CN110562854A - Automatic control system of combined storage crane - Google Patents
Automatic control system of combined storage crane Download PDFInfo
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- CN110562854A CN110562854A CN201910934353.1A CN201910934353A CN110562854A CN 110562854 A CN110562854 A CN 110562854A CN 201910934353 A CN201910934353 A CN 201910934353A CN 110562854 A CN110562854 A CN 110562854A
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- grab bucket
- crane
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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
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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
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The utility model provides a joint storage storehouse hoist automatic control system, it includes crane control system, crane control system's input is used for receiving vision system, positioning system, grab bucket weighing system, the signal of blowing storehouse material level monitoring system, crane control system output control signal gives cart motor, dolly motor, grab bucket lifting motor, grab bucket switching motor, the cart motor is used for driving the cart and removes, the dolly motor is used for driving the dolly and removes, grab bucket lifting motor is used for driving the rising, the decline of grab bucket, grab bucket switching motor is used for driving the switching of grab bucket. With the future rise of the concepts of automation and high efficiency of factories and storage, the performance of the traditional crane can not meet the production and safety requirements, and the invention is suitable for the future production.
Description
Technical Field
The invention belongs to the field of advanced manufacturing and automation, and particularly relates to an automatic control system of a combined storage crane.
background
A traditional bridge crane of a combined warehouse adopts a manual driving mode, and operators are interfered by occupational disease influence factors such as dust, noise and the like; the operations such as starting, speed changing, braking, reversing and the like are frequently carried out under the condition of heavy load, and the labor intensity is high; the transmission system adopts the traditional speed regulation mode of a relay, a contactor and a series resistor, has the defects of poor control precision, high energy consumption, low working efficiency and the like, and the operation precision completely depends on the proficiency of a driver; in addition, because the continuous production workload is large, the labor intensity of drivers is high, in order to ensure the production efficiency, a working mode of local material taking is often adopted, so that the raw materials accumulated at the bottom and corners can not be reasonably applied for a long time, and the long accumulation time of the raw materials has great influence on the product quality. Therefore, the traditional crane working mode can not meet the requirements of safety, production, quality and the like.
The automatic control system of the crane has certain research and application in the fields of ports and docks, garbage treatment, train transfer and the like. However, most of materials in the combined storage in the building material industry are powder bulk materials, the types are various, the stacking is disordered, the number of cranes is large, the working procedures comprise batching, feeding, pouring, transferring and the like, the process is complex, and the research on a control system of the combined storage is still in a preliminary exploration stage. With the rise of the concepts of intelligent cement factories and automation and high efficiency of storage, the research of the automatic control system of the combined storage crane is more imperative.
patent document with application publication number CN103612989A discloses an automatic control system and control method for gantry crane, which comprises gantry crane, positioning and transmitting device, and data processing equipment, the center position of the trolley is provided with a first positioning and transmitting device, the bottom of the lifting appliance is provided with a first distance detector, the four corners of the top surface of the container are provided with a second positioning and transmitting device, the bottom surface of the container is provided with a second distance detector, the data processing equipment receives the information transmitted by the first positioning and transmitting device, the second positioning and transmitting device, the first distance detector, the weighing device and the second distance detector, and the data processing equipment can also control the operation of the driving mechanism and the lifting appliance retracting and releasing mechanism. The invention also provides a control method of the control system, which can automatically control the advancing of the trolley and the dropping of the lifting appliance by combining the simple positioning transmitting device and the sensor, and can control the advancing speed of the trolley and the dropping speed of the lifting appliance according to the actual situation, thereby eliminating the unstable factors during manual operation.
The prior art relates to the primary automatic control of one gantry crane, and the prior art does not relate to devices such as positioning and visual scanning, and cannot well realize the cooperative control of a plurality of cranes.
Disclosure of Invention
The invention aims to provide an automatic control system of a combined warehouse crane, which is provided for realizing the cooperative cooperation and efficient operation of a plurality of bridge cranes in a combined warehouse.
the utility model provides a joint storage storehouse hoist automatic control system, it includes crane control system, crane control system's input is used for receiving vision system, positioning system, grab bucket weighing system, the signal of blowing storehouse material level monitoring system, crane control system output control signal gives cart motor, dolly motor, grab bucket lifting motor, grab bucket switching motor, the cart motor is used for driving the cart and removes, the dolly motor is used for driving the dolly and removes, grab bucket lifting motor is used for driving the rising, the decline of grab bucket, grab bucket switching motor is used for driving the switching of grab bucket.
