CN203624860U - Driving auxiliary system for RTG (rubber tyre gantry) cart - Google Patents
Driving auxiliary system for RTG (rubber tyre gantry) cart Download PDFInfo
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- CN203624860U CN203624860U CN201320564568.7U CN201320564568U CN203624860U CN 203624860 U CN203624860 U CN 203624860U CN 201320564568 U CN201320564568 U CN 201320564568U CN 203624860 U CN203624860 U CN 203624860U
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Abstract
The utility model provides a driving auxiliary system for an RTG (rubber tyre gantry) cart. The driving auxiliary system comprises GPS (global position system) base station equipment consisting of a GPS base station receiver, a base station radio and an antenna, and RTG mobile station equipment consisting of an IPC (industrial personal computer) controller, a GPS mobile station receiver, a data transfer radio and another antenna, wherein the GPS base station receiver outputs correlated differential data, the differential data is broadcasted onto the GPS mobile station receiver of the RTG mobile station equipment through the base station radio, so as to realize high precision differential positioning of the RTG mobile station, the information about the high precision differential positioning is output to the IPC controller from the GPS mobile station receiver. The RTG motion trail is calculated in real time mainly by obtaining GPS high precision positioning information and combining a wharf GIS (geographic information system) map lane line and electric frame information. When a wheel crane passes an iron tower or a field, the system reminds a driver; if the wheel crane travels in a hazardous area, the system can automatically give out a stopping or decelerating order so as to correct misoperation of the driver.
Description
Technical field
The utility model relates to container depot oil and changes the auxiliary protective system of safe driving of electric tire type gantry crane, relates in particular to a kind of RTG cart driving ancillary system.
Background technology
At present, GPS fixing aid is all installed on all container tyre formula gauntry cranes (hereinafter to be referred as RTG), has been realized the simple positioning function of RTG.On this basis, in order further to excavate the potentiality of GPS positioning function in production control, promote the operational security of RTG, my department for example runs into for RTG in day-to-day operation: cart is crossed the safety problem such as passage, the bank power mode cart driving excess of stroke, has designed and developed RTG cart driving ancillary system.
Utility model content
The utility model patent is in region, dock container stockyard, the problems such as the large vehicle walking that tire type gantry crane occurs in production operation process transfinites, cross passage, electric power pylon is crashproof, utilize GPS location technology research and development RTG cart driving ancillary system, it comprises the establishment of driving ancillary system, the exploitation of IPC controller etc.
For the problems referred to above of prior art, the utility model provides a kind of RTG cart driving ancillary system, wherein, comprising: GPS base station equipment, and described GPS base station equipment is made up of GPS base station receiver, base station radio station and antenna; RTG mobile station apparatus, described RTG mobile station apparatus is made up of IPC controller, GPS mobile station receiver, data radio station and antenna, described GPS base station receiver output correlator difference data are broadcast the described GPS mobile station receiver on described RTG mobile station apparatus by described base station radio station by differential data, realize the high-precision difference location of described RTG movement station; The information of described high-precision difference location is exported to described IPC controller from GPS mobile station receiver.
Above-mentioned RTG cart driving ancillary system, wherein, also comprise differential link, the differential data that described GPS base station equipment is broadcast sends to the described GPS mobile station receiver on every described RTG mobile station apparatus by described differential link, realize the real time differential location of described RTG mobile station apparatus, the information of described real time differential location is exported to described IPC controller from GPS mobile station receiver.
Above-mentioned RTG cart driving ancillary system, wherein, also comprises RTG PLC control system and job-oriented terminal VMT, and described IPC controller gathers the laggard row operation of described locating information, and sends operation result to RTG PLC control system by netting twine; Meanwhile, high-precision GPS information is transmitted to job-oriented terminal VMT by IPC controller.
Above-mentioned RTG cart driving ancillary system, wherein, locating information is exported to IPC controller RTG by RS232 serial ports with 5Hz speed from GPS mobile station receiver.
Above-mentioned RTG cart driving ancillary system, wherein, described IPC controller is ARM controller, the integrated ARM plate of described ARM controller and radio station module.
Above-mentioned RTG cart driving ancillary system, wherein, also comprises the storage FLASH of 1G.
Above-mentioned RTG cart driving ancillary system, wherein,
Described ARM controller adopts LINUX system, and the download of file system and trail file is provided.
