CN116986486A - Semi-automatic system of gantry crane - Google Patents
Semi-automatic system of gantry crane Download PDFInfo
- Publication number
- CN116986486A CN116986486A CN202311154770.7A CN202311154770A CN116986486A CN 116986486 A CN116986486 A CN 116986486A CN 202311154770 A CN202311154770 A CN 202311154770A CN 116986486 A CN116986486 A CN 116986486A
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- main controller
- execution device
- gantry crane
- output equipment
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- 238000004088 simulation Methods 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 6
- 230000005856 abnormality Effects 0.000 claims description 4
- 230000003993 interaction Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 8
- 230000001960 triggered effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000010485 coping Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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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
- B66C13/22—Control systems or devices for electric drives
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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
- B66C15/00—Safety gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a semi-automatic system of a gantry crane, which comprises an execution device, acquisition equipment, a main controller and output equipment, wherein: the acquisition equipment is connected with the execution device; the acquisition equipment is used for acquiring signals such as speed, position and weight of the execution device; the main controller is connected with the acquisition equipment; the main controller is used for controlling each mechanism of the execution device by adopting a PLC and completing automatic operation; the output equipment is connected with the main controller and the execution device; and the output equipment is used for feeding back the state of the execution device in real time and reminding the fault of the execution device. According to the semi-automatic system of the gantry crane, the speed, the position, the weight and other signals of the executing device are acquired through the acquisition equipment, necessary calibration points are carried out on the executing device, and meanwhile, the main controller controls the acquired executing device, so that the fatigue degree of a first-line driver can be reduced, and the safety performance and the production efficiency can be improved.
Description
Technical Field
The invention relates to the technical field of gantry cranes, in particular to a semi-automatic system of a gantry crane.
Background
In recent years, with the vigorous development of emerging technologies represented by 5G communication, internet of things, artificial intelligence, big data and the like, various industries are accelerating the application of the emerging technologies and accelerating the automation and intelligent processes. In the port industry, particularly in the container terminal with sufficient technical reserve and high standard flow, after the automatic and intelligent transformation by using the emerging technology, the safety, production, equipment and other management levels of the terminal are obviously improved. However, for the bulk cargo wharf, the working condition and the flow of the bulk cargo wharf are complex, so that fatigue of first-line drivers is easily caused, the safety performance is poor, and the production efficiency is low.
Disclosure of Invention
Based on this, it is necessary to provide a semi-automatic system for a gantry crane which reduces fatigue of first-line drivers, improves safety performance and production efficiency.
The technical scheme adopted for solving the technical problems is as follows: a gantry crane semi-automatization system comprising an execution device, a collection device, a main controller and an output device, wherein:
the acquisition equipment is connected with the execution device; the acquisition equipment is used for acquiring speed, position and weight signals of the execution device;
the main controller is connected with the acquisition equipment; the main controller is used for controlling each mechanism of the execution device by adopting a PLC and completing automatic operation;
the output equipment is connected with the main controller and the execution device; and the output equipment is used for feeding back the state of the execution device in real time and reminding the fault of the execution device.
Further, the executing device is provided with a traveling mechanism, a rotating mechanism, an amplitude changing mechanism and a lifting mechanism, and the collecting equipment is used for collecting the traveling distance of the traveling mechanism, the rotating angle of the rotating mechanism, the amplitude changing amplitude of the amplitude changing mechanism and the lifting height of a lifting hook of the lifting mechanism of the executing device.
Further, the acquisition device comprises a GPS receiver, an absolute value encoder, an inclinometer, an encoder and a 2D laser scanner, wherein,
the GPS receiver is connected with the travelling mechanism and is used for collecting the travelling mechanism and transmitting the collected travelling distance to the output equipment in real time through the main controller;
the absolute value encoder is connected with the rotating mechanism and is used for collecting the rotating mechanism and transmitting the collected rotating angle to the output equipment in real time through the main controller;
the inclinometer and the encoder are connected with the amplitude changing mechanism, and are used for collecting the amplitude changing mechanism and transmitting the amplitude changing amplitude collected by the amplitude changing mechanism to the output equipment in real time through the main controller;
the 2D laser scanner is connected with the lifting mechanism, and the 2D laser scanner is used for collecting the lifting mechanism and transmitting the lifting height of the lifting hook collected by the 2D laser scanner to the output equipment in real time through the main controller.
