inlet and an outlet; the eight brackets sequentially comprise a first pair, a second pair, a third pair and a fourth pair of brackets from the entrance; the first pair of brackets and the second pair of brackets are used for bearing 20-ruler containers, the third pair of brackets and the fourth pair of brackets are used for bearing a second 20-ruler container, and each bracket is provided with a detection unit; eight brackets are used for bearing a 40-ruler or 45-ruler container, and each of the first pair of brackets and the fourth pair of brackets is respectively provided with a detection unit; the two detection units on the first pair of brackets and the two detection units on the fourth pair of brackets are used for detecting whether the four corners of the 45-ruler container are provided with twistlocks or not; each detection unit is communicatively coupled to the ECS. The method and the device realize detection of the missing spin lock on the container and improve the safety of interaction of the track crane and the container.
Description
Technical Field
The invention belongs to the technical field of port safety facilities, and particularly relates to a container spin lock detection system and method.
Background
AGVs (Automated Guided Vehicle, automated guided vehicles) are specialized transport devices for automated docks, including front and rear axles, wherein the front axle includes a front lift platform and the rear axle includes a rear lift platform, the front and rear lift platforms being used to lift 20-gauge containers, respectively. In the process of loading and unloading containers, a dock operating system (Terminal Operating System, TOS for short) sends operation and control instruction instructions to an equipment control system (Equipment control system, ECS for short) to realize the scheduling of AGVs, the containers loaded by the AGVs need to be transferred onto a track crane from an AGV platform and into a storage yard through the track crane in the process of unloading containers, the containers in the storage yard need to be transferred onto the AGV platform through the track crane in the process of loading containers, and the containers are loaded onto the ships through the AGVs, and the process of transferring the containers is called as an interaction process.
The container twist lock is an accessory device for connecting and fastening a container with a ship body and preventing the container from being displaced due to stormy waves. In the ship unloading process, the containers unloaded from the ship by the container shore bridge are required to be manually dismantled by a loading personnel or the twistlocks of the containers are removed through an automatic twistlock removing device, but in the actual operation process, due to the negligence of the loading personnel or the reliability problem of the automatic device, the situation that the fixed twistlocks are missed occasionally occurs, the containers unloaded from the ship are lifted by the track crane through the AGV to enter a container yard, after the containers with the fixed twistlocks enter the container yard, the containers with the fixed twistlocks are locked and connected with the lower containers for placing the containers in the container yard, once the track crane lifts the containers again, the containers and the containers connected with the lower containers through the fixed twistlocks are lifted simultaneously, so that serious box accidents are caused, the containers are damaged or the goods in the containers are damaged, and the safety hazards are large.
Disclosure of Invention
The invention provides a container twist lock detection system and method, which are used for solving the problem that the prior art cannot detect the missing twist lock in a container, so that the container with the twist lock enters a storage yard to cause a security accident, realizing the detection of the missing twist lock on the container and improving the security of interaction of a track crane and the container.
In order to solve the technical problems, the invention provides the following technical scheme for solving the problems:
the container spin lock detection system comprises a TOS, an ECS connected with the TOS, and an AGV connected with the ECS, wherein the AGV carries 20-scale, 40-scale or 45-scale containers, and the container spin lock detection system is characterized by further comprising an interaction bracket; the interactive support comprises eight supports which are arranged in four rows and two columns, the heights of the supports are equal, and a channel for the AGVs to pass through is formed between the two columns of supports; the passage is provided with an inlet and an outlet for the AGV to come in and go out; the eight brackets sequentially comprise a first pair of brackets, a second pair of brackets, a third pair of brackets and a fourth pair of brackets along the channel direction from the entrance; the first pair of brackets and the second pair of brackets are used for bearing a first 20-ruler container, and each bracket is respectively provided with a first detection unit for detecting whether the four corners of the first 20-ruler container are provided with a spin lock or not; the third pair of brackets and the fourth pair of brackets are used for bearing a second 20-ruler container, and each bracket is respectively provided with a second detection unit for detecting whether the four corners of the second 20-ruler container are provided with a spin lock or not; the eight brackets are used for bearing a 40-ruler or 45-ruler container, and a third detection unit for detecting whether the four corners of the 40-ruler container are locked or not is respectively arranged on each of the first pair of brackets and the fourth pair of brackets; two first detection units on the first pair of brackets and two second detection units on the fourth pair of brackets are used for detecting whether the four corners of the 45-ruler container are locked or not; each first detection unit, each second detection unit, and each third detection unit are communicatively coupled to the ECS.
