CN109795953A - Automated container terminal stockyard land side automatic operating system and its control method - Google Patents
Automated container terminal stockyard land side automatic operating system and its control method Download PDFInfo
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- CN109795953A CN109795953A CN201910160633.1A CN201910160633A CN109795953A CN 109795953 A CN109795953 A CN 109795953A CN 201910160633 A CN201910160633 A CN 201910160633A CN 109795953 A CN109795953 A CN 109795953A
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- Prior art keywords
- truck
- suspender
- unit
- tapered end
- land side
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Classifications
-
- 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
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
-
- 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
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
-
- 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
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
Abstract
The invention discloses a kind of automated container terminal stockyard land side automatic operating system and its control methods, the automatic job detection module that the anti-moving moving cell of unit, truck and bottom foreign bodies detection unit form is sling including automatic the tank module being made of track crane positioning unit, suspender pose adjustment unit and truck tray tapered end positioning unit, and by truck is anti-；Track crane positioning unit realizes positioning of the track crane to targeted containers；Suspender pose adjustment unit obtains and the contraposition based on targeted containers information control suspender and targeted containers；Truck tray tapered end positioning unit is used to obtain and the position based on truck tray tapered end framing tapered end；Truck is anti-to sling the anti-moving moving cell of unit, truck and bottom foreign bodies detection unit, it is sling for truck whether to occur during the image analysis automatic operating based on acquisition, truck is mobile or bottom has exception, artificial detection is substituted using test technique automatic, realizes the full-automatic operation of track crane land side.
Description
Technical field
The invention belongs to automated container terminal technical fields, specifically, being to be related to a kind of automatic cabinet code
Head stockyard land side automatic running system and its control method.
Background technique
Automated container terminal stockyard track crane is truck in the interactive object that land side carries out transmitting/receiving casing working.
The shape that truck tows the head is different, and the tray of institute's band is many kinds of, form, length, height, lock pin position of tray etc.
It is different, so the position of different truck parking is different, therefore, automated container terminal be all in stockyard with sea
Side interactive areas realizes entire roboticized work, is only able to achieve semi-automatic plus artificial remote job in the stockyard interactive areas Lu Ce.
Automation track crane automatically transmits/receives casing working to truck progress in stockyard land side, not only to the essence of automatic positioning
Quasi- degree requires height, with greater need for abnormal conditions bring security risk during cancel job, for example, when receiving casing working, tray
Not separating with container will lead to track crane and will sling together with truck and container；When sending out casing working, truck is extremely mobile to lead
It causes to put case failure automatically, in some instances it may even be possible to the case where will appear container collision truck drivers' cab；When sending out casing working, container bottom
Foreign matter, which will lead to, puts that case is inaccurate, and truck tray lock pin cannot be completely into container case angle, if cannot find in time, container card
During transportation, phenomena such as container top is fallen easily occurs for vehicle.It, will be to safety if these abnormal conditions cannot be found in time
Production brings very big hidden danger.
When traditional artificial operation track crane, when operator's operation the case where dynamic observation raising operation, it can avoid in time
Above situation occurs；If but it is unmanned using automation track crane, to avoid above-mentioned abnormal conditions from occurring, need land side from
Manual inspection link is intervened during movement industry reduces the degree of automation of production, in turn although ensuring safety in this way
Reduce production efficiency.
Summary of the invention
This application provides a kind of automated container terminal stockyard land side automatic operating system and its control methods, adopt
Artificial detection is substituted with test technique automatic, the full-automatic operation of track crane land side is realized, solves existing automation
The technical issues of container pier storage yard land side also needs manpower intervention to check when realizing automatic operating.
In order to solve the above technical problems, the application is achieved using following technical scheme:
It is proposed a kind of automated container terminal stockyard land side automatic operating system, including automatic tank module and automatic job
Detection module；Automatic the tank module includes that track crane positioning unit, suspender pose adjustment unit and truck tray tapered end are fixed
Bit location；The automatic job detection module, which includes that truck is anti-, slings the anti-moving moving cell of unit, truck and bottom foreign bodies detection list
Member；The track crane positioning unit positions targeted containers for track crane；The suspender pose adjustment unit is used
In the contraposition for obtaining and controlling based on targeted containers information suspender and targeted containers；The truck tray tapered end positioning is single
Member, for obtaining and the position based on truck tray tapered end framing tapered end；The truck is anti-to sling unit, for obtaining simultaneously
Image information based on truck and container judges whether truck is lifted；The anti-moving moving cell of truck, for obtaining simultaneously base
Judge whether truck parking position is displaced in the image information of truck；The bottom foreign bodies detection unit, for obtaining simultaneously
Judge bottom with the presence or absence of foreign matter based on the image information between container bottom and truck tray.
