CN116534731B - Anti-collision control method and system for multiple common rail unmanned cranes - Google Patents

Anti-collision control method and system for multiple common rail unmanned cranes Download PDF

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Publication number
CN116534731B
CN116534731B CN202310449270.XA CN202310449270A CN116534731B CN 116534731 B CN116534731 B CN 116534731B CN 202310449270 A CN202310449270 A CN 202310449270A CN 116534731 B CN116534731 B CN 116534731B
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crane
speed
limit
negative
limit position
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CN116534731A (en
Inventor
郑祎
易烨腾
邱永峰
廖济红
查铂
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Hunan Tianqiao Jiacheng Intelligent Technology Co ltd
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Hunan Tianqiao Jiacheng Intelligent Technology Co ltd
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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
    • 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
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—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
    • B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
    • B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
    • 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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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses an anti-collision control method of a plurality of common rail unmanned cranes, which comprises the following steps: acquiring deceleration and maximum speed V max of the frequency converter; the position information of the cart of the crane is read in real time through the position feedback unit, and the position information is communicated to the PLC through an Ethernet real-time bus; acquiring a positive limit position and a negative limit position of the current crane cart operation and feeding back to the PLC; calculating positive limit speed and negative limit speed of a current crane running cart; the PLC is adopted to control the frequency converter to limit the target output speed to the limit speed of the direction according to the direction of the target output speed v o; in summary, the invention sets or calculates the limit position of the current crane cart operation, further calculates the allowable limit speed of the current position of the mechanism according to the deceleration performance of the mechanism, namely the deceleration, and limits the output speed to the speed, thereby maximally improving the range of the working area and reducing the influence of the speed limit on the normal operation.

Description

Anti-collision control method and system for multiple common rail unmanned cranes
Technical Field
The invention relates to the technical field of anti-collision, in particular to an anti-collision control method for a plurality of common rail unmanned cranes.
Background
At present, the collision avoidance of the crane mainly adopts the detection of travel switch touching type or proximity switch induction type or laser and ultrasonic equidistant detection equipment, and by setting a speed reduction position and a stop position switch, the speed output of a control mechanism is limited below a set speed reduction speed when the speed reduction switch is touched or detected, and the control mechanism is stopped when the stop position is touched or detected. The deceleration distance, i.e. the setting distance from the deceleration position to the stop position, needs to be larger than the deceleration running distance from the maximum speed to the deceleration speed of the mechanism, and the stopping distance, i.e. the setting distance from the stop position to the obstacle, needs to be larger than the deceleration distance from the deceleration speed to zero, so that the mechanism can be ensured not to collide absolutely. The deceleration distance is a superposition of the stopping distances of the respective stationary obstacles.
The disadvantage of this approach is that the crane cannot normally work in the stopping interval, the crane is limited to a fixed speed in the decelerating interval, and when two or more traveling vehicles share the cart track, the decelerating distance and stopping distance settings between the carts are each superimposed with respect to the stationary obstacle settings, and the anti-collision approach is definitely limited for multi-vehicle operation across the working area, or for frequent operation in the decelerating area, or for operation scenarios where the stopping area is not acceptable to divide into too large.
The invention discloses a crane cart collision avoidance system and a method, the invention of which is disclosed in the publication number CN110775825A, comprising: the laser scanner, whisker limit and processor; the laser scanner is used for scanning the obstacle in the advancing direction of the crane cart, determining the relative position information of the obstacle and the crane cart, and sending the relative position information to the processor; after the tentacles are limited to contact the obstacle, sending alarm information to the processor; the processor is used for sending a deceleration instruction to the controller of the crane cart so as to enable the crane cart to run at a reduced speed if the relative position information represents that the obstacle is located in a first preset area after the relative position information is acquired; the processor is also used for sending a first stopping instruction to the controller of the crane cart after the alarm information is acquired so as to stop the crane cart from running; the crane adopting the invention can not normally work in a stop zone, the crane in a deceleration zone is limited in a fixed speed, and when the anti-collision mode of the invention is applied to two or more traveling crane co-cart tracks, the deceleration distance and the stop distance between carts are respectively overlapped with the static barrier arrangement, so that the anti-collision mode of the invention is definitely limited for a plurality of cart operations crossing a working zone or frequently working in a deceleration zone or not receiving a working scene with too large stop zone division.