Further, a detection mechanism for detecting the container type carried on the interactive support is also arranged on the interactive support; the detection mechanism is in communication with the ECS.
Further, the detection mechanism comprises four photoelectric limit switches; the first photoelectric limit switch is correspondingly arranged on a first bracket in the first pair of brackets, the second photoelectric limit switch is arranged on a second bracket of the second pair of brackets, which is diagonal to the first bracket, the third photoelectric limit switch is arranged on a third bracket of the third pair of brackets, which is diagonal to the second bracket, and the fourth photoelectric limit switch is arranged on a fourth bracket of the fourth pair of brackets, which is diagonal to the third bracket.
Further, each of the first detection units, each of the second detection units, and each of the third detection units are proximity limit switches.
Further, the top end of each bracket is provided with a horizontal supporting plate for bearing the container and a guide plate positioned on the upper surface of the horizontal supporting plate, and the lower end of the guide plate, which is contacted with the horizontal supporting plate, is inclined towards the channel, so that an obtuse angle is formed between the guide plate and the upper surface of the horizontal supporting plate.
Further, four first detection units are correspondingly arranged on the horizontal supporting plates on each of the first pair of brackets and the second pair of brackets, four second detection units are correspondingly arranged on the horizontal supporting plates on each of the third pair of brackets and the fourth pair of brackets, and each third detection unit is correspondingly arranged on the horizontal supporting plates on each of the first pair of brackets and the fourth pair of brackets.
Further, the top end of each bracket is provided with a horizontal supporting plate for bearing the container and a guide plate positioned on the upper surface of the horizontal supporting plate, and the lower end of the guide plate, which is contacted with the horizontal supporting plate, is inclined towards the channel, so that an obtuse angle is formed between the guide plate and the upper surface of the horizontal supporting plate; each photoelectric limit switch is mounted on the guide plate of the corresponding bracket.
Further, the upper end of each bracket is inclined at an angle relative to the lower end toward the channel.
The invention also relates to a method for detecting the container twist-lock by using the method, which is characterized by comprising the following steps: the TOS sends a box sending operation instruction to the ECS; the ECS receives the box feeding operation instruction and controls the AGV to start box feeding, wherein the AGV carries 20-ruler, 40-ruler or 45-ruler boxes of containers; controlling an AGV to lift a lifting platform carrying the container and reach the interaction position of the interaction support; controlling an AGV lifting platform to descend and placing the container on a target bracket on the interaction bracket; collecting feedback signals of each first detection unit, each second detection unit and each third detection unit; and judging whether the container is provided with a spin lock or not according to the feedback signal and the container type of the container, and if so, controlling the track crane by the ECS to stop grabbing the container.
Further, the container shape of the container is obtained by: first kind: obtaining the container type of the container currently operated according to the container feeding operation instruction, or the second type: the method comprises the steps of collecting action signals of all photoelectric limit switches, wherein when signals are fed back by a first photoelectric limit switch and a second photoelectric limit switch, the container type is 20 rules, when signals are fed back by a third photoelectric limit switch and a fourth photoelectric limit switch, the container type is 20 rules, when signals are fed back by the second photoelectric limit switch and a third optical fiber limit switch, the container type is 40 rules, and when signals are fed back by the first photoelectric limit switch, the second photoelectric limit switch, the third photoelectric limit switch and the fourth photoelectric limit switch, the container type is 45 rules.