Above-mentioned RTG cart driving ancillary system, wherein, described radio station module receives by difference wireless network the GPS differential corrections that GPS base station is broadcast, and is transmitted to GPS receiver, realize GPS high fix, positioning precision can reach 1CM+1PPM (CEP).
Above-mentioned RTG cart driving ancillary system, wherein, described ARM controller provides 3 RS232 application serial ports, an application network interface, one of them RS232 serial ports connects described job-oriented terminal VMT, and an application network interface connects RTGPLC control system by network.
Above-mentioned RTG cart driving ancillary system, wherein, also comprises GPS equipment, and described GPS equipment adopts GPS equipment in the former vehicle GPS of RTG.
The beneficial effects of the utility model are:
The Main Function of this system is by obtaining GPS high fix information, in conjunction with harbour GIS map lane mark and electric frame information, calculates in real time RTG path of motion.In the time that wheel hangs through steel tower or interlude or goes out passage, system will be sent voice signal and take care with prompting driver.In addition,, if wheel hanging is sailed in the time of hazardous location, system can be sent parking or deceleration instruction correction driver's faulty operation automatically.
Its concrete function is described below:
1. driving auxiliary electrical frame is reported to the police
System alarm, in the time judging that the track of RTG and electric frame have collision risk, system is audio alert prompting driver in the distance range of safety automatically, avoids the collision accident generation of RTG and electric frame.
2. interlude Control for Speed Limitation
By GPS high fix, in conjunction with GIS map, obtain RTG cart real time position; In the time judging that RTG has interlude trend, (near limit), sets speed limit distance threshold, realizes the process speed limit of " Jian Su ?Ting Che ?interlude " move by PLC; Thereby guarantee that RTG interlude follows the principle of " stop, two slow, three pass through ".
3.RTG bank electricity rolls passage Control for Speed Limitation away from
When bank power mode, utilize GPS high fix when system, detect when RTG cart rolls passage away from, control the process speed limit action of realization " Jian Su ?stop " by PLC, forbid that RTG rolls passage away from simultaneously, avoid occurring that shore connection cable drags electric frame accident away from.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of a kind of RTG cart driving ancillary system of the present utility model.
Fig. 2 is the schematic diagram of IPC controller principle of work of the present utility model.
Fig. 3 is the schematic diagram that interlude speed of the present utility model control and bank electricity roll passage Control for Speed Limitation principle of work away from.
Fig. 4 is the schematic diagram of steel tower anti-collision alarm lamp control system principle of the present utility model.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail, but not as restriction of the present utility model.Referring to Fig. 1, Fig. 1 is the schematic diagram of RTG driving ancillary system of the present utility model.RTG driving ancillary system comprises GPS base station equipment and RTG mobile station apparatus.Base station subsystem comprises GPS base station receiver and antenna, base station radio station and antenna.Base station receiver output correlator difference data are set, by base station radio station, differential data are broadcast to the GPS mobile station receiver on RTG, realize the high-precision difference location of movement station.
RTG mobile station subsystem comprises an IPC controller (using ARM platform controller), GPS mobile station receiver and antenna, data radio station and antenna.The differential data that GPS base station is broadcast is dealt into every RTG by differential link, input GPS mobile station receiver, the real time differential location of realizing RTG;
Locating information is exported to IPC controller RTG by RS232 serial ports with 5Hz speed from GPS mobile station receiver.IPC controller gathers the laggard row operation of locating information, and sends operation result to RTG PLC control system by netting twine; Meanwhile, high-precision GPS information is transmitted to job-oriented terminal VMT by IPC controller, retains the application of former gps system.
Referring to Fig. 2, will describe the formation of IPC controller in detail below:
In order to guarantee the stability of system, reduce point of connection and the trouble point of many equipment, this programme design is controlled application workstation and is selected ARM controller, and radio station is directly integrated in controller.
The integrated ARM plate of controller and radio station module.And the storage FLASH of 1G is provided, to realize the record of track data, controller adopts LINUX system, and the download (network interface or serial ports) of file system and trail file is provided.GPS board is recorded on FLASH with 5HZ frequency output data.
