CN114093065B - Safety control system and method for wharf yard and automatic track crane - Google Patents
Safety control system and method for wharf yard and automatic track crane Download PDFInfo
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- CN114093065B CN114093065B CN202111431269.1A CN202111431269A CN114093065B CN 114093065 B CN114093065 B CN 114093065B CN 202111431269 A CN202111431269 A CN 202111431269A CN 114093065 B CN114093065 B CN 114093065B
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000012423 maintenance Methods 0.000 claims abstract description 176
- 230000000903 blocking effect Effects 0.000 claims abstract description 12
- 230000008569 process Effects 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000012546 transfer Methods 0.000 claims description 3
- 230000008439 repair process Effects 0.000 abstract description 4
- 230000003993 interaction Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005764 inhibitory process Effects 0.000 description 2
- 238000004873 anchoring Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
- G07C9/00309—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys operated with bidirectional data transmission between data carrier and locks
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
- G07C9/00571—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys operated by interacting with a central unit
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B5/00—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied
- G08B5/22—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission
- G08B5/36—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission using visible light sources
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a safety control system and method for a wharf yard and an automatic track crane, wherein the method comprises the following steps: judging whether a maintenance door corresponding to one area in the storage yard is externally blocked; blocking an area in the storage yard to form a storage yard locking area, so that a cart is prevented from entering the storage yard locking area; determine if the cart's location is already within the yard locking area If yes, prohibiting the operation of the cart and canceling the running instruction; determine whether the corresponding repair gate received the request signal If yes, the cart is moved out to the edge of the storage yard locking area, and the corresponding maintenance door is opened. The invention can promote personnel safety and high-efficiency operation of an automatic track crane (ARMG).
Description
Technical Field
The invention relates to an automatic safety control technology, in particular to a safety control system and method for a wharf yard and an automatic track crane.
Background
The trade of China and world countries is continuously developed, the throughput of container ports is continuously increased, higher requirements are put forward on the operation efficiency of an automatic wharf, and a storage yard is used as a transit place on the sea and land sides and is a tie for receiving and transmitting containers.
In the process of high-efficiency operation of an automatic wharf, the normal operation of an automatic rail crane (ARMG) can be influenced by the action of personnel entering the yard, and the personal safety of the personnel can be influenced, so that the problem that the personnel can safely finish the work task of the personnel in the yard and can avoid influencing the work efficiency of the automatic rail crane (ARMG) to a great extent is solved, and the problem is that research and development personnel need to fully consider.
At present, the automatic wharf is of a traditional physical structure perpendicular to a coastline, when the automatic wharf needs to enter a yard maintenance area for maintenance, personnel are prevented from entering the yard maintenance area through the physical barrier, when a cart of the machine cannot operate, the cart is manually controlled or the machine needing to be maintained is pushed to an anchoring position through the pushing of the cart with another machine of the yard, and then personnel boarding for maintenance, so that the working efficiency is greatly reduced.
For example, when one machine requires maintenance pushing, because the machine cannot move, another machine in the yard needs to stop the automation task to drive the machine requiring maintenance away from the anchor location.
In addition, the conventional dock is provided with a maintenance door at the end side of the yard in the normal box area, and the middle area of the yard is not provided with the maintenance door, so that the whole yard area is required to be surrounded even if a few maintenance operations are simple.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide a safety control system and method for a wharf yard and an automatic track crane.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a safe control method for a wharf yard and an automatic track crane comprises the following steps: judging whether a maintenance door corresponding to one area in the storage yard is externally blocked; blocking an area in the storage yard to form a storage yard locking area, so that a cart is prevented from entering the storage yard locking area; determine if the cart's location is already within the yard locking area? If yes, prohibiting the operation of the cart and canceling the running instruction; determine whether the corresponding repair gate received the request signal? If yes, the cart is moved out to the edge of the storage yard locking area, and the corresponding maintenance door is opened.
As one embodiment of the present invention, if the position of the cart is not located in the yard locking area, further determining whether the target position of the cart is located in the yard locking area; if yes, the running position of the cart is given again, so that the cart waits at the edge of a storage yard locking area; if not, the cart does not occupy the storage yard locking area, and the cart does not process; determine whether the corresponding repair gate received the request signal? If yes, opening the corresponding maintenance door.