A kind of automated container terminal stockyard land side automatic operating control method is proposed, applied to above-mentioned automation
In the automatic operating system of container pier storage yard land side, casing working instruction, the track are received if including the following steps: to receive
Above the targeted containers for hanging positioning unit control track crane cart, trolley travelling to land side truck, and control suspender decline；Institute
Suspender pose adjustment unit control suspender is stated to translate in the horizontal plane, it is real to eliminate the position deviation of suspender and targeted containers
The contraposition of existing suspender and targeted containers；After suspender slings container, the truck is anti-sling unit judges truck whether by
Sling, when being lifted alert and stop raising movement；And it is sling in shipping process in suspender, the case
Bottom foreign bodies detection unit detection case bottom whether there is foreign matter, when there are foreign matter alert and stop suspender rising it is dynamic
Make；If receiving hair casing working instruction, the track crane positioning unit control suspender band case is run to the target truck of land side,
The truck tray tapered end positioning unit positions tapered end, and the suspender pose adjustment unit control suspender is in the horizontal plane
Translation realizes the hung container of suspender and mesh to eliminate the position deviation of the hung container of suspender and target truck tray tapered end
Mark the contraposition of truck tray tapered end；During suspender decline, the truck resistance to movement unit judges target truck parking position
Whether it is displaced, alert and stops suspender lowering action when being displaced；And decline process in suspender
In, the bottom foreign bodies detection unit detection case bottom whether there is foreign matter, when there are foreign matter alert and stop hang
Has lowering action.
Compared with prior art, the advantages of the application and good effect is: the automated container terminal that the application proposes
In stockyard land side automatic operating system and its control method, system includes automatic tank module and automatic job detection module,
Wherein track crane positioning unit, suspender pose adjustment unit and truck tray tapered end positioning unit collectively constitute automatic case mould
Block realizes the precise positioning between suspender, container and truck tray, greatly improve track crane taken automatically from truck/put case
Success rate；Truck prevents that slinging the anti-moving moving cell of unit, truck and bottom foreign bodies detection unit collectively constitutes automatic job detection
Module, it is ensured that do not have to that manual inspection link is added when track crane land side and truck interjob, replaced using test technique automatic
For artificial detection, the full-automatic operation of track crane land side is realized, solves existing automated container terminal stockyard land side
The technical issues of also manpower intervention being needed to check when realizing automatic operating, improves the degree of automation of land side operation, greatly
It is big to save the activity duration, improve production efficiency, while the safety in production hidden danger that can come to avoid abnormal belt.
After the detailed description of the application embodiment is read in conjunction with the figure, other features and advantages of the application will become more
Add clear.
Detailed description of the invention
Fig. 1 is the system architecture diagram for the automatic cabinet stockyard land side automatic operating system that the application proposes.
Specific embodiment
The specific embodiment of the application is described in more detail with reference to the accompanying drawing.
The application proposes a kind of automated container terminal stockyard land side automatic operating system, is suitable for automation packaging
Box terminal stockyard land side transmits/receives the automatic job of case and automatic detection, integrated operation encoder techniques, swash at magnetic scale location technology
The technologies such as optical scanning technology, machine vision and image procossing realize the automatic precise positioning of stockyard land side truck and container, different
Normal automatic detection warning is detected without manpower intervention, improves the degree of automation；Specifically, as shown in Figure 1, including automatic case
Module 1 and automatic job detection module 2；Automatic tank module 1 includes track crane positioning unit 11, suspender pose adjustment unit 12
With truck tray tapered end positioning unit 13；Automatic job detection module 2, which includes that truck is anti-, slings the anti-moving moving cell of unit 21, truck
22 and bottom foreign bodies detection unit 23.