The crane comprises a discharge pond and a discharge bin, wherein a cart and/or a trolley of the crane is started from a parking position and moves to a target point in a directional mode, then a grab bucket descends, materials are accurately grabbed from the discharge pond, and after the grab bucket is grabbed, the grab bucket is lifted and moves to the discharge bin to feed the materials.
Still include the batching scale, the batching scale is supplied with the material to the blowing storehouse, batching scale transmission speed is according to blowing position in storehouse detecting system signal adjustment, the batching scale is carried the material to the batching belt, blowing position in storehouse detecting system includes the radar level gauge, the material height of blowing storehouse is monitored in real time to the radar level gauge to feed back the material level information to control system, opening of control hoist stops, regularly checks the height of blowing storehouse, make the blowing storehouse height control all the time at reasonable value.
including a plurality of dummy ponds, be equipped with the barricade between dummy pond and the dummy pond, vision system divides into latticedly with every dummy pond, carries out independent calculation to the charge level height of every unit net.
receive visual system and include 3D laser scanner, be equipped with 3D laser scanner at the top of every dump chest, each 3D laser scanner scans the dump chest of respective below.
The system further comprises a combined logistics system, the input end of the crane control system can receive signals of the combined logistics system, the combined logistics system can establish a four-dimensional model of the material profile, simulate the material profile appearance in real time, receive production instructions and dispatch the crane closest to the target grabbing point to transport materials.
The cart moves transversely, the trolley moves longitudinally, a cart motor and a brake are controlled by a frequency converter, and a cart encoder is additionally arranged for positioning; a trolley motor and a brake are controlled by a frequency converter, and a trolley encoder is additionally arranged for positioning; the laser range finder is arranged on the cart and used for monitoring the distance between two adjacent carts, and when the distance between the two adjacent carts is smaller than a specified value, the cart performs deceleration movement to ensure a certain minimum distance.
The grab bucket is lifted in the vertical direction, the grab bucket lifting motor and the grab bucket opening and closing motor are controlled by a frequency converter, and a grab bucket encoder is additionally arranged for positioning.
when the swing angle of the steel wire rope exceeds a certain degree, the anti-swing system transmits a signal to an automatic control system of the crane, the cart or the trolley decelerates to form reverse acceleration to balance the swing amplitude, and a load sensor is arranged on the grab lifting steel wire rope to acquire the weight of the grabbed material each time.
An automatic control method of a combined storage crane adopts the following steps during continuous production:
1) Inputting production batching parameters to a crane control system, wherein the production batching parameters comprise specific production raw materials and auxiliary material component contents;
2) determining a target grabbing point by the automatic control system of the combined storage crane according to material position information provided by the vision system, reading the position information of each crane by the combined positioning system, and selecting the crane closest to the target grabbing point to work;
3) The hoisting equipment automatically runs the cart and the trolley according to the instruction, and accurately runs to a first target position by matching with a cart encoder and a trolley encoder of the cart and the trolley and a cart motor and a trolley motor of the cart and the trolley;
4) The cart and the trolley mechanisms move in place, the grab bucket is matched with the grab bucket encoder accurately and the lifting motor thereof descends to an instruction position, the grab bucket opening and closing motor is opened and closed to grab materials, and the load sensor of the grab bucket acquires the weight of the materials grabbed each time;
5) the grab bucket rises to a safe height, and after the opening and closing bucket discharges materials into a discharge bin, the cart and the trolley move to the next target position; after materials are transferred into the material placing bin from the grab bucket, the material placing bin is used for material mixing by the bottom material mixing scale, and the material mixing scale automatically adjusts the rotating speed of a material mixing motor according to a material mixing instruction, so that the requirement of quantitatively feeding a material mixing belt in unit time is met;
The target grabbing point of the automatic driving of the crane is the central point of the grid area entering the surface of the stock ground profile at the earliest time, and if materials enter at the same time, the central point of the grid area is preferentially set to be the highest central point.