As an embodiment of the present invention, before the operator enters an area in the yard, if the maintenance door of the yard is not externally blocked, it is further determined whether the maintenance door receives the request signal? If yes, refusing to open the door.
As one embodiment of the present invention, one area of the yard includes a sea side area or a land side area, and the maintenance door of one area includes a sea side maintenance door or a land side maintenance door.
As one embodiment of the invention, before an operator enters one area in a storage yard, whether the maintenance door corresponding to the one area is externally blocked or not is judged, and the maintenance door corresponding to the one area is blocked.
In order to achieve the above purpose, the present invention further adopts the following technical scheme:
a security control system for a dock yard and an automated track crane, comprising: the maintenance door is positioned in the storage yard and comprises a central maintenance door arranged in the center of the storage yard and side maintenance doors arranged on the side surfaces of the storage yard; the control system comprises a central control controller, a server and a client, wherein the controller is in signal connection with the storage yard cart and the maintenance door, and the central control controller performs the following operations: the central control controller judges whether the maintenance door corresponding to one area in the storage yard is blocked externally; blocking an area in the storage yard by using the client so as to form a storage yard locking area, thereby prohibiting a cart from entering the storage yard locking area; determine if the cart's location is already within the yard locking area? If yes, the server is utilized to prohibit the operation of the cart and cancel the running instruction; determine whether the corresponding repair gate received the request signal? If yes, the cart is moved out to the edge of the storage yard locking area by the aid of the server, and a corresponding maintenance door is opened by the aid of the client.
As an implementation mode of the invention, if the position of the cart is not located in the storage yard locking area, the central control controller further judges whether the target position of the cart is located in the storage yard locking area; if yes, the central control controller gives the running position of the cart again, so that the cart waits at the edge of the storage yard locking area; if not, the cart does not occupy the storage yard locking area, and the cart does not process; the central controller determines whether the corresponding maintenance door receives the request signal? If yes, the corresponding maintenance door is opened by the client.
As an embodiment of the present invention, before the operator enters an area in the yard, if the maintenance door of the yard is not externally blocked, the central controller further determines whether the maintenance door receives the request signal? If yes, the client refuses to open the door.
As one implementation mode of the invention, before an operator enters one area in a storage yard, the central control controller judges whether the maintenance door corresponding to the one area is externally blocked or not, and the maintenance door corresponding to the one area is blocked by the client.
As one embodiment of the present invention, the center service door includes a first center service door, a second center service door, and a third center service door. The first central maintenance door is arranged on one side of the central area of the storage yard, the second central maintenance door is arranged on the other side of the central area of the storage yard and is opposite to the first central maintenance door, and the first central maintenance door and the second central maintenance door form an access control area perpendicular to the length direction of the storage yard. The third central maintenance door is arranged on the outer side of the intelligent trolley lane, and the position of the third central maintenance door is opposite to that of the second central maintenance door.
As one embodiment of the present invention, one area of the yard includes a sea side area or a land side area, and the maintenance door of one area includes a sea side maintenance door or a land side maintenance door.
As one embodiment of the present invention, the yard locking area includes a sea-side yard locking area and a land-side yard locking area; the sea side yard locking area is a position between sea side maintenance gates to gate inhibition areas, and the land side yard locking area is a position between land side maintenance gates to gate inhibition areas.
In the technical scheme, the invention provides the linkage control system and the linkage control method for the maintenance personnel to safely and conveniently enter a storage yard for maintenance or log on a machine for maintenance, and the linkage control system and the linkage control method can promote personnel safety and high-efficiency operation of an automatic track crane (ARMG).
Drawings
FIG. 1 is a schematic illustration of an application scenario of the system of the present invention;
FIG. 2 is a block diagram of a control system of the present invention;
FIG. 3 is a flow chart of the method of the present invention;
fig. 4a and 4b are schematic diagrams illustrating a process according to an embodiment of the present invention.
In the figure:
11-first central service door, 12-second central service door, 13-third central service door, 14-sea side service door, 15-land side service door;
21-sea side large vehicle, 22-land side large vehicle, 23-truck collecting lane and 24-intelligent small vehicle lane;
3-control system, 31-central control controller, 32-server, 33-client.
Detailed Description
The technical scheme of the invention is further described below with reference to the accompanying drawings and examples.