Compared with the prior art, the invention has the advantages that: the interactive support is used for temporarily storing containers from the AGV so as to be lifted by the track crane, so that the differential time operation between the AGV and the track crane is realized, the stacking efficiency of the track crane is improved, meanwhile, the interactive support is provided with detection units for detecting whether twistlocks exist at four corners of the containers to be borne by the interactive support, so that missing twistlocks are found conveniently, production accidents caused by the fact that the containers with the twistlocks enter a storage yard are avoided, and personal and property safety is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description will be given below of the drawings required for the embodiments of the present invention or the description of the prior art, and it is obvious that the drawings described below are some embodiments of the present invention, and that other drawings may be obtained according to these drawings without the need for inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of an interaction support in an embodiment of a container twist-lock detection system of the present invention;
FIG. 2 is a top view of an interaction support in an embodiment of a container twist-lock detection system of the present invention;
FIG. 3 is a left side view of an interaction bracket in an embodiment of a container twist-lock detection system of the present invention;
FIG. 4 is a partial cross-sectional view of portion A of FIG. 3;
fig. 5 is a flow chart of a container twist lock detection method of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention relates to a container spin lock detection system, which comprises a TOS (not shown), an ECS (not shown) connected with the TOS, an AGV (not shown) connected with the ECS and an interactive support (shown in figures 1 and 2), wherein the AGV carries 20-scale, 40-scale or 45-scale containers; the interactive support comprises eight supports 1-8 which are arranged in four rows and two columns, the heights of the supports 1-8 are equal, and a channel 9 for an AGV to pass through is formed between the two columns of supports; the passage 9 is provided with an entrance and an exit for the AGV to enter and exit; the eight brackets 1-8 sequentially comprise a first pair of brackets 1 and 5, a second pair of brackets 2 and 6, a third pair of brackets 3 and 7 and a fourth pair of brackets 4 and 8 along the channel direction from the entrance; the first pair of brackets 1 and 5 and the second pair of brackets 2 and 6 are used for bearing a first 20-ruler container, and each bracket 1-2 and 5-6 is respectively provided with a first detection unit for detecting whether the four corners of the first 20-ruler container are provided with a twist lock or not; the third pair of brackets 3 and 7 and the fourth pair of brackets 4 and 8 are used for bearing a second 20-ruler container, and each bracket 3-4 and 7-8 is respectively provided with a second detection unit for detecting whether the four corners of the second 20-ruler container are locked or not; the eight brackets 1-8 are used for bearing a 40-ruler or 45-ruler container, and a third detection unit for detecting whether the four corners of the 40-ruler container are locked or not is respectively arranged on each of the first pair of brackets 1 and 5 and the fourth pair of brackets 4 and 8; two of the first detection units on the first pair of brackets 1 and 5 and two of the second detection units on the fourth pair of brackets 4 and 8 are used for detecting whether the four corners of the 45-ruler container are locked or not; each first detection unit, each second detection unit, and each third detection unit are communicatively coupled to the ECS.
Specifically, in the present embodiment, the interactive carriage is used for temporarily storing a container carried by an AGV during unloading or a container lifted by a rail during loading, as shown in fig. 1 and 2, the interactive carriage includes eight carriages 1 to 8 arranged in four rows and two columns, the two columns of carriages form an intermediate aisle 9 through which the AGV passes, the intermediate aisle 9 leading from the sea side to the land side, wherein the sea side is an access opening and the land side is a storage yard, and the eight carriages 1 to 8 include four sets of carriages located on both sides of the aisle 9, the first set of carriages including a carriage 1 and a carriage 5 opposite to the carriage 1, the second set of carriages including a carriage 2 and a carriage 6 opposite to the carriage 2, the third set of carriages including a carriage 3 and a carriage 7 opposite to the carriage 3, the fourth set of carriages including a carriage 4 and a carriage 8 opposite to the carriage 4, wherein the respective carriages are equal in height. As shown in fig. 3, in order to facilitate the placement of the container and the placement in place, the top end of each of the brackets 1 to 8 is provided with a horizontal support plate 13 and a guide plate 14, the lower end of the guide plate 14 contacting the horizontal support plate is inclined toward the channel 9 so that an obtuse angle is formed between the guide plate 14 and the upper surface of the horizontal support plate 13, and a guide groove is formed between the horizontal support plate 13 and the guide plate 14; and in order to enhance the bearing strength of the brackets 1-8, the upper ends of the brackets 1-8 are inclined at an angle relative to the lower ends towards the channel 9, thus enhancing the bearing strength of the bearing plate 13. The containers currently mainly circulated in ports are three sizes of 20, 40 and 45, and as shown in fig. 1 and 2, in this embodiment, the holders 1, 2, 5 and 6 of the eight holders 1 to 8 are designed to carry 20-sized containers, the holders 3, 4, 7 and 8 are designed to carry 20-sized containers, and the eight holders are all used to carry 40-sized or 45-sized containers. For convenience of description, the arrow direction in fig. 1 is directed from the entrance of the sea side to the land side, and since eight racks 1 to 8 are required to carry 40-or 45-sized containers, racks 1 and 5 on the sea side and racks 4 and 8 on the land side are different in width from racks 2, 3, 6 and 7 in the middle, i.e., d1> d2.