Further, the main controller comprises a front-end judging link, a set point position judging link, a system starting judging link and a judging link in system operation.
Further, the pre-determination link comprises manual intervention determination, fault and anti-collision trigger determination and parameter calibration abnormality determination.
Further, the set point position judging link comprises hatch point position judgment and bucket point position judgment.
Further, the output device comprises a touch screen, an animation simulation screen and an audible and visual alarm system, wherein the touch screen is connected with the main controller and is used for realizing man-machine interaction such as system start/exit, position parameter calibration and the like; the animation simulation screen is connected with the execution device and is used for 3D animation display of the real-time state of the door machine; the audible and visual alarm system is connected with the main controller and is used for fault reminding, system readiness reminding and the like.
Further, the signal acquisition of the travelling mechanism, the rotating mechanism and the amplitude changing mechanism adopts a redundant mechanism and sets necessary calibration points.
The beneficial effects of the invention are as follows: according to the semi-automatic system of the gantry crane, provided by the invention, the speed, the position, the weight and other signals of the executing device are acquired by using the acquisition equipment, necessary calibration points are carried out on the executing device, and meanwhile, the main controller is used for controlling the acquired executing device, so that the fatigue degree of a first-line driver can be reduced, and the safety performance and the production efficiency can be improved.
Drawings
The invention is further described below with reference to the drawings and examples.
FIG. 1 is a schematic connection diagram of a gantry crane semi-automated system of the present invention;
fig. 2 is a flow chart of a column controller in the gantry crane semi-automated system shown in fig. 1.
The names and the numbers of the parts in the figure are respectively as follows: 1. an execution device; 2. a collection device; 3. a main controller; 4. and an output device.
Detailed Description
The present invention will now be described in detail with reference to the accompanying drawings. The figure is a simplified schematic diagram illustrating the basic structure of the invention only by way of illustration, and therefore it shows only the constitution related to the invention.
Referring to fig. 1, the invention provides a semi-automatic system of a gantry crane, which comprises an executing device 1, a collecting device 2, a main controller 3 and an output device 4, wherein the collecting device 2 is connected with the executing device 1, and the collecting device 2 is used for collecting signals of speed, position, weight and the like of the executing device 1; the main controller 3 is connected with the acquisition equipment 2, and the main controller 3 adopts a PLC to control each mechanism of the execution device 1 and complete automatic operation; the output device 4 is connected with the main controller 3 and the execution device 1, and the output device 4 is used for feeding back the state of the execution device 1 in real time and reminding the fault.
In this embodiment, signals such as speed, position and weight of the execution device 1 are collected by the collection device 2, the main controller 3 determines the position and state of the execution device 1 according to the information collected by the collection device 2, the PLC program is adopted to control each mechanism of the execution device 1 according to the collected position and state, so as to complete automatic operation, and the output device 4 feeds back the state of the execution device 1 in real time and reminds of faults.
The executing device 1 is provided with a running mechanism, a rotating mechanism, an amplitude changing mechanism and a lifting mechanism, and the collecting equipment 2 is used for collecting the running distance of the running mechanism of the executing device 1, the rotating angle of the rotating mechanism, the amplitude changing amplitude of the amplitude changing mechanism and the lifting height of a lifting hook of the lifting mechanism, wherein the signal collection of the running mechanism, the rotating mechanism and the amplitude changing mechanism adopts a redundant mechanism and sets necessary calibration points, so that calculation errors and system faults caused by data collection faults or data drifting can be prevented.
