CN117185142A - Automatic gantry crane dynamic protection system for railway loading and unloading line - Google Patents
Automatic gantry crane dynamic protection system for railway loading and unloading line Download PDFInfo
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- CN117185142A CN117185142A CN202311114225.5A CN202311114225A CN117185142A CN 117185142 A CN117185142 A CN 117185142A CN 202311114225 A CN202311114225 A CN 202311114225A CN 117185142 A CN117185142 A CN 117185142A
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Abstract
The utility model provides a railway loading and unloading line automation gantry crane dynamic protection system, includes storage yard management system BMS, railway signal access control system CIS, field bridge control system ECS and field bridge initiative avoidance protector, the field bridge initiative avoidance protector is the subsystem of field bridge control system ECS, the field bridge initiative avoidance protector is used for acquireing railway vehicle limit and railway building limit, divides railway line stock way into free operation area and non-free operation area based on railway vehicle limit and railway building limit, and the position coordinate of real-time measurement field bridge machinery when loading and unloading the operation is based on the position coordinate judgement field bridge machinery's operation area to control field bridge machinery carries out loading and unloading operation in the stock way area that has the operation control right, or carries out loading and unloading operation in the free operation area of the stock way that does not have the operation control right.
Description
Technical Field
The invention relates to the field of railway traffic, in particular to a dynamic protection system for an automatic gantry crane of a railway loading and unloading line.
Background
In the prior railway container yard operation, a bridge crane or a portal crane (simply referred to as a yard bridge or a portal crane) is generally adopted for hoisting operation, and a rotary encoder is mostly adopted for distance measurement between a hoisting tool and a trolley. The distance between the spreader and the trolley is currently used as an important sensor parameter for intelligent management of container yards for determining the position of the container. The distance between the crane trolley and the lifting appliance is obtained by converting the diameter of a winch combined with a rotary encoder on the winch on the lifting appliance. But the hawser is in the rope state of very probably being in the rope state of running down in-process, and along with the rope running down, the diameter of capstan winch is changing always, produces the deviation very easily when calculating the distance between hoist and the container with the numerical value of rotary encoder this moment to lead to intelligent management system unable accurate position that draws the container, influence hoisting efficiency.
Disclosure of Invention
In view of the technical drawbacks and technical shortcomings existing in the prior art, embodiments of the present invention provide a dynamic protection system for an automated gantry crane for a railway loading and unloading line, which overcomes or at least partially solves the above problems, and specifically comprises the following steps:
the system comprises a field bridge active avoidance protection device, wherein the field bridge active avoidance protection device is used for acquiring railway vehicle limits and railway building limits, dividing a railway line track into a free operation area and a non-free operation area based on the railway vehicle limits and the railway building limits, measuring position coordinates of a field bridge machine in real time during loading and unloading operations, judging an operation area of the field bridge machine based on the position coordinates, and controlling the field bridge machine to carry out loading and unloading operations in the track area with operation control rights or carrying out loading and unloading operations in the free operation area of the track without operation control rights.
Further, the field bridge machine comprises a field bridge trolley, a lifting appliance and corresponding goods.
Further, the field bridge active avoidance protection device comprises a field bridge coordinate system establishment module, a railway line and track partition module and a field bridge mechanical judgment module;
the field bridge coordinate system establishing module is used for establishing a railway vehicle limit and a railway building limit coordinate system;
the railway line track partition module is used for dividing a railway line track into a free operation area and a non-free operation area, and comprises the following components: dividing the area between the gantry beam and the railway building limit into a free operation area Q1, and dividing the area between the railway vehicle limit and the railway building limit into a non-free operation area;
the field bridge machine judging module is used for measuring the coordinate position of the field bridge machine during loading and unloading operation, judging the operation area of the field bridge machine based on the position coordinate, judging whether the operation area is located in the free operation area Q1, giving an alarm if the operation area of the field bridge machine is located in the non-free operation area, and controlling the field bridge machine to exit the non-free operation area.