The workflow of transferring containers unloaded from the ship to the interaction rack is as follows: when a ship with a container arrives at the shore, the TOS sends a box sending operation instruction to the ECS, and the quay crane is controlled to place the container unloaded from the ship on an AGV platform; the AGV platform receives an operation instruction sent by the ECS and starts to send boxes; when the AGV reaches the entrance to the sea, controlling the jacking platform (such as a front jacking platform, a rear jacking platform or both the front jacking platform and the rear jacking platform) of the AGV for bearing the container to jack and enter the interactive support; after reaching the interaction position, the AGV jacking platform descends to place the container at the target position of the interaction support, for example, if no container is arranged on the supports 1-2 and 5-6 on the sea side and 20-ruler containers are carried on the front jacking platform of the AGV, the AGV is controlled to completely enter the interaction position of the interaction support and then descends the jacking platform, or if no container is arranged on the supports 1-2 and 5-6 on the sea side and 20-ruler containers are carried on the rear jacking platform of the AGV, and half of the AGV is controlled to enter the interaction position of the interaction support and then descends the jacking platform; after the container is placed at the target position on the interactive support, detecting whether an unopened twistlock exists on the container which is unloaded from the ship through the AGV, if the unopened twistlock does not exist, lifting the container from the supports 1-2 and 5-6 by the track crane to enter a yard for stacking, if the unopened twistlock is detected, stopping grabbing the container by the ECS control track crane, and controlling the AGV to take the container to leave the interactive support to a shore bridge or to be conveyed to a designated position for unlocking, thereby avoiding the container from entering the yard with the twistlock and causing production safety accidents. The specific method for detecting spin lock is described in detail below.
In order to detect whether there are any unopened twistlocks at the four corners of a container placed on the rack of the interaction rack, in this embodiment, as shown in fig. 1 to 4, detection units are provided on the racks for carrying the four corners of the container, which are all proximity limit switches and are all correspondingly mounted on the horizontal carrier plate by mounting racks. As shown in fig. 1 and 2, the first pair of brackets 1 and 5 and the second pair of brackets 2 and 6 are used for carrying a 20-ruler container, for four corners of the 20-ruler container, a proximity limit switch 11 is correspondingly arranged on a horizontal supporting plate 13 of the bracket 1, a proximity limit switch 51 opposite to the proximity limit switch 11 is arranged on a horizontal supporting plate of the bracket 5, a proximity limit switch 21 is arranged on a horizontal supporting plate of the bracket 2, and a proximity limit switch 61 opposite to the proximity limit switch 21 is arranged on a horizontal supporting plate of the bracket 6; the third pair of brackets 3 and 6 and the fourth pair of brackets 4 and 8 are used for bearing another 20-ruler container, a proximity limit switch 31 is arranged on a horizontal bearing plate of the bracket 3, a proximity limit switch 71 opposite to the proximity limit switch 31 is arranged on a horizontal bearing plate of the bracket 7, a proximity limit switch 42 is arranged