Disclosure of Invention
Aiming at the technical problems, the invention provides an anti-collision control method and system for a plurality of common rail unmanned cranes.
The invention adopts the following specific technical scheme:
A collision avoidance control method for a plurality of common rail unmanned cranes comprises the following steps:
S1: acquiring the deceleration performance of the frequency converter, namely the deceleration d and the maximum speed V max;
s2: establishing a position coordinate axis of a cart of the crane, reading position information p of the cart of the crane in real time through a position feedback unit, and feeding back the position information p to the PLC through a wireless communication module;
S3: the method comprises the steps of obtaining a positive limit position and a negative limit position of the current crane cart operation, feeding back the positive limit position and the negative limit position to a PLC, wherein the positive limit position and the negative limit position are positions of a positive barrier and a negative barrier of the current crane cart operation, and the positive limit position and the negative limit position are determined as follows:
S3.1: when the positive limit position and the negative limit position are unchanged, acquiring position information of the positive limit position and the negative limit position through a position feedback unit according to the actual requirement of the crane cart operation;
S3.2: when the positive limit position and the negative limit position are dynamically changed, acquiring limit information of adjacent positive and negative cranes, and calculating corresponding positive and negative limit positions;
S4: calculating a positive limit speed V posLimit and a negative limit speed V negLimit;
s5: the PLC is adopted to limit the target output speed to the limit speed of the direction according to the direction of the target output speed v 0, and the specific contents are as follows:
V 0＝VposLimit when v 0 is forward, and v 0>VposLimit at the same time;
V 0＝VnegLimit when v 0 is negative and v 0>VnegLimit.
Further, in the step S3.2, when the forward limit position dynamically changes, the PLC controls to acquire the current position p 1 of the cart of the adjacent forward crane and the deceleration d 1 of the cart frequency converter in real time, acquire the cart speed v 1 in the current collision direction, measure the fixed compensation S 1 of the collision, and calculate the formula of the forward limit position as follows:
pposLimit＝s1+p1 Pre-preparation
The calculation formula of p 1 Pre-preparation is as follows:
in the above formula, p 1 Pre-preparation is the predicted stop position of the forward crane.
Further, the fixed compensation s 1 is a position deviation p 1 -p when the collision with the adjacent forward crane is critical.
Further, when the negative limit position dynamically changes in step S3.2, the current position p 2 of the cart of the adjacent negative crane and the deceleration d 2 of the cart frequency converter are obtained in real time, the cart speed v 2 in the current collision direction is obtained, the fixed compensation S 2 of the collision is measured, and the formula for calculating the negative limit position is as follows:
pnegLimit＝s2+p2 Pre-preparation
Wherein the calculation formula of p 2 Pre-preparation is as follows:
the above equation p 2 Pre-preparation is the predicted stop position of the negative going crane.
Further, when the forward limit speed V posLimit is calculated in the step S4, the calculation process is as follows:
when p is greater than or equal to p posLimit, V posLimit =0;
when p < p posLimit is used,
When v temp≤Vmax,VposLimit＝vtemp;
when v temp>Vmax,VposLimit＝Vmax.
V temp in the formula represents the maximum allowable speed obtained by the current position and the limit position
Further, when the negative limit speed V negLimit is calculated in the step S4, the calculation process is as follows:
When p is less than or equal to p negLimit, V negLimit =0;
when p > p negLimit is used,
When V temp≤Vmax, V negLimit = vtemp;
V negLimit＝Vmax when V temp>Vmax.
Further, in the step S5, the PLC obtains the direction information of the target output speed v 0 of the crane cart through the frequency converter on the crane cart, and limits the target output speed to the limit speed in the direction through the frequency converter.
An anti-collision control system of a plurality of common rail unmanned cranes is used for implementing the anti-collision control method of the plurality of common rail unmanned cranes, and comprises a position feedback unit for detecting crane position signals; control means for outputting a drive signal in dependence on the received crane position and speed control signal; the control device is a PLC and a frequency converter which are electrically connected with each other, the PLC and the frequency converter, the PLC and the position feedback unit are communicated by adopting an Ethernet real-time bus, and the PLCs on the plurality of common rail unmanned cranes are communicated by adopting a wireless communication module, wherein the position feedback unit comprises a laser ranging device, an encoder, a microwave ranging device and a Gray bus.
