CN206328061U - The system that a kind of remote control RTG carts are automatically positioned - Google Patents
The system that a kind of remote control RTG carts are automatically positioned Download PDFInfo
- Publication number
- CN206328061U CN206328061U CN201621440266.9U CN201621440266U CN206328061U CN 206328061 U CN206328061 U CN 206328061U CN 201621440266 U CN201621440266 U CN 201621440266U CN 206328061 U CN206328061 U CN 206328061U
- Authority
- CN
- China
- Prior art keywords
- cart
- rtg
- remote control
- automatically positioned
- shellfish position
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- 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
- B66C13/16—Applications of indicating, registering, or weighing 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
-
- 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
- B66C15/00—Safety gear
- B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
Abstract
The utility model discloses a kind of system being automatically positioned, the system that particularly a kind of remote control RTG carts are automatically positioned belongs to RTG remote control technologies field.The system includes control centre (1), processor (2), the first shellfish position identifying device (3), absolute value encoder (6) and laser scanner (10).First shellfish position identifying device (3), absolute value encoder (6) and laser scanner (10) are connected to control centre (1) through processor (2).First shellfish position identifying device (3) includes read/write head (4) and data carrier (5).The system realizes being automatically positioned for cart (7) using laser scanner (10), the shellfish position equipment remote control such as identifying device and PLC, avoid colliding between the barrier between cart in stockyard (7) and on cart (7) and Crane Rail, the security of cart (7) operation is ensure that, operating efficiency is improved.
Description
Technical field
The utility model is related to a kind of system being automatically positioned, what particularly a kind of remote control RTG carts were automatically positioned
System, belongs to RTG remote control technologies field.
Background technology
RTG is as the important power tool of container terminal, and whether its operating efficiency be related to Container Transport supply chain
It is unimpeded.Because RTG equipment is very huge, and very near from a distance from the container space on both sides, these are huge for pilot control
Plant equipment long range straight line moving is carried out in stockyard very narrow space, it is controlled by visually by straight line moving, very
Easily trigger because cart wanders off and hit case accident.In addition, it also occur that two carts in same field or opposite field because driver judges to lose
Trigger car accident by mistake.
Utility model content
The purpose of this utility model is that there is provided the system that a kind of remote control RTG carts are automatically positioned.The system is used
Laser scanner, the shellfish position equipment remote control such as identifying device and PLC realize being automatically positioned for cart, it is to avoid cart in stockyard
Between and cart and Crane Rail on barrier between collide, it is ensured that the security of cart operation, improve work
Make efficiency.
In order to solve the above technical problems, the utility model is adopted the following technical scheme that：
The system that this kind of remote control RTG cart is automatically positioned includes processor, cart, dolly and suspender, also including control
Center processed, the first shellfish position identifying device, absolute value encoder and several laser scanners.First shellfish position identifying device,
Absolute value encoder and laser scanner are connected to control centre through processor.First shellfish position identifying device uses RFID
Radio frequency identification equipment, the equipment can be recognized specific objective by radio signals and read and write related data, without identifying system
Mechanical or optical contact is set up between specific objective.First shellfish position identifying device includes read/write head and data carrier, described
Read/write head is arranged on cart, and the data carrier is arranged on the Crane Rail of stockyard.Wherein read/write head is close to data carrier, without connecing
Data carrier information can be read by touching, and the position of RTG carts is judged by reading data carrier information, and by the information collected through place
Reason device is delivered to control centre.
Each shellfish position in foregoing stockyard is mounted on writing the data carrier of shellfish position number, and data carrier writes unique letter
Breath, and being capable of persistence.
Foregoing absolute value encoder is arranged on large vehicle walking sprocket wheel, and the absolute value encoder can be calculated greatly in real time
The position of car, whenever the data carrier of a shellfish is passed through, just calibrates a data.
Foregoing laser scanner is arranged at the equalizer bar of cart both sides, and the laser scanner uses 2D laser scannings
Instrument, the laser scanner gathers obstacle information and is delivered to control centre in real time, between cart and cart, Yi Ji great
The anticollision between barrier on car and Crane Rail.
Further, the system also includes the second shellfish position identifying device, second shellfish position identifying device by sensor and
Reflector is constituted.