on a horizontal bearing plate of the bracket 4, and a proximity limit switch 82 opposite to the proximity limit switch 42 is arranged on a horizontal bearing plate of the bracket 8; eight brackets 1-8 are used for carrying 40-ruler or 45-ruler containers, so in order to detect whether the four corners of the 40-ruler containers are locked or not, a proximity limit switch 12 which is spaced a certain distance from the proximity limit switch 11 is further arranged on a horizontal supporting plate 13 of the bracket 1, a proximity limit switch 52 which is opposite to the proximity limit switch 12 is arranged on a horizontal supporting plate of the bracket 5, a proximity limit switch 42 which is spaced a certain distance from the proximity limit switch 41 is arranged on a horizontal supporting plate of the bracket 4, and a proximity limit switch 82 which is opposite to the proximity limit switch 42 is arranged on a horizontal supporting plate of the bracket 8, wherein the arranged proximity limit switches 11, 51, 42 and 82 are used for detecting whether the four corners of the 45-ruler containers are locked or not. As shown in fig. 3, assuming that a 20-gauge container is carried on the first pair of brackets 1 and 5 and the second pair of brackets 2 and 6, when the other corner of the container is free from the twist lock, there is no gap between the bottom plane of the other corner and the horizontal support plate (as shown by point C in fig. 3), and when one corner of the container is provided with the twist lock, there is a certain distance between the bottom plane of the corner and the horizontal support plate 13 (as shown by point B in fig. 3), and when the container is provided with the twist lock, there is no gap between the bottom plane of the other corner and the horizontal support plate 13, the proximity limit switch 11 mounted on the horizontal support plate 13 of the bracket 1 by the mounting bracket (not shown) is not operated, so that it can be judged that the container on the brackets 1-2, 5-6 is provided with the twist lock.
In order to avoid misjudging whether the container has a twist lock due to unreliable detection of the proximity limit switch, the accuracy of judging the result is improved, after the feedback signal of the proximity limit switch is acquired, the ECS judges whether the container has the twist lock in combination with the container box type (such as 20-ruler, 40-ruler or 45-ruler) on the current interaction support, for example, if the container on the current support is obtained as a 20-ruler container close to the sea, namely, the 20-ruler container is positioned on the supports 1-2 and 5-6, at the moment, if any one of the proximity limit switches 11, 51, 21 and 61 acts, the container is indicated to have no twist lock, and whether the proximity limit switches 12, 52, 31, 71, 41-42 and 81-82 act is not concerned, at the moment, the ECS controls the track to hoist the container; if at least one of the proximity limit switches 11, 51, 21 and 61 is detected to be not operated, the corner corresponding to the proximity limit switch is indicated to have a spin lock, whether the proximity limit switches 12, 52, 31, 71, 41-42 and 81-82 are operated or not is not concerned, at the moment, the ECS controls the track crane to stop grabbing the container, and simultaneously controls the AGV to carry the container to leave the interactive support to a shore bridge or to be conveyed to a specified position for picking and locking, so that the container is prevented from entering a storage yard with the spin lock, and production safety accidents are caused.