By adopting the technical scheme, the following technical effects can be brought:
during continuous production, the specific content of various production raw materials or auxiliary material components of mixed materials is given, namely production batching parameters; determining a target grabbing point according to the material position information provided by the vision system, reading the position information of each crane by combining a positioning system, and selecting the crane closest to the target grabbing point (the distance between the cart and the target) to work; calculating the distances from the crane cart, the crane trolley and the grab bucket to a target point, and controlling the crane to accurately run to the target point by an automatic crane control system; the crane grabs the materials, calculates the distance between the crane cart, the crane trolley and the grab bucket and the emptying bin, transports the materials to the emptying bin, supplies the materials in the emptying bin to the batching belt by the batching scale, and completes batching.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
FIG. 1 is a control flow chart of an automatic control system of a combined storage crane according to the present invention;
FIG. 2 is a process flow diagram of the automatic control system of the combined storage crane of the present invention;
FIG. 3 is a schematic view of the crane mechanical structure of the automatic control system of the combined storage crane of the present invention;
FIG. 4 is a distribution diagram of a discharge pond and a discharge bin of a combined storage and automatic control system of a combined storage and crane according to the present invention;
Fig. 5 is a coordinate schematic diagram of the vision system of the automatic control system of the combined storage crane.
Detailed Description
As shown in fig. 1 and 2, an automatic control system of a combined storage crane includes a crane control system, an input end of the crane control system is used for receiving signals of a vision system 6, a positioning system 8, a grab weighing system 134 and a material level monitoring system of a material storage bin, the crane control system outputs control signals to a cart motor 111, a trolley motor 121, a grab lifting motor 131 and a grab opening and closing motor 132, the cart motor 111 is used for driving a cart 11 to move, the trolley motor 121 is used for driving a trolley 12 to move, the grab lifting motor 131 is used for driving a grab 13 to ascend and descend, and the grab opening and closing motor 132 is used for driving a grab 13 to open and close.
The material discharging device further comprises a discharging pool 2 and a discharging bin 3, a cart 12 and/or a trolley 13 of the crane 1 are started from a parking position and directionally moved to a target point, then the grab bucket 13 descends, materials are accurately grabbed from the discharging pool 2, and after the materials are grabbed, the grab bucket 13 is lifted and moved to the discharging bin 3 to be thrown.
Still include batching scale 4, batching scale 4 is supplied with the material to blowing storehouse 3, 4 transmission rates of batching scale are according to blowing position of storehouse detecting system signal adjustment, batching scale 4 is carried the material to batching belt 5, blowing position of storehouse detecting system includes radar level gauge 31, radar level gauge 31 monitors the material height of blowing storehouse 3 in real time, and feed back the material level information to control system, opening of control hoist 1 stops, regularly check the height of blowing storehouse 3, make 3 high the control all the time of blowing storehouse at reasonable value.
Including a plurality of dummy ponds 2, be equipped with the barricade between dummy pond and the dummy pond, vision system 6 divides into latticedly with every dummy pond 2, carries out independent calculation to the charge level height of every unit net.
FIG. 3 is a distribution diagram of discharge ponds and discharge bins, wherein the discharge ponds 2 are separated by retaining walls to prevent the materials from being mixed and permeated, a main hardware 3D laser scanner 61 of a vision system 6 is fixedly arranged at the top of each discharge pond 2, the 3D laser scanner 61 scans the discharge ponds 2 of the combined storage with high frequency in a wide angle range of about 270 degrees, the vision system 6 divides a stock ground into 100 x 100mm grids, the material level height of each unit grid is independently calculated, a four-dimensional model (three-dimensional coordinates and time information) of the material profile is established by the combined logistics system 7, the profile appearance of the material is simulated in real time, a production instruction is received, and the crane 1 closest to a target grabbing point is dispatched to transfer the material (the target grabbing point is the center of the grid area entering the surface of the profile at the earliest time, and if the material enters at the same time, the center of the grid area which is set to be the highest preferentially is the target point) to ensure that the material is first in and first out.
3 tops in blowing storehouse installation radar level gauge 31, radar level gauge 31 monitors 3 material height in blowing storehouse in real time to feed back material level information to control system, control hoist 1 opens and stops, regularly checks 3 heights in blowing storehouse, makes 3 height in blowing storehouse of control all the time at reasonable value, prevents putty and empty storehouse influence production.
Fig. 4 is a schematic structural diagram of a crane machine. The cart 11 moves transversely, the trolley 12 moves longitudinally, and the grab bucket 13 is lifted and lowered in the vertical direction. The cart motor 111 and the brake are controlled by a frequency converter, and a cart encoder 81 is additionally arranged for positioning; the motor and the brake of the trolley 12 are controlled by a frequency converter, and a trolley encoder 82 is additionally arranged for positioning; the grab bucket lifting motor 131 and the grab bucket opening and closing motor 132 are controlled by a frequency converter, and a grab bucket encoder 83 is additionally arranged for positioning. The laser range finder 9 is arranged on the frame of the cart 11 and used for monitoring the distance between two adjacent carts, when the distance between the two adjacent carts is smaller than 10m, the cart 11 performs deceleration movement, the minimum distance is ensured to be 5m, and the production safety is ensured. An electronic anti-swing system 133 is arranged on a lifting steel wire rope of the grab bucket 13, when the swing angle of the steel wire rope exceeds 18 degrees, the anti-swing system 133 transmits signals to an automatic control system of the crane, and the cart 11 or the trolley 12 decelerates to form reverse acceleration to balance the swing amplitude. The grab bucket 13 is provided with a load sensor 134 on a lifting steel wire rope, so that the weight of the grabbed materials can be obtained each time.