Further, the field bridge coordinate system establishing module establishes a railway vehicle limit and a railway building limit coordinate system specifically including:
setting a gantry crane loading and unloading area coordinate system by taking the center of a gantry crane track close to a railway loading and unloading line as a base point, and calibrating and storing the elevation of the track surface and the transverse coordinate point of the track center of each track railway loading and unloading line
And calibrating a railway vehicle limit and a railway building limit coordinate system of each track by taking the elevation of the track surface and the center of the track of the railway loading and unloading line as base points.
Further, the non-free work area includes: a buffer monitoring area Q2 between the railway building limit and the railway vehicle limit, namely a railway vehicle loading and running area Q3;
the field bridge mechanical judgment module is used for: when the bridge machinery does not have the corresponding stock way to do the ownership, if the bridge machinery enters the Q2 and Q3 areas of the corresponding stock way, alarming to the railway signal route control system, controlling the bridge machinery to exit the Q2 and Q3 areas, and when the bridge machinery enters the Q3 area, closing the railway signal machine D of the corresponding stock way through the railway signal route control system, and informing the corresponding shunting locomotive of emergency stop.
Further, the field bridge active avoidance protection device further comprises a hoisting position monitoring device T, wherein the hoisting position monitoring device T comprises a three-dimensional radar camera, and the coordinate position of the field bridge machine is measured through the three-dimensional radar camera during loading and unloading operation.
Further, the hoisting position monitoring device T comprises a plurality of groups of three-dimensional radar cameras, the three-dimensional radar cameras shoot and measure the coordinate positions of the bridge machinery from different angles, and the hoisting position monitoring device T is also used for synthesizing the images shot by the three-dimensional radar cameras to form a three-dimensional combined image so as to avoid false alarm formed by shielding a single three-dimensional radar camera by a vehicle or a lifting appliance.
Further, a plurality of groups of three-dimensional radar cameras are respectively arranged on the upright posts at the two sides of the gantry crane and the cantilever transverse main beams.
Further, the system also comprises a railway signal access control system CIS and a field bridge control system ECS, wherein the field bridge active avoidance protective device is a subsystem of the field bridge control system ECS;
the railway signal access control system CIS is used for applying operation control rights to the field bridge control system ECS when planning shunting access to the arrangement of the corresponding tracks of the loading and unloading line, and exiting the railway operation mode after shunting operation of the corresponding tracks of the loading and unloading line is finished, and handing out the operation control rights of the corresponding tracks of the loading and unloading line to the field bridge control system ECS;
the field bridge control system ECS is used for stopping the loading and unloading operation of the corresponding track after receiving the operation control right application of the railway signal access control system CIS, giving the corresponding track operation control right to the railway signal access control system, losing the corresponding track operation control right, and carrying out the loading and unloading operation of the adjacent track area with the operation control right according to the operation plan.
Further, the field bridge control system ECS is configured to, after the application of the operation control right of the CIS of the railway signal access control system, move the field bridge machine out of the non-free operation area of the corresponding track through the field bridge active avoidance protection device, and lock the area from being invaded.
The invention has the following beneficial effects:
(1) The invention adopts the field crane system to have the main control right of the loading and unloading line operation, the railway access control system needs to apply for obtaining the right of the loading and unloading line operation, the railway access control system can take the car from the loading and unloading line operation after obtaining the right of the operation, at this moment, the field bridge crane and goods cannot enter the railway operation area, the field bridge system is automatically returned to the right of the operation after the railway taking the car operation is completed, the field bridge can be assembled and disassembled in the railway loading and unloading line area after withdrawing the right of the operation, and the railway access control system cannot handle the car access (the transfer of the operation right) entering the stock way.