The ECS can obtain the container type of the container currently operated when receiving the container feeding operation command sent by the TOS, but occasionally the TOS sends an error command to cause that the container type known from the command is unreliable, so that for the sake of safety, when the AGV loads the container into the interactive rack and places the container on the target rack, the current container type is judged, specifically, a detection mechanism is provided on the rack, the detection mechanism of the embodiment includes four photoelectric limit switches (only the photoelectric limit switches 15 are shown in fig. 4), for example, the detection mechanism may be respectively arranged on the racks 1, 2, 3 and 4 on one side of the passage 9, or on the racks 5, 6, 7 and 8 on the other side of the passage 9, or on the racks 1, 6, 7 and 8, or on the racks 5, 2, 7 and 4, or 5, 2, 3 and 8, etc., for detecting whether the container and the container type of the container are placed on the rack, specifically, as shown in fig. 4, each photoelectric limit switch is arranged on the guide plate of the rack. For example, consider four photoelectric limit switches disposed on the frames 1, 6, 3, and 8 as an example, when the ECS receives feedback signals from the photoelectric limit switches on the guide plates 14 of the frame 1 and the guide plates of the frame 6, it indicates that 20-gauge containers are loaded on the sea side, when feedback signals from the photoelectric limit switches on the guide plates of the frame 3 and the guide plates of the frame 8 are received, it indicates that 20-gauge containers are loaded on the land side, when feedback signals from the photoelectric limit switches on the guide plates of the frame 6 and the guide plates of the frame 3 are received, it indicates that 40-gauge containers are loaded, when feedback signals from the photoelectric limit switches on the frames 1, 6, 3, and 8 are all received, it indicates that 45-gauge containers are loaded on the frame, when feedback signals from any one photoelectric limit switch are not received, it indicates that the interactive frame is empty, when feedback signals from one or three photoelectric limit switches are received, it indicates that the current container is not placed, and the ECS sends an instruction to adjust the placement of the container.
In this embodiment, the bottom of each of the alternating frames is deeply buried so that each frame can bear at least 25 tons of gravity, thereby providing a stable bearing surface for the container. The interaction support reduces the occupation time of the AGV to the interaction area, improves the space utilization rate of the AGV interaction area, eliminates the mechanical impact on equipment caused by the direct container interaction between the track crane and the AGV, ensures that the AGV and the track crane interact with the container more stably, reduces interaction risk and equipment failure rate, and ensures that the container is safe and reliable in the transferring process.
The invention also relates to a container spin lock detection method, which comprises the following steps: the TOS sends a box sending operation instruction to the ECS; the ECS receives the box feeding operation instruction and controls the AGV to feed boxes, wherein the AGV carries 20-ruler, 40-ruler or 45-ruler boxes; controlling a jacking platform of the AGV for bearing the container to jack up and reach the interaction position of the interaction support; controlling the AGV lifting platform to descend and placing the container on a target bracket on the interactive bracket; collecting feedback signals of each first detection unit, each second detection unit and each third detection unit; and judging whether the container is provided with a spin lock or not according to the feedback signal and the container type of the container, and if so, controlling the track crane by the ECS to stop grabbing the container. The specific implementation process of this method is shown in fig. 1 to 5 and described above, and will not be described here in detail.
According to the container spin lock detection system and method, the interactive support is used for temporarily storing containers from the AGVs so as to enable the track cranes to hoist, so that operation during difference between the AGVs and the track cranes is achieved, stacking efficiency of the track cranes is improved, meanwhile, detection units for detecting whether spin locks exist at four corners of the containers to be borne by the interactive support or not are arranged on the interactive support, missing spin locks are conveniently found, production accidents caused by the fact that the container with the spin locks enters a storage yard are avoided, and personal and property safety is improved.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The container spin lock detection system comprises a TOS, an ECS connected with the TOS, and an AGV connected with the ECS, wherein the AGV carries 20-scale, 40-scale or 45-scale containers, and the container spin lock detection system is characterized by further comprising an interaction bracket; the interactive support comprises eight supports which are arranged in four rows and two columns, the heights of the supports are equal, and a channel for the AGVs to pass through is formed between the two columns of supports; the passage is provided with an inlet and an outlet for the AGV to come in and go out; the eight brackets sequentially comprise a first pair of brackets, a second pair of brackets, a third pair of brackets and a fourth pair of brackets along the channel direction from the entrance; the first pair of brackets and the second pair of brackets are used for bearing a first 20-ruler container, and each bracket is respectively provided with a first detection unit for detecting whether the four corners of the first 20-ruler container are provided with a spin lock or not; the third pair of brackets and the fourth pair of brackets are used for bearing a second 20-ruler container, and each bracket is respectively provided with a second detection unit for detecting whether the four corners of the second 20-ruler container are provided with a spin lock or not; the eight brackets are used for bearing a 40-ruler or 45-ruler container, and a third detection unit for detecting whether the four corners of the 40-ruler container are locked or not is respectively arranged on each of the first pair of brackets and the fourth pair of brackets; two first detection units on the first pair of brackets and two second detection units on the fourth pair of brackets are used for detecting whether the four corners of the 45-ruler container are locked or not; each first detection unit, each second detection unit, and each third detection unit are communicatively coupled to the ECS.