Fig. 5 is a coordinate schematic diagram of an automatic control system vision system of the combined storage crane. The materials contained in the combined reservoir comprise four materials of coal gangue, steel slag, gypsum and fly ash, the four materials are separated by a retaining wall, the regions are respectively numbered A, B, C, D, and the areas of the regions are 57000mm 40000mm, 37500mm 40000mm, 45000mm 40000mm and 50000mm 40000 mm. The A area is divided into 570 × 400 100 small squares, the B area is divided into 375 × 400 100 small squares, the C area is divided into 450 × 400 100 small squares, the D area is divided into 500 × 400 100 small squares, the vision system 6 calculates the material profile height of each area, meanwhile, according to the feeding data of the logistics system 7, the profile material is endowed with time information, four-dimensional coordinates are generated, such as coordinates (C12116530813) to represent the C area, namely gypsum, the 12 th small square, the profile height 1653mm, and feeding is carried out for 8 months and 13 days. During production, the system automatically dispatches the crane 1 closest to the target grabbing point to transfer materials (the target grabbing point is the center of the grid area entering the surface of the outline at the earliest time, and if the materials enter at the same time, the center of the grid area set to be the highest preferentially is the target point), so as to ensure the materials to be in first-out.
during continuous production, the content of various production raw materials and auxiliary material components is manually given, namely production batching parameters; the automatic control system of the combined storage crane determines a target grabbing point according to the material position information provided by the vision system 6, then the combined positioning system 8 reads the position information of each crane 1, and the crane 1 closest to the target grabbing point (the distance between the large vehicle and the target) is selected to work; the hoisting equipment automatically runs the cart 11 and the trolley 12 according to the instruction, and accurately runs to a first target position by matching with the cart encoder 81, the trolley encoder 82 and the cart motor 111 and the trolley motor 121 of the cart 11 and the trolley 12; the mechanism of the cart 11 and the mechanism of the trolley 12 are moved in place, the grab bucket 13 is matched with the grab bucket encoder 83 accurately, the lifting motor 131 is descended to the instruction position, the grab bucket opening and closing motor 132 is opened and closed to grab materials, and the weight of the grabbed materials each time is obtained by the load sensor 134 of the grab bucket 13; the grab bucket 13 automatically rises to a safe height, and after the automatic open-close bucket discharges materials into the discharge bin 3, the cart 11 and the trolley 12 automatically move to the next target position; after the materials are transferred to the discharge bin 3 from the grab bucket 13, the discharge bin 3 is used for batching by the bottom batching scale 4, and the batching scale 4 automatically adjusts the rotating speed of a batching motor thereof according to a manual batching instruction, so that the requirement of quantitatively feeding the batching belt 5 in unit time is met; the radar level gauge 31 above the discharge bin 3 feeds back the monitored material level condition to the crane control system every 4 hours, if the material level fluctuation of the discharge bin 3 exceeds a certain range due to the precision error of the batching scale 4 or the error of the load sensor 134 of the grab bucket 13, the crane automatic control system sends an instruction to control the grab bucket 13 to grab the material amount to keep the material level of the discharge bin 3 in a reasonable range, so that the production is prevented from being influenced by overhigh material level, too low material level and the like; meanwhile, the laser range finder 9 is arranged on the frame of the cart 11 and used for monitoring the distance between two adjacent carts, when the distance between the two adjacent carts is smaller than 10m, the cart 11 performs deceleration movement, the minimum distance is ensured to be 5m, and the production safety is ensured. An electronic anti-swing system 133 is arranged on a lifting steel wire rope of the grab bucket 13, when the swing angle of the steel wire rope exceeds 18 degrees, the anti-swing system 133 transmits signals to an automatic control system of the crane, and the cart 11 or the trolley 12 decelerates to form reverse acceleration to balance the swing amplitude. The batching scale 4 conveys the materials in the discharging bin 3 to the batching belt 5 to complete material transferring. The crane 1 repeats the above actions and completes the instruction circularly, so that the grinding system can produce continuously and stably according to the requirement of ingredients. When any link of the processes is in fault or other abnormal conditions, the crane batching system feeds a fault signal back to the automatic control system of the crane, the cart 11, the trolley 12 and the grab bucket 13 move to the specified positions, the material taking is stopped, and the batching scale 4 stops running.
the target grabbing point of the crane 1 for automatic driving is the central point of the grid area entering the surface of the stock yard outline at the earliest time, and if materials enter at the same time, the central point of the grid area is preferentially set to be the highest central point.
Claims (10)
1. The utility model provides a combined storage storehouse hoist automatic control system which characterized in that: it includes crane control system, crane control system's input is used for receiving vision system (6), positioning system (8), grab bucket weighing system (134), blowing storehouse material level monitoring system's signal, crane control system output control signal gives cart motor (111), dolly motor (121), grab bucket lifting motor (131), grab bucket switching motor (132), cart motor (111) are used for driving cart (11) and remove, dolly motor (121) are used for driving dolly (12) and remove, grab bucket lifting motor (131) are used for driving rising, the decline of grab bucket (13), grab bucket switching motor (132) are used for driving the switching of grab bucket (13).
2. The joint store crane automatic control system according to claim 1, characterized in that: the automatic material grabbing device comprises a discharge pond (2) and a material placing cabin (3), wherein a cart (12) and/or a trolley (13) of a crane (1) is started from a parking position and moves to a target point in a directional mode, then a grab bucket (13) descends to be opened and closed, materials are grabbed from the discharge pond (2) accurately, and after the grab bucket (13) is grabbed, the grab bucket (13) is lifted and moves to the material placing cabin (3) to throw materials.
3. the joint store crane automatic control system according to claim 2, characterized in that: still include batching scale (4), batching scale (4) are supplied with the material in blowing storehouse (3), batching scale (4) transmission speed is according to blowing position of storehouse detecting system signal adjustment, batching scale (4) are carried the material to batching belt (5), blowing position of storehouse detecting system includes radar level gauge (31), the material height of radar level gauge (31) real-time supervision blowing storehouse (3), and feed back material level information to control system, control crane (1) open and stop, regularly check the height of blowing storehouse (3), make blowing storehouse (3) highly control all the time at reasonable value.
4. the joint store crane automatic control system according to claim 2, characterized in that: including a plurality of dummy pools (2), be equipped with the barricade between dummy pool and the dummy pool, visual system (6) divide into latticedly with every dummy pool (2), carry out independent calculation to the charge level height of every unit net.
5. The joint store crane automatic control system according to claim 4, characterized in that: the receiving vision system (6) comprises 3D laser scanners (61), the 3D laser scanners (61) are arranged at the top of each discharging pool (2), and each 3D laser scanner (61) scans the discharging pool (2) below the corresponding discharging pool.
6. The joint store crane automatic control system according to claim 4, characterized in that: the material transfer system further comprises a logistics system (7), the input end of the crane control system can receive signals of the logistics system (7), the logistics system (7) and the vision system (6) can establish a four-dimensional model of the material profile, simulate the material profile appearance in real time, receive production instructions and schedule the crane (1) closest to the target grabbing point to transfer materials.
7. The joint store crane automatic control system according to claim 2, characterized in that: the cart (11) moves transversely, the trolley (12) moves longitudinally, a cart motor (111) and a brake are controlled by a frequency converter, and a cart encoder (81) is additionally arranged for positioning; a motor and a brake of the trolley (12) are controlled by a frequency converter, and a trolley encoder (82) is additionally arranged for positioning; the laser range finder (9) is arranged on the cart (11) and used for monitoring the distance between two adjacent carts, and when the distance between the two adjacent carts is smaller than a specified value, the cart (11) performs deceleration movement to ensure a certain minimum distance.
8. The joint store crane automatic control system according to claim 2, characterized in that: the grab bucket (13) is lifted in the vertical direction, a grab bucket lifting motor (131) and a grab bucket opening and closing motor (132) are controlled by a frequency converter, and a grab bucket encoder (83) is additionally arranged for positioning.
9. The joint store crane automatic control system according to claim 2, characterized in that: an electronic anti-swing system (133) is arranged on a lifting steel wire rope of the grab bucket (13), when the swing angle of the steel wire rope exceeds a certain degree, the anti-swing system (133) transmits signals to an automatic control system of the crane, the cart (11) or the trolley (12) decelerates to form reverse acceleration to balance the swing amplitude, and a load sensor (134) is arranged on the lifting steel wire rope of the grab bucket (13) to acquire the weight of materials grabbed each time.