The built-in radio station of controller module, receives by difference wireless network the GPS differential corrections that GPS base station is broadcast, and is transmitted to GPS receiver, realizes GPS high fix, and positioning precision can reach 1CM+1PPM (CEP).Built-in ARM plate is the flush bonding processor of this controller, and its main devices is ARM9 chip, application linux system, and dominant frequency 200MHz, has 1G FLASH storage and the abundant PORT COM such as RS232 serial ports and network interface.This flush bonding processor can receive GPS high fix information in real time, in conjunction with the GIS information from storage, carries out position data processing, provides port and exterior terminal equipment to carry out real-time data communication, supported data storage and download function.
Controller provides 3 RS232 application serial ports, an application network interface, and one of them serial ports connects VMT, for GPS locating information is sent to backstage by VMT, retains original GPS position application; A network interface connects PLC by network, and for carrying out in real time data interaction with PLC, principal data comprises the relevant informations such as cart running state, cart service direction, cart control command.
The GPS technical index of this system depends on GPS high precision board and gps antenna in original system, the GPS equipment of system intends adopting GPS equipment in the former vehicle GPS of RTG, only the single-frequency GPS antenna in former gps system need be replaced by double-frequency GPS antenna, can meet the GPS positioning requirements of system.Other relevant major techniques are as follows:
Table 1: controller Specifications
Size 210mm × 146mm × 60mm
Weight≤1kg
Referring to Fig. 3, below roll description interlude speed control and bank electricity away from passage Control for Speed Limitation principle of work:
First, by high precision, GIS measures, and obtains the GIS cartographic information of RTG operation place, after coordinate transformation, is kept on the IPC controller of every RTG.
In cart traveling process, IPC controller will be compared GPS location information and vehicle-mounted GIS cartographic information in real time, and after with reference to cart sense of motion, comprehensively infer current position state and the movement tendency of RTG cart.If cart enters in speed reduction influence region and when continuing to stop area movement tendency, IPC controller sends automatic retarding or cutoff command to PLC immediately, corrects driver's false command.If cross passage, halt instruction will be kept 5 seconds, and after 5 seconds, instruction disappears automatically.If bank electricity goes out passage, halt instruction can not disappear locked.Meanwhile, IPC controller can be reported corresponding information to driver by voice system, reminds driver to slow down and drives with caution.
Referring to Fig. 4, driving auxiliary electrical frame warning principle of work below will be described:
In cart traveling process, IPC controller is located the planimetric position coordinate that obtains RTG cart by GPS; By comparing judgement with the electric frame GIS information plane coordinate in stockyard, if electric frame enters in the affected zone that cart advances,, in case there is collision case in voice message driver careful driving.
Fault and error state processing below will be described:
In electrical house, newly establish ancillary system by-pass switch, by-pass switch can be closed driving ancillary control function, and after closing, system is controlled deceleration or the parking of cart no longer automatically.
At driver's joint action table, system provides system failure indicator lamp; In the time of the system failure, indicator lamp constantly glimmers, the prompting driver system failure, and speed limit travels, and after driver taps failure button, system returns to the original operation mode of cart (can at full speed).
The foregoing is only the utility model preferred embodiment; not thereby limit claim of the present utility model; so the equivalent structure that all utilization the utility model specification sheetss and diagramatic content are made changes, and is all included in protection domain of the present utility model.
Claims (10)
1. a RTG cart driving ancillary system, is characterized in that, comprising:
GPS base station equipment, described GPS base station equipment is made up of GPS base station receiver, base station radio station and antenna;
RTG mobile station apparatus, described RTG mobile station apparatus is made up of IPC controller, GPS mobile station receiver, data radio station and antenna, described GPS base station receiver output correlator difference data are broadcast the described GPS mobile station receiver on described RTG mobile station apparatus by described base station radio station by differential data, realize the high-precision difference location of described RTG movement station, the information of described high-precision difference location is exported to described IPC controller from described GPS mobile station receiver.
2. RTG cart driving ancillary system according to claim 1, it is characterized in that, also comprise differential link, the differential data that described GPS base station equipment is broadcast sends to the described GPS mobile station receiver on every described RTG mobile station apparatus by described differential link, realize the real time differential location of described RTG mobile station apparatus, the information of described real time differential location is exported to described IPC controller from GPS mobile station receiver.