2. The container twist-lock detection system of claim 1, wherein the interaction bracket is further provided with a detection mechanism for detecting a container type carried on the interaction bracket; the detection mechanism is in communication with the ECS.
3. The container twist-lock detection system of claim 2 wherein the detection mechanism comprises four photoelectric limit switches; the first photoelectric limit switch is correspondingly arranged on a first bracket in the first pair of brackets, the second photoelectric limit switch is arranged on a second bracket of the second pair of brackets, which is diagonal to the first bracket, the third photoelectric limit switch is arranged on a third bracket of the third pair of brackets, which is diagonal to the second bracket, and the fourth photoelectric limit switch is arranged on a fourth bracket of the fourth pair of brackets, which is diagonal to the third bracket.
4. A container twist-lock detection system according to any one of claims 1-3, wherein each of the first, second and third detection units is a proximity limit switch.
5. A container twist-lock detection system according to any one of claims 1 to 3 wherein the top end of each bracket is provided with a horizontal carrier plate for carrying the container and a guide plate on the upper surface of the horizontal carrier plate, the lower end of the guide plate in contact with the horizontal carrier plate being inclined towards the channel such that an obtuse angle is formed between the guide plate and the upper surface of the horizontal carrier plate.
6. The container twist-lock detection system of claim 5 wherein four first detection units are disposed on the horizontal support plate on each of the first and second pairs of brackets and four second detection units are disposed on the horizontal support plate on each of the third and fourth pairs of brackets and each third detection unit is disposed on the horizontal support plate on each of the first and fourth pairs of brackets.
7. A container twist-lock detection system as claimed in claim 3 wherein the top end of each bracket is provided with a horizontal carrier plate for carrying the container and a guide plate on the upper surface of the horizontal carrier plate, the lower end of the guide plate in contact with the horizontal carrier plate being inclined towards the channel such that an obtuse angle is formed between the guide plate and the upper surface of the horizontal carrier plate; each photoelectric limit switch is mounted on the guide plate of the corresponding bracket.
8. A container twist-lock detection system according to any one of claims 1 to 3 wherein the upper end of each bracket is inclined at an angle to the lower end towards the passageway.
9. A method of detecting a twist lock using a container as claimed in any one of claims 1 to 8, comprising the steps of:
the TOS sends a box sending operation instruction to the ECS;
the ECS receives the box feeding operation instruction and controls the AGV to feed boxes, wherein the AGV carries 20-ruler, 40-ruler or 45-ruler boxes of containers;
controlling an AGV to lift a lifting platform carrying the container and reach the interaction position of the interaction support;
controlling an AGV lifting platform to descend and placing the container on a target bracket on the interaction bracket;
collecting feedback signals of each first detection unit, each second detection unit and each third detection unit; and
and judging whether the container is provided with a spin lock or not according to the feedback signal and the box type of the container, and if so, controlling the track crane by the ECS to stop grabbing the container.
10. The method according to claim 9, characterized in that the container is obtained in the form of a box:
first kind: obtaining the container type of the container currently operated according to the container feeding operation instruction, or
Second kind: the method comprises the steps of collecting action signals of all photoelectric limit switches, wherein when signals are fed back by a first photoelectric limit switch and a second photoelectric limit switch, the container type is 20 rules, when signals are fed back by a third photoelectric limit switch and a fourth photoelectric limit switch, the container type is 20 rules, when signals are fed back by the second photoelectric limit switch and a third optical fiber limit switch, the container type is 40 rules, and when signals are fed back by the first photoelectric limit switch, the second photoelectric limit switch, the third photoelectric limit switch and the fourth photoelectric limit switch, the container type is 45 rules.
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