On foregoing stockyard lower frame trolley steel construction, a reflector is installed in each shellfish position, and correspondence is high on RTG carts
The position install sensor of degree, the sensor is photoelectric sensor.
Foregoing sensor is connected to control centre through processor.When RTG carts are by each shellfish position, sensor sensing
To reflector, processor is sent information to, so as to realize the purpose of cart automatic aligning.
Beneficial, foregoing processor is PLC programmable logic controller (PLC)s, this kind of processor is easy to use, programming is simple,
Strong antijamming capability.
Compared with prior art, the utility model make it that RTG carts, in operation, can be mutually distinguishable between each cart
The positional information of shellfish position where each, is realized greatly using laser scanner, the shellfish position equipment remote control such as identifying device and PLC
Car is automatically positioned, it is to avoid collided between the barrier in stockyard between cart and on cart and Crane Rail, it is ensured that
The security of cart operation, improves operating efficiency.
Brief description of the drawings
Fig. 1 is annexation schematic diagram of the present utility model；
Fig. 2 is part-structure schematic diagram of the present utility model；
Fig. 3 is the A direction views of Fig. 2 in the utility model.
The implication of reference：1- control centres, 2- processors, the shellfishes of 3- first position identifying device, 4- read/write heads, 5- carries code
Body, 6- absolute value encoders, 7- carts, 8- dollies, 9- suspenders, 10- laser scanners, 11- sensors, 12- reflectors, 13-
Second shellfish position identifying device.
The utility model is further described with reference to the accompanying drawings and detailed description.
Embodiment
Embodiment 1 of the present utility model：As shown in Figure 1, Figure 2 and Figure 3, this kind of remote control RTG cart is automatically positioned
System includes control centre 1, processor 2, the first shellfish position identifying device 3, absolute value encoder 6, cart 7, dolly 8, the and of suspender 9
Six laser scanners 10.First shellfish position identifying device 3, absolute value encoder 6 and laser scanner 10 are connected through processor 2
In control centre 1.Processor 2 is PLC programmable logic controller (PLC)s, and this kind of processor 2 is easy to use, it is simple, anti-interference to program
Ability is strong.First shellfish position identifying device 3 uses RFID radio frequency identification equipments, and the equipment can recognize specific mesh by radio signals
Mark and read and write related data, without setting up mechanical or optical contact between identifying system and specific objective.The identification of first shellfish position
Device 3 includes read/write head 4 and data carrier 5, and read/write head 4 is arranged on cart 7, and data carrier 5 is arranged on the Crane Rail of stockyard.Heap
Each shellfish position of field is mounted on writing the data carrier 5 of shellfish position number, and data carrier 5 writes unique information, and can be permanent
Preserve.Wherein read/write head 4 can read the information of data carrier 5 without contact, be sentenced by reading the information of data carrier 5 close to data carrier 5
The position of disconnected RTG carts 7, and the information collected is delivered to control centre 1 through processor 2.
Wherein absolute value encoder 6 is arranged in the walking sprocket wheel of cart 7, and absolute value encoder 6 can calculate cart 7 in real time
Position, whenever data carrier 5 by shellfish position, just calibrate a data.Laser scanner 10 is arranged on the both sides of cart 7
Equalizer bar at, laser scanner 10 use 2D laser scanners, laser scanner 10 in real time collection obstacle information simultaneously transmit
To control centre 1, for the anticollision between the barrier between cart 7 and cart 7, and on cart 7 and Crane Rail.This is
System also includes the second shellfish position identifying device 13, and the second shellfish position identifying device 13 is made up of sensor 11 and reflector 12.In stockyard
On lower frame trolley steel construction, a reflector 12 is installed in each shellfish position, and the position of respective heights, which is installed, on RTG carts 7 passes
Sensor 11, sensor 11 is photoelectric sensor.Sensor 11 is connected to control centre 1 through processor 2.When RTG carts 7 are by every
During individual shellfish position, sensor 11 senses reflector 12, sends information to processor 2, so as to realize the mesh of the automatic aligning of cart 7
's.