The invention has the beneficial effects that:
According to the invention, the distance measuring device is adopted to feed back the current position information in real time, the dynamic limit position is calculated by setting the fixed limit position of the current crane cart operation or according to the current position of the cart mechanism of the adjacent travelling crane and the operation speed and deceleration in the current collision direction, and further, the allowable limit speed of the current position of the mechanism is calculated according to the mechanism deceleration performance, namely the deceleration, and the output speed is limited at the speed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of crane cart operation with dynamic change of forward limit position;
FIG. 2 is a schematic diagram of crane cart operation with dynamic change of negative limit position;
fig. 3 is a schematic illustration of crane cart operation with fixed positive and negative limit positions.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The present invention is further illustrated and described below with reference to examples, which are not intended to be limiting in any way.
Example 1
The embodiment 1 provides an anti-collision control method of a plurality of common rail unmanned cranes, which comprises the following steps:
S1: acquiring the deceleration performance of the frequency converter, namely the deceleration d and the maximum speed V max;
S2: establishing a position coordinate axis of a cart of the crane, prescribing a positive direction, reading position information p of the cart of the crane in real time through a position feedback unit, and feeding back the position information p to the PLC through a wireless communication module;
S3: acquiring and feeding back to a PLC (programmable logic controller) a positive limit position and a negative limit position of the current crane cart operation, namely the positions of a positive barrier and a negative barrier of the current crane cart operation
When the positive limit position and the negative limit position are dynamically changed, acquiring limit information of adjacent positive and negative cranes, and calculating corresponding positive and negative limit positions;
As shown in fig. 1, in step S3.2, when the forward limit position dynamically changes, the PLC controls to acquire the current position p 1 of the adjacent forward crane and the deceleration d 1 of the cart frequency converter in real time, acquire the cart speed v 1 in the current collision direction, measure the fixed compensation S 1 of the collision, and calculate the formula of the forward limit position as follows:
pposLimit＝s1+p1 Pre-preparation
The calculation formula of p 1 Pre-preparation is as follows:
in the above formula, p 1 Pre-preparation is the predicted stop position of the forward crane.
Further, the fixed offset s 1 is the position deviation p 1 -p at the critical point of collision with an adjacent forward crane.
As shown in fig. 2, when the negative limit position dynamically changes in step S3.2, the current position p 2 of the adjacent negative crane and the deceleration d 2 of the cart frequency converter are obtained in real time, the cart speed v 2 in the current collision direction is obtained, the fixed compensation S 2 of the collision is measured, and the formula for calculating the negative limit position is as follows:
pnegLimit＝s2+p2 Pre-preparation
Wherein the calculation formula of p 2 Pre-preparation is as follows:
the above equation p 2 Pre-preparation is the predicted stop position of the negative going crane.
S4: calculating a positive limit speed V posLimit and a negative limit speed V negLimit;
Further, when the forward limit speed V negLimit is calculated in the step S4, the calculation process is as follows:
When p is greater than or equal to p posLimit, V posLimit =0; when the position of the crane cart is larger than or equal to the forward limit position, the forward limit speed is zero, and the crane cart stops running;
when p < p posLimit is used, When the position of the crane cart is smaller than the forward limit position, calculating the maximum allowable speed obtained by the current position and the limit position through the above formula;
When v temp≤Vmax,VposLimit＝vtemp; when the maximum allowable speed obtained from the current position and the limit position is smaller than or equal to the maximum speed of the crane cart controlled by the frequency converter, the forward limit speed at the moment is the maximum allowable speed obtained from the current position and the limit position.
When v temp>Vmax,VposLimit＝Vmax; when the maximum allowable speed obtained by the current position and the limit position is larger than the maximum speed of the crane cart controlled by the frequency converter, the positive limit speed at the moment is the maximum speed of the crane cart controlled by the frequency converter.
Further, similarly, when the negative limit speed V negLimit is calculated in step S4, the calculation process is as follows:
When p is less than or equal to p negLimit, V negLimit =0;
when p > p negLimit is used,
V negLimit＝vtemp when V temp≤Vmax;
V negLimit＝Vmax when V temp>Vmax.
S5: the PLC limits the target output speed to the limit speed of the direction through the frequency converter according to the direction of the target output speed v 0, and the specific contents are as follows:
V 0＝VposLimit when v 0 is forward, and v 0>VposLimit at the same time;
V 0＝VnegLimit when v 0 is negative and v 0>VnegLimit.