Specifically, the acquisition device 2 includes a GPS receiver, an absolute value encoder, an inclinometer, an encoder, and a 2D laser scanner. The GPS receiver is connected with the travelling mechanism and is used for collecting the travelling mechanism and transmitting the collected travelling distance to the output equipment 4 in real time through the main controller 3; the absolute value encoder is connected with the rotating mechanism and is used for collecting the rotating mechanism and transmitting the collected rotating angle to the output equipment 4 in real time through the main controller 3; the inclinometer and the encoder are connected with the amplitude variation mechanism, and are used for collecting the amplitude variation mechanism and transmitting the amplitude variation amplitude collected by the amplitude variation mechanism to the output equipment 4 in real time through the main controller 3; the 2D laser scanner is connected with the lifting mechanism, and the 2D laser scanner is used for collecting the lifting mechanism and transmitting the lifting height of the lifting hook collected by the lifting mechanism to the output equipment 4 in real time through the main controller 3.
Referring to fig. 2, the main controller 3 includes a pre-determination link, a set point location determination link, a system start determination link, and a determination link in system operation, where the pre-determination link includes a manual intervention determination, a fault and anti-collision trigger determination, a parameter calibration abnormality determination, and the like; the set point position judging link comprises hatch point position judgment and bucket point position judgment; when the system is started and triggered in the system starting and judging link, the semiautomatic system controls the executing device 1; when the system is in a working state and other faults are triggered in the system starting judging link, the fault coping strategy of the system is controlled. Referring to fig. 2 again, in each cyclic scanning process, the above-mentioned processes are roughly classified into a normal process (e.g., solid line in fig. 2), an abnormal process (e.g., short dashed line in fig. 2), and a waiting process (e.g., long dashed line in fig. 2) according to the determination results of the respective determination links. It should be noted that the priorities of all the pre-determined links must satisfy: the manual intervention judgment > fault and anti-collision trigger judgment > parameter calibration abnormality judgment > system start button trigger judgment, thereby ensuring the preferential execution of manual intervention and fault coping strategies and ensuring the safety of the system and the executing device 1.
The working process of the semi-automatic system of the gantry crane is as follows: firstly, input data is judged through manual intervention, if the executing device 1 does not have faults, parameter calibration judgment is carried out, if the parameter calibration does not have anomalies, hatch point position judgment and bucket mouth point position judgment are carried out, if the detection trigger of the hatch point position and the bucket mouth point position is normal, after the system start button is triggered, the semi-automatic system starts to operate and is recycled to the manual intervention judgment.
In the process, when manual intervention is needed, manual operation is performed to input new control data; if the execution device 1 fails, new control data is input again; if the parameter calibration is abnormal, the system fails, and new control data is input again through manual intervention; if the hatch point position is judged or the bucket point position is judged, the system fails, and new control data is input again in the manual intervention; if the system start button is not triggered, the new control data is input again through manual intervention.
The output device 4 comprises a touch screen, an animation simulation screen and an audible and visual alarm system, the touch screen is connected with the main controller 3, and the touch screen is used for realizing man-machine interaction such as system start/exit, position parameter calibration and the like; the animation simulation screen is connected with the execution device 1 and is used for 3D animation display of the real-time state of the door machine; the audible and visual alarm system is connected with the main controller 3 and is used for fault reminding, system readiness reminding and the like.
According to the semi-automatic system of the gantry crane, the acquisition equipment 2 is used for acquiring signals such as the speed, the position and the weight of the execution device 1, necessary calibration points are carried out on the execution device 1, and meanwhile, the main controller 3 controls the acquired execution device 1, so that the fatigue degree of a first-line driver can be reduced, and the safety performance and the production efficiency can be improved.