(2) The invention is provided with a cantilever scheme, rectangular multi-dimensional laser radar measurement data are downwards installed in the horizontal direction of the upright posts on two sides of the gantry crane and the cantilever transverse main beam to calculate the positions of the gantry crane lifting appliance and the goods, and one three-dimensional laser radar beam can be covered at any operation position of the on-site bridge lifting appliance;
(3) According to the cantilever-free scheme, the positions of a gantry crane lifting appliance and goods are calculated according to the field bridge machinery without a cantilever by adopting the measuring data of a gantry crane cross beam horizontal direction and two side stand columns to install a plurality of three-dimensional laser radars, a plurality of tracks can be arranged under the gantry crane, and meanwhile, vehicles can block radar measurement, and the cross beam horizontal three-dimensional laser radars can only monitor one side, so that the detection radars are installed in opposite directions by adopting the two side stand columns, and the monitoring range is improved;
(4) The invention divides the space between each track surface of a railway loading and unloading line and a door hanger beam into three area spaces, wherein an area 1 (Q1) is basically a free space sub-area, only a door hanger and goods are used, and the use is basically not limited;
(5) When the radar or laser range finder or camera image recognition scheme is adopted, the area 3 is also in the dynamic monitoring range, if the entering-forbidden area is set in the railway train operation area 3, the entering-exiting dynamic data and the image of the railway train can cause false alarm or confusion of the calculation result of the interference anti-collision device, the area 2 between the area 1 and the area 3 is used as a warning area or a buffer area to surround the area 2, the monitoring equipment only monitors that a lifting appliance and goods cannot invade the outer boundary of the area 2 as a protective measure when the entering-forbidden area 3 is forbidden, and the dynamic operation of the train in the area 3 can not interfere the calculation result of the anti-collision device;
(6) According to the invention, each zone is provided with two settings of allowing and prohibiting access to the lifting appliance and the goods, the lifting appliance and the goods are monitored to be prevented from entering the prohibited zone during operation, the lifting appliance is automatically warned or automatically stopped from moving once the lifting appliance approaches the prohibited zone, and the lifting appliance can be set to exit the zone after entering the prohibited zone.
Drawings
Fig. 1 is a block diagram of a dynamic protection system for an automated gantry crane for a railway loading and unloading line according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. 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.
As shown in fig. 1, the dynamic protection system of the automatic gantry crane of the railway loading and unloading line comprises a storage yard management system BMS, a railway signal access control system CIS, a field bridge control system ECS and a field bridge active avoidance protection device, wherein the field bridge active avoidance protection device is a subsystem of the field bridge control system ECS,
the yard management system BMS is used for making an operation plan, issuing corresponding operation plans to the yard bridge control system ECS and the railway signal access control system CIS, and receiving the operation progress and the equipment state of the yard bridge control system ECS and the railway signal access control system CIS;
the railway signal access control system CIS is used for applying operation control rights to the field bridge control system ECS when planning shunting access to the arrangement of the corresponding tracks of the loading and unloading line, and exiting the railway operation mode after shunting operation of the corresponding tracks of the loading and unloading line is finished, and handing out the operation control rights of the corresponding tracks of the loading and unloading line to the field bridge control system ECS;
the field bridge control system ECS is used for stopping the loading and unloading operation of the corresponding track after receiving the operation control right application of the railway signal access control system CIS, giving the operation control right of the corresponding track to the railway signal access control system, losing the operation control right of the corresponding track, and carrying out the loading and unloading operation of the adjacent track area with the operation control right according to the operation plan;
the system comprises a field bridge active avoidance protection device, wherein the field bridge active avoidance protection device is used for acquiring railway vehicle limits and railway building limits, dividing a railway line stock way into a free operation area and a non-free operation area based on the railway vehicle limits and the railway building limits, measuring position coordinates of a field bridge machine in real time during loading and unloading operations, judging an operation area of the field bridge machine based on the position coordinates, and controlling the field bridge machine to carry out loading and unloading operations in the stock way area with operation control rights or carrying out loading and unloading operations in the free operation area of the stock way without the operation control rights.