When the speed direction of the crane cart is positive, and meanwhile, when the speed of the crane cart is greater than the positive limit speed, the speed of the crane cart is limited below the positive limit speed by controlling a frequency converter on the crane cart through the PLC, and the positive limit speed at the moment is the maximum speed for preventing collision when the crane cart runs;
When the speed direction of the crane cart is a negative direction and simultaneously when the speed of the crane cart is greater than a negative limit speed, the speed of the crane cart is limited below the negative limit speed by controlling a frequency converter on the crane cart through the PLC, and the positive limit speed at the moment is the maximum speed for preventing collision when the crane cart is operated.
In summary, the present invention adopts the distance measuring device to feed back the current position information in real time, calculates the dynamic limit position according to the running speed and deceleration of the current position and the current collision direction of the cart mechanism of the adjacent traveling crane, further calculates the allowable limit speed of the current position of the mechanism according to the deceleration performance of the mechanism, namely the deceleration, and limits the output speed at the speed.
Example 2
The embodiment 2 provides an anti-collision control method of a plurality of common rail unmanned cranes, which comprises the following steps:
S1: acquiring the deceleration performance of the frequency converter, namely the deceleration d and the maximum speed V max;
s2: establishing a position coordinate axis of a cart of the crane, reading position information p of the cart of the crane in real time through a position feedback unit, and feeding back the position information p to the PLC through a wireless communication module;
S3: the method comprises the steps of obtaining a positive limit position and a negative limit position of the current crane cart operation, and feeding back to a PLC, wherein the positive limit position and the negative limit position are positions of a positive barrier and a negative barrier of the current crane cart operation;
As shown in fig. 3, when the positive limit position and the negative limit position are unchanged, according to the actual requirement of the crane cart operation, acquiring the position information of the positive limit position and the negative limit position through a position feedback unit;
S4: calculating a positive limit speed V posLimit and a negative limit speed V negLimit;
Further, when the forward limit speed V posLimitt is calculated in step S4, the calculation process is as follows:
when p is greater than or equal to p posLimit, V posLimit =0;
when p < p posLimit is used,
When v temp≤Vmax,VposLimit＝vtemp;
when v temp>Vmax,VposLimit＝Vmax.
V temp in the formula represents the maximum allowable speed obtained for the current position and the limit position.
Further, when the negative limit speed V negLimit is calculated in the step S4, the calculation process is as follows:
When p is less than or equal to p negLimit, V negLimit =0;
when p > p negLimit is used,
V negLimit＝vtemp when V temp≤Vmax;
V negLimit＝Vmax when V temp>Vmax.
S5: the PLC limits the target output speed to the limit speed of the direction through the frequency converter according to the direction of the target output speed v 0, and the specific contents are as follows:
V 0＝VposLimit when V 0 direction is forward, while V0> V posLimit;
V 0＝VnegLimit when v 0 is negative and v 0>VnegLimit.
In summary, the distance measuring device is adopted to feed back the current position information in real time, and the fixed limit position of the current crane cart is set, so that the limit speed allowed by the current position of the mechanism is calculated according to the deceleration performance of the mechanism, namely the deceleration, and the output speed is limited at the limit speed.
Example 3
The embodiment 3 provides an anti-collision control system of multiple common rail unmanned cranes, which is used for realizing the anti-collision control method of the multiple common rail unmanned cranes proposed in the embodiment 1 and the embodiment 2, and the anti-collision system comprises a position feedback unit for detecting position signals of the cranes; control means for outputting a drive signal in dependence on the received crane position and speed control signal; the control device is a PLC and a frequency converter which are electrically connected with each other, the PLC and the frequency converter, and the PLC and the position feedback unit are communicated by adopting an Ethernet real-time bus, and the PLCs on the plurality of common rail unmanned cranes are communicated by adopting a wireless communication module; the position feedback unit comprises a laser ranging device, an encoder, a microwave ranging device and a Gray bus.
It is to be understood that the above examples of the present invention are provided by way of illustration only and not by way of limitation of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.