Embodiment 2：As shown in Figure 1, Figure 2 and Figure 3, the system that this kind of remote control RTG cart is automatically positioned includes processing
Device 2, cart 7, dolly 8 and suspender 9, also including control centre 1, the first shellfish position identifying device 3, absolute value encoder 6 and eight
Laser scanner 10.First shellfish position identifying device 3, absolute value encoder 6 and laser scanner 10 are connected to control through processor 2
Center 1 processed.First shellfish position identifying device 3 uses RFID radio frequency identification equipments, and the equipment can be recognized specific by radio signals
Target simultaneously reads and writes related data, without setting up mechanical or optical contact between identifying system and specific objective.Know first shellfish position
Other device 3 includes read/write head 4 and data carrier 5, and read/write head 4 is arranged on cart 7, and data carrier 5 is arranged on the Crane Rail of stockyard.
Wherein read/write head 4 can read the information of data carrier 5 without contact, RTG is judged by reading the information of data carrier 5 close to data carrier 5
The position of cart 7, and the information collected is delivered to control centre 1 through processor 2.
Embodiment 3：As shown in Figure 1, Figure 2 and Figure 3, a kind of method that remote control RTG carts are automatically positioned, using above-mentioned
The system that is automatically positioned of remote control RTG carts, each shellfish position is mounted on writing the data carrier 5 of shellfish position number, and data carrier 5 is write
Enter unique information：
When RTG carts 7 are by each shellfish position, read/write head 4 senses the information of data carrier 5, reaches behind target shellfish position certainly
It is dynamic to stop, the automatic aligning of cart 7 is realized with this；
When RTG carts 7 are by each shellfish position, sensor 11 senses reflector 12, sends a message to processor 2, from
And realize the automatic aligning of cart 7；
RTG carts 7 in the process of running, when laser scanner 10 detects stockyard Nei Benbei and adjacent shellfish position pile
When the distance of container is less than setting warning safe distance value, control centre 1 sends caution signal to processor 2, by processor 2
Control cart 7 slows down or out of service, it is to avoid the generation of collision accident.
Operation principle of the present utility model：On the lower frame trolley steel construction of stockyard, each shellfish position is installed one and had been written into
The data carrier 5 of shellfish position number, RFID read-write first 4, read/write head 4 and the phase of processor 2 are installed in the position of respective heights on RTG carts 7
Even, processor 2 is connected with appropriate form of communication with control centre 1 again.When RTG carts 7 are by each shellfish position, read/write head 4
The information of data carrier 5 is sensed, is automatically stopped after reaching target shellfish position, the automatic aligning of cart 7 is realized with this.It is simultaneously low in stockyard
On frame trolley steel construction, a reflector 12 is installed in each shellfish position, and sensing is installed in the position of respective heights on RTG carts 7
Device 11, sensor 11 is connected with processor 2.When RTG carts 7 are by each shellfish position, sensor 11 senses reflector 12, hair
Go out information to control centre 1, so as to realize the automatic aligning of cart 7.Counter is installed in processor 2, for counting shellfish position
Quantity.Absolute value encoder 6 is installed in the walking sprocket wheel of RTG carts 7, the position of cart 7 is calculated in real time, often by a shellfish position
Data carrier 5 when, just calibrate a data.Through control centre 1, shellfish position identifying device, laser scanner 10 and absolute encoder
The setting of the grade of device 6, realizes the safe operation of cart 7, realizes the purpose that remote control RTG carts 7 are automatically positioned.
Claims (8)
1. the system that a kind of remote control RTG carts are automatically positioned, including processor (2), cart (7), dolly (8) and suspender
(9), it is characterised in that also including control centre (1), the first shellfish position identifying device (3), absolute value encoder (6) and several
Laser scanner (10)；The first shellfish position identifying device (3), absolute value encoder (6) and laser scanner (10) are through place
Reason device (2) is connected to control centre (1)；
Wherein described first shellfish position identifying device (3) includes read/write head (4) and data carrier (5), and the read/write head (4) is arranged on big
On car (7), the data carrier (5) is arranged on the Crane Rail of stockyard.
2. the system that remote control RTG carts according to claim 1 are automatically positioned, it is characterised in that the stockyard
Each shellfish position is mounted on data carrier (5).
3. the system that remote control RTG carts according to claim 2 are automatically positioned, it is characterised in that the absolute value
Encoder (6) is arranged in cart (7) walking sprocket wheel.
4. the system that remote control RTG carts according to claim 3 are automatically positioned, it is characterised in that the laser is swept
Instrument (10) is retouched at the equalizer bar of cart (7) both sides.