The field bridge machine comprises a field bridge trolley, a lifting appliance and corresponding goods.
The field bridge active avoidance protection device comprises a field bridge coordinate system building module, a railway line and track partition module and a field bridge mechanical judgment module;
the field bridge coordinate system establishment module is specifically configured to:
setting a gantry crane loading and unloading area coordinate system by taking the center of a gantry crane track close to a railway loading and unloading line as a base point, and calibrating and storing the elevation of the track surface and the transverse coordinate point of the track center of each track railway loading and unloading line
And calibrating a railway vehicle limit and a railway building limit coordinate system of each track by taking the elevation of the track surface and the center of the track of the railway loading and unloading line as base points.
The railway line track partition module is specifically used for:
dividing the area between the gantry beam and the railway building limit into a free operation area Q1, and dividing the area between the railway vehicle limit and the railway building limit into a non-free operation area; wherein the non-free work area includes: and a buffer monitoring area Q2 between the railway building limit and the railway vehicle limit, namely a railway vehicle loading and running area Q3.
The field bridge mechanical judgment module is specifically used for:
and measuring the coordinate position of the field bridge machine during loading and unloading operation, judging the operation area of the field bridge machine based on the position coordinate, judging whether the operation area is positioned in the free operation area Q1, giving an alarm if the operation area of the field bridge machine is positioned in the non-free operation area, and controlling the field bridge machine to exit from the non-free operation area.
The field bridge active avoidance protection device further comprises a hoisting position monitoring device T, wherein the hoisting position monitoring device T comprises a three-dimensional radar camera, and the coordinate position of the field bridge machine is measured through the three-dimensional radar camera during loading and unloading operation.
Wherein, install multiple three-dimensional radar cameras in the portal crane operation area, include specifically;
(1) installing a plurality of three-dimensional radar cameras on main beams at two lateral sides of the gantry crane and facing a lower railway loading and unloading line to cover all operation areas of the gantry crane in a crossing manner, and detecting image data and coordinates of a fixed object, an unfixed object and a moving object according to a three-dimensional combined image formed by measurement data of the plurality of three-dimensional radar cameras;
(2) and calibrating and storing the shape coordinates of fixed objects such as a gantry crane pillar, a portal frame, a railway line and the like according to the measured three-dimensional combined image.
(3) Calibrating three fixed areas of each track of a railway line according to three-dimensional combined images measured by a three-dimensional radar camera, and storing area coordinates of a lifting appliance and goods safety operation area Q1, a railway building limit area (guard area) Q2 and a railway vehicle limit area (field bridge operation area) Q3 in a lifting position monitoring device T;
the hoisting position monitoring device T records the position coordinates of the loading and unloading vehicle according to the position of the loading and unloading railway vehicle measured by the device and the dynamic image and the contour coordinates of the dynamic object such as the measured combined image and the dimensional data and the like for container alignment during loading and unloading of a field bridge; and during the field bridge operation, measuring the outline coordinate size and the coordinates of the lifting appliance and the goods according to the three-dimensional laser radar image, and comparing the outline coordinate size and the coordinates with data of three areas of the stock track pre-stored in the device to judge the position areas of the lifting appliance and the goods.
The transfer of the operation control right between the field bridge control system ECS and the railway signal access control system CIS specifically comprises the following steps:
(1) the field bridge control system ECS has master control right, the field bridge has operation control right of loading and unloading line stock tracks in the initialization stage, and the lifting appliance and goods can move in three areas.