10. An automatic control method of a combined storage crane is characterized by comprising the following steps of:
1) inputting production batching parameters to a crane control system, wherein the production batching parameters comprise specific production raw materials and auxiliary material component contents;
2) Determining a target grabbing point by the automatic control system of the combined storage crane according to the material position information provided by the vision system (6), reading the position information of each crane (1) by the combined positioning system (8), and selecting the crane (1) closest to the target grabbing point to work;
3) The hoisting equipment automatically runs the cart (11) and the trolley (12) according to the instruction, and accurately runs to a first target position by matching with a cart encoder (81), a trolley encoder (82) and a cart motor (111) and a trolley motor (121) of the cart (11) and the trolley (12);
4) The large trolley (11) and the small trolley (12) move in place, the grab bucket (13) is matched with the grab bucket encoder (83) accurately, the lifting motor (131) descends to an instruction position, the grab bucket opening and closing motor (132) is opened and closed to grab materials, and the load sensor (134) of the grab bucket (13) acquires the weight of the grabbed materials each time;
5) The grab bucket (13) rises to a safe height, and after the open-close bucket discharges materials into the discharge bin (3), the cart (11) and the trolley (12) move to the next target position; after the materials are transferred to the material placing bin (3) through the grab bucket (13), the material placing bin (3) is used for material mixing through the bottom material mixing scale (4), the material mixing scale (4) automatically adjusts the rotating speed of a material mixing motor according to a material mixing instruction, and the requirement of quantitatively supplying materials to the material mixing belt (5) in unit time is met.
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| CN201910934353.1A CN110562854A (en) | 2019-09-29 | 2019-09-29 | Automatic control system of combined storage crane |
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| CN201910934353.1A CN110562854A (en) | 2019-09-29 | 2019-09-29 | Automatic control system of combined storage crane |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111290316A (en) * | 2020-02-23 | 2020-06-16 | 深圳市柯沃工业有限公司 | Bulk material warehouse automatic management system and method |
| CN111453617A (en) * | 2020-03-24 | 2020-07-28 | 中信重工机械股份有限公司 | Unmanned grab bucket positioning method of combined storage material management system |
| CN112240552A (en) * | 2020-10-28 | 2021-01-19 | 中国天楹股份有限公司 | Implementation method for full-automatic operation of waste incineration power generation project |
| CN112850493A (en) * | 2021-03-08 | 2021-05-28 | 北京起重运输机械设计研究院有限公司 | Hoisting and carrying system |
| CN113275119A (en) * | 2021-06-29 | 2021-08-20 | 中国水利水电第九工程局有限公司 | Online quality control preparation system of grit processing extra fine workshop |
| CN114348678A (en) * | 2022-01-06 | 2022-04-15 | 中国恩菲工程技术有限公司 | Control method and device for material transfer automatic driving vehicle and electronic equipment |
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- 2019-09-29 CN CN201910934353.1A patent/CN110562854A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111290316A (en) * | 2020-02-23 | 2020-06-16 | 深圳市柯沃工业有限公司 | Bulk material warehouse automatic management system and method |
| CN111453617A (en) * | 2020-03-24 | 2020-07-28 | 中信重工机械股份有限公司 | Unmanned grab bucket positioning method of combined storage material management system |
| CN111453617B (en) * | 2020-03-24 | 2021-07-06 | 中信重工机械股份有限公司 | Unmanned crown block grab bucket positioning method of combined storage material management system |
| CN112240552A (en) * | 2020-10-28 | 2021-01-19 | 中国天楹股份有限公司 | Implementation method for full-automatic operation of waste incineration power generation project |
| CN112850493A (en) * | 2021-03-08 | 2021-05-28 | 北京起重运输机械设计研究院有限公司 | Hoisting and carrying system |
| CN113275119A (en) * | 2021-06-29 | 2021-08-20 | 中国水利水电第九工程局有限公司 | Online quality control preparation system of grit processing extra fine workshop |
| CN114348678A (en) * | 2022-01-06 | 2022-04-15 | 中国恩菲工程技术有限公司 | Control method and device for material transfer automatic driving vehicle and electronic equipment |
| CN114348678B (en) * | 2022-01-06 | 2023-08-22 | 中国恩菲工程技术有限公司 | Control method and device for material transfer automatic driving vehicle and electronic equipment |
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