Referring to fig. 1 and 2, the present invention first discloses a safety control system 3 for a yard and an automated track crane, which is applied to a use scenario of the yard, as shown in fig. 1, the yard is generally a rectangular site, one side of which is close to the sea, called the sea side, and the opposite side is called the land side. As shown in fig. 1, the sea side is the left side of the rectangle of fig. 1, and the land side is the right side of the rectangle of fig. 1. Those skilled in the art will appreciate that the above sea side to the left and land side to the right are for illustrative purposes only and are not limiting of the invention. In other embodiments, the sea side and the land side may be separately set, and the technical gist of the present invention is satisfied.
The invention aims at the wharf yard area, a plurality of maintenance doors are arranged at the middle positions of the sea side and the land side, and the maintenance doors are also respectively arranged at the sea side and the land side.
As an embodiment of the present invention, as shown in fig. 1, the maintenance door provided in the center of the yard (i.e., the center on the sea side and the center on the land side) is a center maintenance door. The central service doors comprise a first central service door 11, a second central service door 12 and a third central service door 13.
Referring to fig. 1, a first central maintenance door 11 is provided at one side of a central area of a yard, a second central maintenance door 12 is provided at the other side of the central area of the yard, opposite to the first central maintenance door 11, and the first central maintenance door 11 and the second central maintenance door 12 form an access area perpendicular to the length direction of the yard. The third center service door 13 is provided outside the intelligent car lane 24 at a position opposite to the second center service door 12.
The central maintenance door forms an access control area that divides the yard area into a sea side area (sea side maintenance area) and a land side area (land side maintenance area), and the maintenance doors corresponding to the sea side area and the land side area are a sea side maintenance door 14 and a land side maintenance door 15, respectively.
When all maintenance doors are closed, the enclosed yard area forms a yard lock area. The central maintenance door defines a yard locking area, which includes a sea side yard locking area and a land side yard locking area; the sea side yard locking area is a position between the sea side maintenance door 14 and the access control area, and the land side yard locking area is a position between the land side maintenance door 15 and the access control area.
The system of the invention is characterized in that a maintenance door is respectively arranged at the sea side and the land side of a U-shaped storage yard and is respectively used as a passage for a maintenance person to enter a sea side maintenance area and a land side maintenance area, three maintenance doors (a first central maintenance door 11, a second central maintenance door 12 and a third central maintenance door 13) are arranged at the middle position of the storage yard in the running direction of an automatic track crane (ARMG) trolley, the maintenance doors are used as maintenance persons to cross a storage yard and in-rail card collecting lane 23 to maintain an unmanned carrier (Automated Guided Vehicle, AGV) or an automatic track crane (ARMG), and the 3 maintenance doors are logically independent from each other in the direction of the trolley, can request a rail to enter the storage yard from the card collecting lane 23 and then leave from the AGV side locking door, can also request the rail to enter the storage yard from the AGV side and then leave from the card collecting lane 23.
In the structure, the invention aims at the storage yard of the novel U-shaped physical structure, the storage yard is not provided with a fixed interaction area on the sea and land sides like the traditional mode, and ARMG can carry out interaction at any position of the storage yard through cantilevers at two ends to complete the receiving and dispatching of containers, so that when maintenance personnel need to enter the storage yard for maintenance, the ARMG needs to know the states of all the doors of the current storage yard to timely respond, dangerous accidents are avoided, and personnel safety is ensured to enter the storage yard.
Referring to fig. 2, the control system 3 includes a central controller 31, a server 32, and a client 33, the controller as a whole is communicatively connected (signal-connected) to respective maintenance doors, carts, and the like on the yard, and the central controller 31 signal-connects the yard carts and the maintenance doors.
As a preferred embodiment of the present invention, as shown in fig. 1 and 2, a door signal collector and a warning light are provided on each maintenance door, the signal collector is responsible for collecting the request signal of the current door and the status of the door, and the warning light is used for reminding the maintenance personnel of the actions that can be performed currently.
Compared with the data transmission mode that each yard on other automatic code heads is provided with a secondary station collector and a database, the client 33 of the invention adopts an OPC_UA client as a collection data interface of all maintenance doors of the yard, in order to shorten time delay, the server 32 of the invention adopts a PLC of CPL410 model as a data transfer station, because the type PLC is internally provided with a LINUX micro-operation system and an Opcserver, the data collection end can directly communicate with the PLC according to OPC_UA protocol, and then data is transferred to Vxworks to carry out logic processing of the PLC through the inside of the PLC, thereby greatly shortening time transmission time delay.