(2) Applying for the railway ownership to the field bridge control system when the railway access control system CIS plans to enter the operation of the loading and unloading line station track, receiving the application of moving the field bridge lifting appliance and the goods out of the safety areas (Q2 and Q3) of the application station track by the field bridge control system ECS, locking the areas from being invaded, and transferring the operation control authority of the loading and unloading line station track to the railway access control system CIS;
(3) the railway route control system CIS receives the control right of stock track operation and then handles the train or shunting operation route, and opens a receiving or sending signal machine to control the train and shunting operation;
(4) the railway access control system CIS automatically uploads the control right of the loading and unloading line stock channel after the end of railway train or shunting operation, unlocking of the access, closing of the annunciator and detection of no shunting locomotive or track power machine in the loading and unloading line stock channel, forbids train or shunting operation aiming at the loading and unloading line stock channel and ensures the safety of the operation of a bridge.
(5) The site bridge withdraws the control right of the stock way operation and can load and unload the operation in three areas of the stock way.
The safety requirements of the field bridge operation include:
(1) the field bridge control system actively avoids a building limit area Q2 and a vehicle limit area Q3 of a field bridge without operation rights according to the operation rights set by the interlocking system CIS.
(2) The building limit area Q2 is a buffer area (guard area) of the field bridge crane and container goods in the running process, when the field bridge does not have the ownership of the stock road, once the building limit area Q2 is touched, the device gives an alarm, and then the field bridge is controlled to mechanically exit the guard area.
(3) When the railway vehicle limit area Q3 is a safety boundary and the yard bridge does not have the ownership of the stock road, once the lifting appliance and goods touch the limit area Q3, the device gives an alarm, then the yard bridge is controlled to mechanically exit the guard area, simultaneously the railway access control system is given an alarm, meanwhile, the railway signal machine D is closed, and meanwhile, the shunting locomotive is informed of emergency stop.
Wherein, the railway operation area safety requirement includes:
(1) the yard bridge control system performs loading and unloading operations in the building limit area Q2 and the vehicle limit area Q3 according to the operation claims set by the interlocking system CIS, and the railway shunting locomotives and the track power machines cannot enter the yard bridge with the ownership of the stockway.
(2) The CIS detects that the shunting locomotive and other track power machines break into the stock tracks with the access bridge and have the ownership, and immediately reports the stock tracks to the field bridge control system, so that the field bridge machinery is informed of emergency avoidance and exit from the locomotive vehicle limit Q3 and the railway building limit Q2.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (10)
1. The automatic gantry crane dynamic protection system for the railway loading and unloading line is characterized by comprising a field bridge active avoidance protection device, wherein the field bridge active avoidance protection device is used for acquiring railway vehicle limits and railway building limits, dividing a railway line stock way into a free operation area and a non-free operation area based on the railway vehicle limits and the railway building limits, measuring position coordinates of a field bridge machine in real time during loading and unloading operation, judging the operation area of the field bridge machine based on the position coordinates, and controlling the field bridge machine to carry out loading and unloading operation in the stock way area with operation control rights or carrying out loading and unloading operation in the free operation area of the stock way without operation control rights.
2. The railway line automation gantry crane dynamic protection system of claim 1, wherein the yard bridge machinery comprises a yard bridge trolley, a spreader and corresponding cargo.
3. The dynamic protection system of the automatic gantry crane of the railway loading and unloading line according to claim 1, wherein the active field bridge avoidance protection device comprises a field bridge coordinate system establishment module, a railway line and track partitioning module and a field bridge mechanical judgment module;
the field bridge coordinate system establishing module is used for establishing a railway vehicle limit and a railway building limit coordinate system;
the railway line track partition module is used for dividing a railway line track into a free operation area and a non-free operation area, and comprises the following components: dividing the area between the gantry beam and the railway building limit into a free operation area Q1, and dividing the area between the railway vehicle limit and the railway building limit into a non-free operation area;
the field bridge machine judging module is used for measuring the coordinate position of the field bridge machine during loading and unloading operation, judging the operation area of the field bridge machine based on the position coordinate, judging whether the operation area is located in the free operation area Q1, giving an alarm if the operation area of the field bridge machine is located in the non-free operation area, and controlling the field bridge machine to exit the non-free operation area.