3. RTG cart driving ancillary system according to claim 1, it is characterized in that, also comprise RTG PLC control system and job-oriented terminal VMT, described IPC controller gathers the laggard row operation of described locating information, and sends operation result to RTG PLC control system by netting twine; Meanwhile, high-precision GPS information is transmitted to job-oriented terminal VMT by IPC controller.
4. RTG cart driving ancillary system according to claim 1, is characterized in that, locating information is exported to IPC controller RTG by RS232 serial ports with 5Hz speed from GPS mobile station receiver.
5. RTG cart driving ancillary system according to claim 1, is characterized in that, described IPC controller is ARM controller, the integrated ARM plate of described ARM controller and radio station module.
6. RTG cart driving ancillary system according to claim 5, is characterized in that, also comprises the storage FLASH of 1G.
7. RTG cart driving ancillary system according to claim 6, is characterized in that, described ARM controller adopts LINUX system, and the download of file system and trail file is provided.
8. RTG cart driving ancillary system according to claim 7, it is characterized in that, described radio station module receives by difference wireless network the GPS differential corrections that GPS base station is broadcast, and be transmitted to GPS receiver, realize GPS high fix, positioning precision can reach 1CM+1PPM (CEP).
9. RTG cart driving ancillary system according to claim 3, it is characterized in that, described ARM controller provides 3 RS232 application serial ports, an application network interface, one of them RS232 serial ports connects described job-oriented terminal VMT, and an application network interface connects RTGPLC control system by network.
10. RTG cart driving ancillary system according to claim 5, is characterized in that, also comprise GPS equipment, described GPS equipment adopts GPS equipment in the former vehicle GPS of RTG.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320564568.7U CN203624860U (en) | 2013-09-11 | 2013-09-11 | Driving auxiliary system for RTG (rubber tyre gantry) cart |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320564568.7U CN203624860U (en) | 2013-09-11 | 2013-09-11 | Driving auxiliary system for RTG (rubber tyre gantry) cart |
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| CN203624860U true CN203624860U (en) | 2014-06-04 |
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| CN201320564568.7U Expired - Fee Related CN203624860U (en) | 2013-09-11 | 2013-09-11 | Driving auxiliary system for RTG (rubber tyre gantry) cart |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104386126A (en) * | 2014-09-22 | 2015-03-04 | 中国北方车辆研究所 | Method for determining actual turning radius of tracked vehicle |
| CN106017565A (en) * | 2016-06-20 | 2016-10-12 | 上海罐联供应链科技发展有限公司 | Positioning and temperature monitoring system for tank container |
| CN107487715A (en) * | 2016-06-11 | 2017-12-19 | 上海梅山钢铁股份有限公司 | One kind is used for the pinpoint method in outdoor traveling crane steel loading item pool position |
| CN110261727A (en) * | 2019-05-09 | 2019-09-20 | 北京信息科技大学 | A kind of fault detector and its working method |
| CN113734909A (en) * | 2021-08-24 | 2021-12-03 | 鞍钢集团矿业有限公司 | Intelligent winding and unwinding method for high-voltage cable of rotary drill rig |
-
2013
- 2013-09-11 CN CN201320564568.7U patent/CN203624860U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104386126A (en) * | 2014-09-22 | 2015-03-04 | 中国北方车辆研究所 | Method for determining actual turning radius of tracked vehicle |
| CN107487715A (en) * | 2016-06-11 | 2017-12-19 | 上海梅山钢铁股份有限公司 | One kind is used for the pinpoint method in outdoor traveling crane steel loading item pool position |
| CN107487715B (en) * | 2016-06-11 | 2019-06-18 | 上海梅山钢铁股份有限公司 | One kind is for the pinpoint method in outdoor traveling crane steel loading item pool position |
| CN106017565A (en) * | 2016-06-20 | 2016-10-12 | 上海罐联供应链科技发展有限公司 | Positioning and temperature monitoring system for tank container |
| CN110261727A (en) * | 2019-05-09 | 2019-09-20 | 北京信息科技大学 | A kind of fault detector and its working method |
| CN113734909A (en) * | 2021-08-24 | 2021-12-03 | 鞍钢集团矿业有限公司 | Intelligent winding and unwinding method for high-voltage cable of rotary drill rig |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140604 Termination date: 20140911 |
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| EXPY | Termination of patent right or utility model |