Claims (7)

1. The anti-collision control method for the multiple common rail unmanned cranes is characterized by comprising the following steps of:
S1: acquiring the deceleration performance of the frequency converter, namely the deceleration d and the maximum speed V max;
S2: setting a forward direction, establishing a position coordinate axis of a cart of the crane, reading position information p of the cart of the crane in real time through a position feedback unit, and communicating the position information to the PLC through an Ethernet real-time bus;
S3: the method comprises the steps of obtaining a positive limit position and a negative limit position of the current crane cart operation, feeding back the positive limit position and the negative limit position to a PLC, namely, the positions of a positive barrier and a negative barrier relative to the current crane cart operation, wherein the positive limit position and the negative limit position are determined by the following two conditions:
S3.1: when the positive limit position and the negative limit position are unchanged, acquiring position information of the positive limit position and the negative limit position through a position feedback unit according to the actual running condition of the crane cart;
S3.2: when the positive limit position and the negative limit position are dynamically changed, acquiring limit information of adjacent positive and negative cranes, and calculating corresponding positive and negative limit positions;
S4: calculating the positive limit speed V posLimit and the negative limit speed V negLimit of the current crane;
when the forward limit speed V posLimit is calculated in step S4, the calculation process is as follows:
when p is greater than or equal to p posLimit, V posLimit =0;
when p < p posLimit is used,
When v temp≤Vmax,VposLimit＝vtemp;
When v temp>Vmax,VposLimit＝Vmax;
When the negative limit speed V negLimit is calculated, the calculation process is as follows:
When p is less than or equal to p negLimit, V negLimit =0;
when p > p negLimit is used,
V negLimit＝vtemp when V temp≤Vmax;
V negLimit＝Vmax when V temp>Vmax;
V temp in the formula represents the maximum allowable speed obtained by the current position and the limit position, p posLimit represents the positive limit position, and p negLimit represents the negative limit position;
s5: the PLC is adopted to limit the target output speed to the limit speed of the direction according to the direction of the target output speed v 0, and the specific contents are as follows:
V 0＝VposLimit when v 0 is forward, and v 0>VposLimit at the same time;
When v 0 direction is negative, and when v 0>VnegLimit, v 0＝VnegLimit.
2. The method for controlling collision avoidance of multiple common rail unmanned cranes according to claim 1, wherein in step S3.2, when the forward limit position dynamically changes, the PLC controls to acquire the current position p 1 of the adjacent forward crane and the deceleration d 1 of the crane frequency converter in real time, acquire the speed v 1 of the crane in the current collision direction, measure the fixed compensation S 1 of the collision, and calculate the forward limit position according to the formula:
pposLimit＝s1+p1 Pre-preparation
The calculation formula of p 1 Pre-preparation is as follows:
in the above formula, p 1 Pre-preparation is the predicted stop position of the forward crane.
3. The method for controlling collision avoidance of multiple common rail unmanned cranes according to claim 2, wherein the fixed compensation s 1 is a positional deviation in critical collision with an adjacent forward crane, and the positional deviation is expressed as p 1 -p.
4. The method for controlling collision avoidance of multiple common rail unmanned cranes according to claim 1, wherein in step S3.2, when the negative limit position dynamically changes, the current position p 2 of the adjacent negative crane and the deceleration d 2 of the crane frequency converter are obtained in real time, the speed v 2 of the crane in the current collision direction is obtained, the fixed compensation S 2 of the collision is measured, and the formula for calculating the negative limit position is as follows:
pnegLimit＝s2+p2 Pre-preparation
Wherein the calculation formula of p 2 Pre-preparation is as follows:
the above equation p 2 Pre-preparation is the predicted stop position of the negative going crane.
5. The method for controlling the collision avoidance of a plurality of common rail unmanned cranes according to claim 4, wherein the method comprises the following steps: the fixed compensation s 2 for the measured collision is the position deviation when the collision with the adjacent forward crane is critical, and the expression of the position deviation is p 2 -p.
6. The method for controlling collision avoidance of a plurality of common rail unmanned cranes according to claim 1, wherein in step S5, the PLC obtains direction information of a target output speed v 0 of the crane via a frequency converter on the crane cart, and limits the target output speed to a limit speed in the direction via the frequency converter.
7. An anti-collision control system for a plurality of common rail unmanned cranes implementing the anti-collision control method according to any one of claims 1 to 6, wherein the anti-collision control system comprises a position feedback unit for detecting a crane position signal; the control device is a PLC and a frequency converter which are electrically connected with each other, the PLC and the frequency converter and the PLC and the position feedback unit are communicated by adopting an Ethernet real-time bus, and the PLCs on the plurality of common rail unmanned cranes are communicated by adopting a wireless communication module.
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