Track crane positioning unit 11 positions targeted containers for track crane；Suspender pose adjustment unit 12 is used for
Targeted containers information is obtained, to realize the contraposition based on targeted containers information control suspender and targeted containers；Truck drags
Disk tapered end positioning unit 13 is for obtaining truck tray tapered end image, to realize based on truck tray tapered end framing tapered end
Position；The anti-unit 21 of slinging of truck is for obtaining the image information of truck and container, to realize based on truck and container
Image information judges whether truck is lifted；The anti-moving moving cell 22 of truck is used to obtain the image information of truck, is based on realizing
The image information of truck judges whether truck parking position is displaced；Bottom foreign bodies detection unit 23 is for obtaining container case
Image information between bottom and truck tray judges case based on the image information between container bottom and truck tray to realize
Bottom whether there is foreign matter.
Track crane positioning unit 11 is the positioning to track crane spatial position, specifically includes cart positioning device 111, trolley
Positioning device 112 and raising positioning device 113 realize the raising positioning of the positioning of cart, the positioning of trolley and suspender respectively；Greatly
Vehicle positioning device 111 includes coaxial mounted cart incremental encoder and the radio-frequency magnetic being mounted on place nail on cargo motor,
Verify the positioning for realizing track crane cart mutually by the information that cart incremental encoder and radio-frequency magnetic nail provide；Trolley positioning dress
It is absolute including coaxial mounted trolley incremental encoder on vehicle motor and the linear magnetic scale being mounted on trolley track girder to set 112
It is worth encoder, is mutually verified by the information that trolley incremental encoder and linear magnetic scale absolute value encoder provide and realize track crane
The positioning of trolley；Raising positioning device 113 includes the coaxial mounted raising incremental encoder of hoisting motor and and cable drum
The included absolute value encoder of coaxial mounted three-in-one electric cam, is mentioned by raising incremental encoder and absolute value encoder
The information of confession mutually verifies the raising positioning for realizing track sling.
The track crane positioning unit 11 further includes positioning device for microscopic motion 114, and positioning device for microscopic motion 114 includes on sling upper rack
Four electric pushrods with absolute value encoder of installation adjust suspender in cart and trolley by the control of four fine motion motors
Position error on direction.
Suspender pose adjustment unit 12 includes laser scanner, CPU, PLC and the micromotion mechanism installed on track crane；Laser
Scanner obtains targeted containers information for scanning targeted containers, and targeted containers information includes but is not limited to packaging
The information such as height, length, chest profile and/or the land side truck tray tapered end position of case；CPU, for receiving laser scanner
The targeted containers information of acquisition, and calculation process is carried out to targeted containers information, it is hung based on processing result distribution PLC control
Have direction and the displacement of the micromotion mechanism of restocking, sling upper rack may be implemented can accommodate in error range with respect to suspender dead-center position
Horizontal displacement and horizontal plane rotation, eliminate suspender and targeted containers position deviation, to realize suspender and target packaging
The exactitude position of case.
Truck tray tapered end positioning unit 13 includes several lifting devices of truck lane side installation and is installed on lifting
Camera on device, the other side installation in truck lane indicate the isolation board of detection scale, and camera is based on lifting device tune
Section height alignment tapered end is shot, and each camera takes projection of the tapered end on isolation board scale, is clapped based on camera
Projection of the tapered end taken the photograph on isolation board, calculates the position of tapered end, then integrates the image of all camera shootings, according to case
Type and vehicle are calculated to obtain the elaborate position of tapered end, realize the positioning to tapered end, to realize the essence to targeted containers
Certainly position.
The anti-unit 21 of slinging of truck includes the camera for being mounted on truck lane side or rear, is unloaded for acquiring
The image information of truck and container in journey carries out anti-sling by image analysis and detects judgement, when detecting that vehicle frame is sling,
Warning message is exported, and is automatically stopped lifting operation, while the image that camera obtains being shown to long-range monitor screen, distal side
Control staff can be shown by image confirms that current alarm is false or really alarms, and if false, then it is extensive to eliminate alarm
Multiple automated job then carries out subsequent malfunction elimination if true alarm.