While the foregoing is directed to the preferred embodiment of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (8)
1. A portal crane semi-automatization system which is characterized in that: the portal crane semi-automatization system comprises an execution device, acquisition equipment, a main controller and output equipment, wherein:
the acquisition equipment is connected with the execution device; the acquisition equipment is used for acquiring speed, position and weight signals of the execution device;
the main controller is connected with the acquisition equipment; the main controller is used for controlling each mechanism of the execution device by adopting a PLC and completing automatic operation;
the output equipment is connected with the main controller and the execution device; and the output equipment is used for feeding back the state of the execution device in real time and reminding the fault of the execution device.
2. The gantry crane semi-automated system of claim 1, wherein: the executing device is provided with a running mechanism, a rotating mechanism, an amplitude changing mechanism and a lifting mechanism, and the collecting equipment is used for collecting the running distance of the running mechanism, the rotating angle of the rotating mechanism, the amplitude changing amplitude of the amplitude changing mechanism and the lifting height of a lifting hook of the lifting mechanism of the executing device.
3. The gantry crane semi-automated system of claim 1, wherein: the acquisition device comprises a GPS receiver, an absolute value encoder, an inclinometer, an encoder and a 2D laser scanner, wherein,
the GPS receiver is connected with the travelling mechanism and is used for collecting the travelling mechanism and transmitting the collected travelling distance to the output equipment in real time through the main controller;
the absolute value encoder is connected with the rotating mechanism and is used for collecting the rotating mechanism and transmitting the collected rotating angle to the output equipment in real time through the main controller;
the inclinometer and the encoder are connected with the amplitude changing mechanism, and are used for collecting the amplitude changing mechanism and transmitting the amplitude changing amplitude collected by the amplitude changing mechanism to the output equipment in real time through the main controller;
the 2D laser scanner is connected with the lifting mechanism, and the 2D laser scanner is used for collecting the lifting mechanism and transmitting the lifting height of the lifting hook collected by the 2D laser scanner to the output equipment in real time through the main controller.
4. The gantry crane semi-automated system of claim 1, wherein: the main controller comprises a front-end judging link, a set point position judging link, a system starting judging link and a judging link in system operation.
5. The gantry crane semi-automated system of claim 4, wherein: the pre-determination link comprises manual intervention determination, fault and anti-collision triggering determination and parameter calibration abnormality determination.
6. The gantry crane semi-automated system of claim 4, wherein: the set point position judging link comprises hatch point position judgment and bucket point position judgment.
7. The gantry crane semi-automated system of claim 1, wherein: the output equipment comprises a touch screen, an animation simulation screen and an audible and visual alarm system, wherein the touch screen is connected with the main controller and is used for realizing man-machine interaction such as system start/exit, position parameter calibration and the like; the animation simulation screen is connected with the execution device and is used for 3D animation display of the real-time state of the door machine; the audible and visual alarm system is connected with the main controller and is used for fault reminding, system readiness reminding and the like.
8. The gantry crane semi-automated system of claim 2, wherein: the signal collection of the travelling mechanism, the rotating mechanism and the amplitude changing mechanism adopts a redundant mechanism and sets necessary calibration points.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311154770.7A CN116986486A (en) | 2023-09-08 | 2023-09-08 | Semi-automatic system of gantry crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311154770.7A CN116986486A (en) | 2023-09-08 | 2023-09-08 | Semi-automatic system of gantry crane |
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| CN116986486A true CN116986486A (en) | 2023-11-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311154770.7A Pending CN116986486A (en) | 2023-09-08 | 2023-09-08 | Semi-automatic system of gantry crane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117608256A (en) * | 2024-01-23 | 2024-02-27 | 山东朝辉自动化科技有限责任公司 | Method for collaborative planning of multi-machine automatic operation of door machine |
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2023
- 2023-09-08 CN CN202311154770.7A patent/CN116986486A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117608256A (en) * | 2024-01-23 | 2024-02-27 | 山东朝辉自动化科技有限责任公司 | Method for collaborative planning of multi-machine automatic operation of door machine |
| CN117608256B (en) * | 2024-01-23 | 2024-04-09 | 山东朝辉自动化科技有限责任公司 | Method for collaborative planning of multi-machine automatic operation of door machine |
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