According to the invention, as shown in comprehensive figures 1 and 2, the maintenance door of the U-shaped storage yard is improved, the induction limiting of the ARMG is additionally carried out, the magnetic nails are pre-buried at the two sides of the central maintenance door and used for hardware protection, and a door control box is arranged to collect related signals of the door.
According to the system structure shown in fig. 1, the present invention checks the magnet position according to the current car position of the ARMG, and when the magnet position is invalid and the door is opened at this time, the ARMG is stopped in an emergency when the car enters the door area, and when the car is valid, the ARMG enters the surrounding area of the door and the track crossing door is opened, the ARMG is stopped in an emergency.
As a preferred implementation mode of the invention, CPL410 is selected as a data acquisition master station, CPE305 is selected as a controller of ARMG, OPC_UA client 33 is adopted to read signals of all the gates of the storage yard, data is sent to a server 32 end of CPL410 through OPC protocol, related data is distributed to a PLC end of a single ARMG through EGD protocol, and related control is completed by the PLC. The development of the CMS interface realizes an active blocking function for a storage yard area, and when a blocking request with higher priority is provided, the control system 3 realizes blocking of the surrounding area of the door, and declares that the area is blocked from entering.
Referring to fig. 3, based on the system of the present invention, the present invention also discloses a safety control method for a dock yard and an automated track crane, which mainly includes the following steps:
step S1: the control system 3 determines whether the maintenance door corresponding to one area in the yard is externally blocked by using the central control controller 31. If yes, go to step S6, if no, go to step S3.
Step S2: after the determination in step S1, the operator is about to enter an area (e.g., land area) in the yard. At this time, the operator contacts the center control, and the center control personnel blocks the land-side service door 15 through the GUI.
Step S3: if the determination in step S1 is not passed, it is further determined whether a request signal of the corresponding maintenance door is received at present? If yes, go to step S4, if no, go to step S5.
Step S4: the central controller 31 refuses to open the door.
Step S5: the corresponding maintenance door has no request signal and does not process the access control.
Step S6: after the determination of passing in step S1, the control system 3 blocks one area (for example, a land-side area or a sea-side area) in the yard by the client 33 through the central controller 31, thereby forming a yard locking area, and prohibits the cart from entering the yard locking area.
Step S7: determine whether the current cart's location is already within the yard locking area? If yes, go to step S8 and step S9, if no, go to step S14.
Step S8: and after the judgment of the step S7 is passed, the lifting operation of an automatic track crane (ARMG) large car is forbidden.
Step S9: after the determination of step S7 is passed, the instruction of the automated rail-mounted crane (ARMG) cart currently running is canceled.
Step S10: after completion of both steps S8 and S9, it is determined whether the corresponding maintenance door receives the request signal? If yes, go to step S11, if no, go to step S12.
Step S11: if the current automated track-lift (ARMG) cart is a sea-side cart 21, the sea-side cart 21 is moved out to the edge of the yard locking area, and if the current automated track-lift (ARMG) cart is a land-side cart 22, the land-side cart 22 is moved out to the edge of the yard locking area. After that, step S13 is performed.
Step S12: when the determination in step S10 is no, the center controller 31 does not perform processing.
Step S13: the central controller 31 issues an instruction to allow the corresponding maintenance door to be opened.
Step S14: if the determination in step S7 is negative (i.e., the position of the cart is not located in the yard locking area), it is further determined whether the target position of the cart is located in the yard locking area? If yes, step S15 is executed, and if no, step S16 is executed.
Step S15: the operational position of an Automated Rail Mounted (ARMG) cart is re-given such that the cart waits at the edge of the yard locking zone (e.g., at the edge of the fridge zone).
Step S16: the automatic track crane (ARMG) large vehicle does not occupy a storage yard locking area, and the automatic track crane (ARMG) large vehicle does not process.
Step S17: after completion of both steps S15 and S16, it is determined whether the corresponding maintenance door receives the request signal? If yes, go to step S18, if no, go to step S19.
Step S18: the central controller 31 issues an instruction to allow the corresponding maintenance door to be opened.
Step S19: the central controller 31 does not perform processing.