The anti-moving moving cell 22 of truck includes the camera for being mounted on truck lane side or rear, for obtaining under suspender
The image information of truck during drop judges by the detection that image analysis carries out truck parking position, if truck parking position
Movement has occurred, then exports warning message, and is automatically stopped suspender decline, while the image that camera obtains being shown to long-range
On monitor screen, distal manipulation person can be shown by image confirms that current alarm be false or true alarm, if false,
It then eliminates alarm and restores automated job, if true alarm, then carry out subsequent malfunction elimination.
In the specific embodiment of the application, the detection of truck parking position judgement is specifically included: camera is according to setting
The image information of interval acquiring of fixing time truck, such as 0.5 second, or the video flowing use of truck is obtained, by image or view
After frequency analysis judgement collection card position moves, mobile judgement mark plus 1 then continuously judge to collect whether card position moves
Dynamic, judgement mark is once added 1 by every generation, if then within the period of setting, such as 2 seconds, judge that identifying aggregate-value is more than 5
It is secondary, then judge that movement has occurred in truck parking position.
Bottom foreign bodies detection unit 23 includes several cameras for being mounted on the lane truck Jiao Qu side, for obtaining packaging
Image information between case bottom and truck tray judges that bottom whether there is foreign matter by image analysis, if it exists foreign matter, then
Warning message is exported, and is automatically stopped suspender rise/fall, while the image that camera obtains being shown to long-range monitor screen
On, distal manipulation person can be shown by image confirms that current alarm is false or true alarm, if false, then eliminates
Alarm restores automated job, if true alarm, then carries out subsequent malfunction elimination.
In conjunction with the anti-alarm sling in the anti-moving moving cell 22 of unit 21, truck and bottom foreign bodies detection unit 23 of above-mentioned truck
Mode, the automatic job detection module 2 in the embodiment of the present application further includes detection exception processing unit 24, for being hung in truck
Rise, truck parking position is displaced and/or bottom there are alerts when foreign matter, and exception information is shown to long-range
On monitor screen, and, it receives long-range monitoring and instructs and execute；Long-range monitoring instructs to continue automated job instruction or stop certainly
Dynamicization job instruction.
It is specific with one below based on automated container terminal stockyard land side automatic operating system set forth above
Embodiment illustrates control method and work flow based on the automated container terminal stockyard land side automatic operating system.
If receiving the receipts casing working instruction that automation track crane control system is sent, track crane positioning unit 11 controls rail
Road is hung above the targeted containers of cart, trolley travelling to land side truck, and controls suspender decline；Suspender pose adjustment unit control
Suspender processed translates in the horizontal plane, to eliminate the position deviation of suspender and targeted containers, realizes suspender and targeted containers
Contraposition；After suspender slings container, truck is anti-to sling whether unit judges truck is lifted, and when being lifted, detection is abnormal
24 alert of processing unit simultaneously stops raising movement;And it is sling in shipping process in suspender, the bottom foreign matter
Detection unit detection case bottom whether there is foreign matter, alert and stop suspender vertical motion when there are foreign matter;And it will
Exception information shows to long-range monitor screen, and, receive long-range monitoring and instruct and simultaneously execute, long-range monitoring here instruct be after
Continuous automated job instruction stops automated job instruction.
If receiving the hair casing working instruction that automation track crane control system is sent, the control of track crane positioning unit 11 is hung
Tool band case is run to the target truck of land side, and single 13 yuan of truck tray tapered end positioning positions tapered end, suspender posture tune
Whole unit 12 controls suspender and translates in the horizontal plane, inclined with the position for eliminating the hung container of suspender and target truck tray tapered end
Difference realizes the contraposition of the hung container of suspender and target truck tray tapered end；During suspender decline, the anti-moving moving cell of truck
22 judge whether target truck parking position is displaced, and when being displaced, detection exception processing unit 24 issues alarm signal
Suspender lowering action is ceased and stopped, and exception information is shown to long-range monitor screen, long-range monitoring is received and instructs and execute；With
And during suspender decline, 23 detection case bottom of bottom foreign bodies detection unit whether there is foreign matter, and when there are foreign matter, detection
24 alert of exception processing unit simultaneously stops suspender lowering action;And show exception information to long-range monitor screen,
And receive long-range monitoring and instruct and execute, long-range monitoring here instructs to continue automated job instruction or stop automatically
Change job instruction.