4. The dynamic protection system for an automated gantry crane for a railway loading and unloading line according to claim 3, wherein the field bridge coordinate system establishment module establishes a railway vehicle limit and a railway building limit coordinate system specifically comprises:
setting a gantry crane loading and unloading area coordinate system by taking the center of a gantry crane track close to a railway loading and unloading line as a base point, and calibrating and storing the elevation of the track surface and the transverse coordinate point of the track center of each track railway loading and unloading line
And calibrating a railway vehicle limit and a railway building limit coordinate system of each track by taking the elevation of the track surface and the center of the track of the railway loading and unloading line as base points.
5. A railway line automation gantry crane dynamic protection system as claimed in claim 3 wherein the non-free work area comprises: a buffer monitoring area Q2 between the railway building limit and the railway vehicle limit, namely a railway vehicle loading and running area Q3;
the field bridge mechanical judgment module is used for: when the bridge machinery does not have the corresponding stock way to do the ownership, if the bridge machinery enters the Q2 and Q3 areas of the corresponding stock way, alarming to the railway signal route control system, controlling the bridge machinery to exit the Q2 and Q3 areas, and when the bridge machinery enters the Q3 area, closing the railway signal machine D of the corresponding stock way through the railway signal route control system, and informing the corresponding shunting locomotive of emergency stop.
6. The dynamic protection system for an automated gantry crane for a railway loading and unloading line according to claim 3, wherein the active avoidance protection device for a field bridge further comprises a hoisting position monitoring device T, the hoisting position monitoring device T comprises a three-dimensional radar camera, and the coordinate position of the field bridge machinery is measured by the three-dimensional radar camera during loading and unloading operation.
7. The dynamic protection system for the automated gantry crane of the railway loading and unloading line according to claim 6, wherein the hoisting position monitoring device T comprises a plurality of groups of three-dimensional radar cameras, the three-dimensional radar cameras shoot from different angles and measure the coordinate positions of the bridge machinery, and the hoisting position monitoring device T is further used for synthesizing the images shot by the three-dimensional radar cameras to form a three-dimensional combined image.
8. The dynamic protection system for an automated gantry crane for a railway loading and unloading line according to claim 6, wherein a plurality of groups of the three-dimensional radar cameras are respectively mounted on the upright posts at two sides of the gantry crane and the cantilever transverse main beam.
9. The dynamic protection system of the automatic gantry crane of the railway loading and unloading line according to claim 1, wherein the system further comprises a railway signal access control system (CIS) and a field bridge control system (ECS), and the field bridge active avoidance protection device is a subsystem of the field bridge control system (ECS);
the railway signal access control system CIS is used for applying operation control rights to the field bridge control system ECS when planning shunting access to the arrangement of the corresponding tracks of the loading and unloading line, and exiting the railway operation mode after shunting operation of the corresponding tracks of the loading and unloading line is finished, and handing out the operation control rights of the corresponding tracks of the loading and unloading line to the field bridge control system ECS;
the field bridge control system ECS is used for stopping the loading and unloading operation of the corresponding track after receiving the operation control right application of the railway signal access control system CIS, giving the corresponding track operation control right to the railway signal access control system, losing the corresponding track operation control right, and carrying out the loading and unloading operation of the adjacent track area with the operation control right according to the operation plan.
10. The automated gantry crane dynamic protection system for a railway loading and unloading line according to claim 9, wherein the field bridge control system ECS is configured to mechanically move the field bridge out of the non-free operation area of the corresponding track through the field bridge active avoidance protection device and lock the area from intrusion after the application of the operation control right of the railway signal access control system CIS.
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| CN202311114225.5A CN117185142A (en) | 2023-08-31 | 2023-08-31 | Automatic gantry crane dynamic protection system for railway loading and unloading line |
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| CN202311114225.5A CN117185142A (en) | 2023-08-31 | 2023-08-31 | Automatic gantry crane dynamic protection system for railway loading and unloading line |
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