As can be seen from fig. 1 and 2, each yard of the current automated dock has two machines to work, when a person requests to open a door to enter the yard, the machines cannot be directly stopped in an emergency, and the working time of maintenance personnel cannot be evaluated, so that the working efficiency of the dock operation can be greatly reduced and the service life of the machines can be greatly influenced.
The method shown in fig. 3 is thus algorithmically improved, and the control system 3 will comprehensively determine whether to allow the operator to open the door according to the current different working states of the two machines (sea-side cart 21, land-side cart 22) of the yard, and declare a locking zone in the yard area, not allowing any machine to enter the locking zone.
In the control system 3, the access control GUI of the client 33 provides a central control with higher control right, and a central control person can actively block a door area through the GUI, and after receiving a blocking command, the server 32 cancels the currently executed automation instruction to automatically move out of a blocking area or wait at the edge of the blocking area.
Because the yard (for example, a U-shaped yard) has the actions that operators repeatedly cross the track, in order to ensure the absolute safety of the operators, the method shown in fig. 3 designs limit magnetic blocks for hardware protection on the basis of software algorithm protection, two ARMG far sides of the yard are respectively provided with an induction limit, two induction magnetic blocks are respectively arranged on two sides of a track crossing door, and when the ARMG scans magnetic block signals each time, the signals of the magnetic blocks are reversed, so that whether the current large vehicle enters the track crossing door area can be judged.
As another embodiment of the method shown in fig. 3, when there is an external request for door opening signal, the ARMG locks the surrounding area of the door if it receives a request for locking the door, determines the current cart position of the ARMG and the target position of the received command, automatically moves out of the area if it is, or waits at the edge of the blocked area, and cancels the current command if the machine is operating automatically. If the machine is not operating in a locked area, the door may be directly allowed to be opened.
Under the flow of the present embodiment, steps S1 and S2 shown in fig. 3 will be changed.
Step S1': is any one of the three maintenance doors that determine the current AGV direction blocked?
Step S2': if so, when an operator enters the middle area of the storage yard for maintenance, the central control personnel are contacted, and the central control personnel block the central maintenance door of the storage yard through the GUI.
Steps S3 to S19 are the same as the above-described flow, and will not be described again here.
The above-described aspects of the present invention are described below by way of an example.
Referring to fig. 4a and 4b, the system and method of the present invention may be applied in combination in the interaction scenario of maintenance personnel, access control systems, control systems 3. The flow of fig. 4a and 4b includes, in one embodiment, interaction between the service personnel, the access control system, and the control system 3, and finally, a specific case of operator service.
As shown in fig. 4a, first, in step S20, a serviceman swipes a card to request opening a door. At this time, the access control system executes step S21 to determine whether the card of the maintenance personnel is valid, if yes, step S22 is executed, and if not, step S27 is executed.
In step S22, the entrance guard system sends a door opening request signal to the control system 3 system, and the red light blinks at this time. The control system 3 executes step S24 to receive the door opening request signal of the access control system and issue a door opening request to the sea side maintenance door 14 and the land side maintenance door 15.
Before step S24 is performed, the control system 3 performs step S23 of transmitting a door opening permission signal to the entrance guard system. After the step S24 is executed, the control system 3 executes a step S25, and receives a door opening request signal, and based on the current ARGM status, the control system 3 determines whether to allow the door opening permission to be issued. Meanwhile, after step S24 is completed, the control system 3 executes step S29 to determine whether door opening permission is received in 60S? If yes, step S32 is executed, if no, step S28 is executed by the access control system, that is, the door opening permission signal is not received in 60S, and the alarm red light blinks to become red light and is always on.
On the other hand, if the step S22 is negative, the access control system executes a step S26 to verify that it is invalid, the access control system refuses the request, and an alarm prompt is issued. Thereafter, the serviceman may perform step S25 to contact the central person for processing.
At this time, the control system 3 executes step S32 to transmit a door opening permission signal to the access control system. The entrance guard system further executes step S31, receives the door opening permission signal, opens the door lock of the maintenance door, and flashes the red light to turn into green light to be very bright. After the serviceman obtains the license, the serviceman performs step S30, and the serviceman can enter the service door.
After the maintenance personnel enter, the access control system executes step S33, and receives a signal that the door lock is fed back and the maintenance door is opened. After that, the control system 3 performs step S34, and receives a signal that the maintenance door is opened.
Step S35 judges whether the maintenance personnel closes the maintenance door, if so, step S36 is executed, and if not, step S37 is executed. The entrance guard system executes step S36, after receiving the signal of closing the door lock feedback of the maintenance door, the green light is normally on to the red light, and then, the entrance guard system executes step S38. The control system 3 executes step S37, that is, if the determination in step S35 is negative, it indicates that the maintenance personnel has not closed the maintenance door, and the control system 3 blocks the access control area of the maintenance door.
After the control system 3 performs step S38, i.e. after receiving the signal that the current access control area has been closed, the control system 3 further performs step S39, allowing maintenance personnel to work in the access control area.
Fig. 4a shows a flow of a maintenance person entering a middle area of a yard from the outside to perform a job, and fig. 4b shows a flow of leaving from the yard after the maintenance person finishes the job.
As shown in fig. 4b, in step S40, after the maintenance personnel completes the work task, the request exit button is pressed. At this time, the entrance guard system performs step S41 to transmit a door opening request signal to the control system 3, at which time the red light blinks. The control system 3 executes step S42, and after receiving the request exit signal of the access control system, continues to execute step S43.
In step S43, the control system 3 determines whether or not the door opening permission instruction is received in 60S? If yes, step S47 is executed, and if no, step S43 is executed. In step S43, the door opening permission signal is not received in the door control system 60S, and the red light blinks to be red light and is always on.
In step S47, after the determination in step S44 is passed, the control system 3 transmits a door opening permission signal to the door control system. Then, the entrance guard system executes step S46 to receive the door opening permission signal, and to open the door lock of the maintenance door, the red light blinks to be red light and is always on. At this time, the serviceman performs step S45 to open the service door.
At this time, the access control system executes step S48, and receives a signal that the maintenance door is opened, which is fed back by the door lock of the maintenance door. After that, the control system 3 performs step S49, and receives a signal that the maintenance door has been opened.
In step S50, it is determined whether the maintenance person closes the maintenance door? If yes, step S51 is executed, and if no, step S52 is executed. The entrance guard system executes step S51, receives the signal that the door lock of the maintenance door is closed, and executes step S53 after the completion of turning green light into red light.
The control system 3 executes step S52, i.e., when the determination of step S50 is no, the control system 3 blocks the corresponding entrance guard area. The control system 3 additionally executes step S53, the current state being that the maintenance door has been closed.
In step S54, after the maintenance personnel presses the task completion button, the access control system executes step S55, receives the task completion signal, and receives the signal that the maintenance door is closed. Then, the control system 3 executes step S56 to receive the task completion signal or the reset signal, and the current maintenance door is closed to directly rewrite the initial state. The control system 3 also executes step S57 of notifying that the fault signal is reset through the GUI interface.
It will be appreciated by persons skilled in the art that the above embodiments are provided for illustration only and not for limitation of the invention, and that variations and modifications of the above described embodiments are intended to fall within the scope of the claims of the invention as long as they fall within the true spirit of the invention.
Claims (6)
1. A safe control method for a wharf yard and an automatic track crane of a safe control system for the wharf yard and the automatic track crane is characterized in that,
the safety control system of the wharf yard and the automatic track crane comprises:
the maintenance door is positioned in the storage yard and comprises a central maintenance door arranged in the center of the storage yard and side maintenance doors arranged on the side surfaces of the storage yard;
the control system comprises a central control controller, a server and a client, wherein: the central controller is in signal connection with the yard cart and the maintenance doors, the client adopts an OPC_UA client as an acquisition data interface of all maintenance doors of the yard, the server adopts a PLC of CPL410 model as a data transfer station, the PLC is internally provided with a LINUX micro-operation system and is internally provided with an Opcserver, thus the data acquisition end directly communicates with the PLC according to OPC_UA protocol, then data is transferred to Vxworks to carry out logic processing of the PLC through the inside of the PLC, the time transmission delay is greatly shortened,
the safety control method for the wharf yard and the automatic track crane comprises the following steps:
judging whether a maintenance door corresponding to one area in the storage yard is externally blocked;
blocking one area in the storage yard to form a storage yard locking area, so that a cart is prevented from entering the storage yard locking area;
judging whether the position of the cart is already positioned in the storage yard locking area,
if yes, prohibiting the operation of the cart and canceling the running instruction;
judging whether the corresponding maintenance door receives a request signal,
if yes, the cart is moved out to the edge of the storage yard locking area, and the corresponding maintenance door is opened,
if the position of the cart is not located in the storage yard locking area, further judging whether the target position of the cart is located in the storage yard locking area or not;
if yes, the running position of the cart is given again, so that the cart waits at the edge of a storage yard locking area;
if not, the cart does not occupy the storage yard locking area, and the cart does not process;
judging whether the corresponding maintenance door receives the request signal,
if yes, the corresponding maintenance door is opened,
before an operator enters one area in a storage yard, judging whether the maintenance door corresponding to the one area is externally blocked or not, and blocking the maintenance door corresponding to the one area,
before an operator enters an area in the storage yard, if the maintenance door of the storage yard is not externally blocked, further judging whether the maintenance door receives a request signal,
if yes, refusing to open the door.
2. The dock yard and automated rail crane safety control method of claim 1, wherein one area of the yard comprises a sea side area or a land side area, and the maintenance door of the one area comprises a sea side maintenance door or a land side maintenance door.
3. A security control system for a dock yard and an automated track crane, comprising:
the maintenance door comprises a central maintenance door arranged in the center of the storage yard and a side maintenance door arranged on the side surface of the storage yard;
the control system comprises a central control controller, a server and a client, wherein: the central controller is in signal connection with the storage yard cart and the maintenance doors, the client adopts an OPC_UA client as an acquisition data interface of all maintenance doors of the storage yard, the server adopts a PLC (programmable logic controller) of a CPL410 model as a data transfer station, the PLC is internally provided with a LINUX micro-operation system and is internally provided with an Opcserver, so that the data acquisition end directly communicates with the PLC according to an OPC_UA protocol, and then data is transferred to a Vxworks to carry out logic processing of the PLC through the inside of the PLC, so that time transmission delay is greatly shortened, and the central controller performs the following operations:
the central control controller judges whether the maintenance door corresponding to one area in the storage yard is blocked externally;
blocking one region in the storage yard by using a client so as to form a storage yard locking region, thereby prohibiting a cart from entering the storage yard locking region;
judging whether the position of the cart is already positioned in the storage yard locking area,
if yes, the server is utilized to prohibit the operation of the cart and cancel the running instruction;
judging whether the corresponding maintenance door receives a request signal,
if yes, the cart is moved out to the edge of the storage yard locking area by the server, and the corresponding maintenance door is opened by the client,
if the position of the cart is not located in the storage yard locking area, the central control controller further judges whether the target position of the cart is located in the storage yard locking area or not;
if yes, the central control controller gives the running position of the cart again, so that the cart waits at the edge of the storage yard locking area;
if not, the cart does not occupy the storage yard locking area, and the cart does not process;
the central controller judges whether the corresponding maintenance door receives the request signal,
if yes, the corresponding maintenance door is opened by the client side,
before an operator enters an area in the storage yard, if the maintenance door of the storage yard is not externally blocked, the central control controller further judges whether the maintenance door receives a request signal,
if yes, the client refuses to open the door,
before an operator enters one area in a storage yard, the central controller judges whether the maintenance door corresponding to the one area is externally blocked or not, and the maintenance door corresponding to the one area is blocked by the client.
4. The dock yard and automated rail crane safety control system of claim 3, wherein the central maintenance doors include a first central maintenance door, a second central maintenance door, and a third central maintenance door;
the first central maintenance door is arranged on one side of the central area of the storage yard, the second central maintenance door is arranged on the other side of the central area of the storage yard and opposite to the first central maintenance door, and the first central maintenance door and the second central maintenance door form an access control area perpendicular to the length direction of the storage yard;
the third central maintenance door is arranged on the outer side of the intelligent trolley lane, and the position of the third central maintenance door is opposite to the second central maintenance door.
5. The dock yard and automated rail-mounted safety control system of claim 4, wherein one area of the yard comprises a sea-side area or a land-side area, and the maintenance door of the one area comprises a sea-side maintenance door or a land-side maintenance door.
6. The dock yard and automated rail crane safety control system of claim 5, wherein the yard lock-out area comprises a sea side yard lock-out area and a land side yard lock-out area;
the sea side yard locking area is a position between sea side maintenance doors and a forbidden area, and the land side yard locking area is a position between land side maintenance doors and a forbidden area.
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| CN114093065A (en) | 2022-02-25 |
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