In the automated container terminal stockyard land side automatic operating system and method that above-mentioned the application proposes, including from
Tank module and automatic job detection module are moved, wherein track crane positioning unit, suspender pose adjustment unit and truck tray lock
Head positioning unit collectively constitutes automatic tank module, realizes the precise positioning between suspender, container and truck tray, mentions significantly
High orbit hangs the success rate of the automatic clamping and placing case from truck；Truck is anti-to sling the anti-moving moving cell of unit, truck and the inspection of bottom foreign matter
It surveys unit and collectively constitutes automatic job detection module, it is ensured that do not have to that manual inspection is added when track crane land side and truck interjob
Link substitutes artificial detection using test technique automatic, realizes the full-automatic operation of track crane land side, solve existing
The technical issues of automated container terminal stockyard land side also needs manpower intervention to check when realizing automatic operating, improves
The degree of automation of land side operation greatlys save the activity duration, improves production efficiency, while the safety that can come to avoid abnormal belt
Produce hidden danger.
It should be noted that the above description is not a limitation of the present invention, the present invention is also not limited to the example above,
The variations, modifications, additions or substitutions that those skilled in the art are made within the essential scope of the present invention, are also answered
It belongs to the scope of protection of the present invention.
Claims (10)
1. automated container terminal stockyard land side automatic operating system, which is characterized in that including automatic tank module and from
Act industry detection module；Automatic the tank module includes track crane positioning unit, suspender pose adjustment unit and truck tray
Tapered end positioning unit；The automatic job detection module, which includes that truck is anti-, slings the anti-moving moving cell of unit, truck and bottom foreign matter
Detection unit；
The track crane positioning unit positions targeted containers for track crane；The suspender pose adjustment unit is used
In the contraposition for obtaining and controlling based on targeted containers information suspender and targeted containers；The truck tray tapered end positioning is single
Member, for obtaining and the position based on truck tray tapered end framing tapered end；
The truck is anti-to sling unit, and for obtaining and the image information based on truck and container judges whether truck is hung
It rises；The anti-moving moving cell of truck, for obtaining and the image information based on truck judges whether truck parking position is moved
Position；The bottom foreign bodies detection unit, for obtaining and based on the image information judgement between container bottom and truck tray
Bottom whether there is foreign matter.
2. automated container terminal stockyard according to claim 1 land side automatic operating system, which is characterized in that institute
Stating track crane positioning unit includes cart positioning device, car positioning and raising positioning device；
The cart positioning device includes coaxial mounted cart incremental encoder and being mounted on penetrating on place on cargo motor
Frequency magnetic nail is positioned by the information realization cart that the cart incremental encoder and radio-frequency magnetic nail provide；
The car positioning includes coaxial mounted trolley incremental encoder and being mounted on trolley track girder on vehicle motor
On linear magnetic scale absolute value encoder, pass through the trolley incremental encoder and the linear magnetic scale absolute value encoder provide
Information realization trolley positioning；
The raising positioning device includes the coaxial mounted raising incremental encoder of hoisting motor and coaxially pacifies with cable drum
The absolute value encoder of dress, the information realization raising provided by the raising incremental encoder and the absolute value encoder are fixed
Position.
3. automated container terminal stockyard according to claim 2 land side automatic operating system, which is characterized in that institute
Stating suspender pose adjustment unit includes the laser scanner, CPU, PLC and micromotion mechanism installed on track crane；
The laser scanner obtains the targeted containers information, the targeted containers letter for scanning targeted containers
Breath includes height, length, chest profile and/or land side truck tray tapered end location information；The CPU, for receiving and to institute
It states targeted containers information to be handled, and distributes the PLC direction and position that control the micromotion mechanism based on processing result
It moves.
4. automated container terminal stockyard according to claim 2 land side automatic operating system, which is characterized in that institute
Stating track crane positioning unit further includes positioning device for microscopic motion, and the positioning device for microscopic motion includes four bands installed on sling upper rack
The electric pushrod of absolute value encoder adjusts the suspender on cart and trolley direction by the control of four fine motion motors
Position error.
5. automated container terminal stockyard according to claim 1 land side automatic operating system, which is characterized in that institute
State truck tray tapered end positioning unit, including truck lane side installation several lifting devices and be installed on lifting device
Camera, the other side installation in truck lane are indicated the isolation board of detection scale, are being isolated based on the tapered end that camera takes
The positioning to tapered end is realized in projection on plate.
6. automated container terminal stockyard according to claim 1 land side automatic operating system, which is characterized in that institute
It states truck to prevent slinging unit, the camera including being mounted on truck lane side or rear, collect in the process for acquiring to unload
The image information of card and container.
7. automated container terminal stockyard according to claim 1 land side automatic operating system, which is characterized in that institute
State the anti-moving moving cell of truck, the camera including being mounted on truck lane side or rear, for obtaining suspender decline process
The image information of middle truck.
8. automated container terminal stockyard according to claim 1 land side automatic operating system, which is characterized in that institute
Bottom foreign bodies detection unit is stated, several cameras including being mounted on the lane truck Jiao Qu side, for obtaining container bottom
With the image information between truck tray.
9. automated container terminal stockyard according to claim 1 land side automatic operating system, which is characterized in that institute
Stating automatic job detection module further includes detection exception processing unit, and for being lifted in truck, truck parking position is moved
There are alerts when foreign matter for position and/or bottom, and exception information is shown to long-range monitor screen, and, it receives remote
Range monitoring is instructed and is executed；The long-range monitoring instruction instructs or stops automated job instruction to continue automated job.
10. automated container terminal stockyard land side automatic operating control method is applied to such as any one of claim 1-9 institute
In the automated container terminal stockyard land side automatic operating system stated, include the following steps:
Casing working instruction is received if receiving, the track crane positioning unit controls track crane cart, trolley travelling to land side truck
Targeted containers above, and control suspender decline；The suspender pose adjustment unit control suspender translates in the horizontal plane, with
The position deviation of suspender and targeted containers is eliminated, realizes the contraposition of suspender and targeted containers；After suspender slings container,
The truck is anti-to sling whether unit judges truck is lifted, and alert and stops raising movement when being lifted；With
And sling in shipping process in suspender, the bottom foreign bodies detection unit detection case bottom whether there is foreign matter, there are foreign matters
When alert and stop suspender vertical motion；
If receiving hair casing working instruction, the track crane positioning unit control suspender band case is run to the target truck of land side
Side, the truck tray tapered end positioning unit position tapered end, and the suspender pose adjustment unit control suspender is in level
It is translated in face, to eliminate the position deviation of the hung container of suspender and target truck tray tapered end, realizes the hung container of suspender
With the contraposition of target truck tray tapered end；During suspender decline, the truck resistance to movement unit judges target truck parking
Whether position is displaced, and alert and stops suspender lowering action when being displaced；And declined in suspender
Cheng Zhong, the bottom foreign bodies detection unit detection case bottom whether there is foreign matter, alert and stop when there are foreign matter
Suspender lowering action.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910160633.1A CN109795953A (en) | 2019-03-04 | 2019-03-04 | Automated container terminal stockyard land side automatic operating system and its control method |
| PCT/CN2019/104302 WO2020177288A1 (en) | 2019-03-04 | 2019-09-04 | Automatic container terminal stock yard landside automatic operation system and control method thereof |
| JP2020572906A JP7184934B2 (en) | 2019-03-04 | 2019-09-04 | Land-side automated operation system for automated container terminal stockyard and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910160633.1A CN109795953A (en) | 2019-03-04 | 2019-03-04 | Automated container terminal stockyard land side automatic operating system and its control method |
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| Publication Number | Publication Date |
|---|---|
| CN109795953A true CN109795953A (en) | 2019-05-24 |
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ID=66561603
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910160633.1A Pending CN109795953A (en) | 2019-03-04 | 2019-03-04 | Automated container terminal stockyard land side automatic operating system and its control method |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP7184934B2 (en) |
| CN (1) | CN109795953A (en) |
| WO (1) | WO2020177288A1 (en) |
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Also Published As
| Publication number | Publication date |
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| JP2022503432A (en) | 2022-01-12 |
| WO2020177288A1 (en) | 2020-09-10 |
| JP7184934B2 (en) | 2022-12-06 |
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