5. the system that remote control RTG carts according to claim 1 are automatically positioned, it is characterised in that also including second
Shellfish position identifying device (13), the second shellfish position identifying device (13) is made up of sensor (11) and reflector (12).
6. the system that remote control RTG carts according to claim 5 are automatically positioned, it is characterised in that the stockyard
Each shellfish position is also equipped with reflector (12), and the sensor (11) is arranged on cart (7).
7. the system that remote control RTG carts according to claim 6 are automatically positioned, it is characterised in that the sensor
(11) it is connected to control centre (1) through processor (2).
8. the system that the remote control RTG carts according to claim 4 or 7 are automatically positioned, it is characterised in that the processing
Device (2) is PLC programmable logic controller (PLC)s.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621440266.9U CN206328061U (en) | 2016-12-26 | 2016-12-26 | The system that a kind of remote control RTG carts are automatically positioned |
| PCT/CN2017/084458 WO2018120591A1 (en) | 2016-12-26 | 2017-05-16 | System for remotely controlling automatic positioning of rtg crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621440266.9U CN206328061U (en) | 2016-12-26 | 2016-12-26 | The system that a kind of remote control RTG carts are automatically positioned |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206328061U true CN206328061U (en) | 2017-07-14 |
Family
ID=59291912
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621440266.9U Expired - Fee Related CN206328061U (en) | 2016-12-26 | 2016-12-26 | The system that a kind of remote control RTG carts are automatically positioned |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN206328061U (en) |
| WO (1) | WO2018120591A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106516985A (en) * | 2016-12-26 | 2017-03-22 | 深圳市招科智控科技有限公司 | Device and method for remotely controlling automatic positioning of large RTG cranes |
| CN113753760A (en) * | 2020-06-04 | 2021-12-07 | 重庆柯沃起重机械有限公司 | Intelligence sign indicating number brick loading system |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109368503A (en) * | 2018-12-14 | 2019-02-22 | 天津港太平洋国际集装箱码头有限公司 | Field bridge handling operation remote control operation system |
| CN110956232A (en) * | 2019-10-23 | 2020-04-03 | 中船第九设计研究院工程有限公司 | Shipbuilding crane positioning system based on wireless radio frequency technology |
| CN113213340B (en) * | 2021-05-11 | 2024-03-12 | 上海西井科技股份有限公司 | Method, system, equipment and storage medium for unloading collection card based on lockhole identification |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101870433A (en) * | 2010-07-13 | 2010-10-27 | 大连斯博瑞科技有限公司 | Crane positioning device |
| CN203284078U (en) * | 2013-05-08 | 2013-11-13 | 北京国泰星云科技有限公司 | Container collision prevention automatic control system for RTG/RMG lifting appliance in container wharf |
| CN103332597B (en) * | 2013-07-08 | 2015-01-07 | 宁波大榭招商国际码头有限公司 | Active visual technology-based monitoring system used for crane remote operation and implementation method thereof |
| FI130426B (en) * | 2014-06-30 | 2023-08-23 | Konecranes Oyj | Load transport by means of load handling equipment |
| CN205676026U (en) * | 2016-04-26 | 2016-11-09 | 承德市中瑞自动化工程有限公司 | Crane automatic positioning weighting and security monitoring management system |
| CN106516985A (en) * | 2016-12-26 | 2017-03-22 | 深圳市招科智控科技有限公司 | Device and method for remotely controlling automatic positioning of large RTG cranes |
-
2016
- 2016-12-26 CN CN201621440266.9U patent/CN206328061U/en not_active Expired - Fee Related
-
2017
- 2017-05-16 WO PCT/CN2017/084458 patent/WO2018120591A1/en active Application Filing
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106516985A (en) * | 2016-12-26 | 2017-03-22 | 深圳市招科智控科技有限公司 | Device and method for remotely controlling automatic positioning of large RTG cranes |
| CN113753760A (en) * | 2020-06-04 | 2021-12-07 | 重庆柯沃起重机械有限公司 | Intelligence sign indicating number brick loading system |
| CN113753760B (en) * | 2020-06-04 | 2023-10-03 | 重庆柯沃起重机械有限公司 | Intelligent stacking brick loading system |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018120591A1 (en) | 2018-07-05 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170714 Termination date: 20201226 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |