CN211569437U - Automatic transfer control system - Google Patents

Abstract

The utility model provides an automatic transfer control system, which comprises a sensor unit, a transfer unit and a control unit, wherein the transfer unit comprises a transfer mechanism and a jacking mechanism; the control unit is in communication connection with the transfer unit and is used for receiving parameter signals sent by the sensor unit so as to control the transfer unit according to the signals, and therefore the jacking mechanism can perform jacking and cargo transferring actions. The utility model discloses among the automatic transfer control system, the application has jacking function's transportation unit, after reaching the destination with the container transportation, through climbing mechanism, can put the container on the buffering support temporarily, and need not to wait to hold up the snatching of place area gantry crane or bridge crane to the container to shorten operating time effectively, improve the work efficiency of automatic pier. The automatic transfer control system can be widely applied to wharf operation so as to improve the efficiency of whole port transportation, reduce the operation cost of ports and increase the business income.

Description

Automatic transfer control system

technical field

The utility model relates to the technical field of automatic control systems, in particular to an automatic rotation control system that can be applied to ports.

Background technique

Due to the advantages of autonomous driving and unmanned trucks, which can save labor costs, reduce accident rates, and reduce fuel consumption, they are now more and more widely used in industry. The real first commercialized scenarios of autonomous vehicles are in some closed scenarios, such as ports, mining areas, parks, etc. There are already successful examples of autonomous vehicles in the port sector.

In the actual port operation process, when the autonomous vehicle transports the bridge crane to the yard area, it needs to wait for the rail crane or bridge crane in the yard area to grab the container. After the goods are grabbed, the self-driving vehicle can leave for the next transportation operation. The time that the autonomous vehicle waits for the hoisting equipment to grab the goods will prolong the transportation operation time, resulting in low efficiency of the overall transportation operation.

Utility model content

The purpose of the utility model is to solve the problem of low working efficiency of an automated wharf in the prior art.

In order to solve the above technical problems, the present utility model provides an automatic transfer control system, which includes a sensor unit, a transfer unit and a control unit. The sensor unit is used to obtain parameter signals of the goods to be transported; the transfer unit includes a transfer mechanism and a jacking mechanism; The transfer mechanism is used for the transfer of goods, and the transfer mechanism includes a transfer body and a transfer platform that can be raised and lowered on the transfer body, and the transfer platform is used to carry goods; the jacking mechanism is connected to the transfer platform. between the transfer body and the transfer body, so that the transfer platform can be lifted and lowered relative to the transfer body, so as to transfer the goods on the transfer platform to the storage area; the control unit is connected in communication with the transfer unit, and the control unit is used for Receive the parameter signal sent by the sensor unit, so as to control the transfer unit according to the parameter signal, so that the jacking mechanism and the transfer mechanism respectively perform the actions of lifting the goods and transferring the goods.

Optionally, the sensor unit includes a size detection sensor for detecting the size of the goods to be transported.

Optionally, the sensor unit includes a weight sensor, and the weight sensor is used for weighing the goods to be transported, so as to obtain a weight parameter signal of the goods.

Optionally, the sensor unit includes an ultrasonic sensor, and the ultrasonic sensor is arranged on the transfer platform to obtain a distance parameter signal between the transfer platform and the goods in the storage area.

Optionally, a plurality of the transfer platforms are provided, and the plurality of transfer platforms are arranged at intervals along the length direction of the transfer body.

Optionally, there are multiple jacking mechanisms, and the multiple jacking mechanisms are arranged on the multiple transfer platforms in a one-to-one correspondence, so as to respectively realize the lifting and lowering of the corresponding transfer platforms relative to the transfer body. .

Optionally, the sensor unit further includes an in-position limit switch, the in-position limit switch is disposed on the transfer platform, and the in-position limit switch is used to detect the lifting position of the transfer platform relative to the transfer body.

Optionally, the in-position limit switch includes an up-in position limit switch and a down-in position limit switch, and the up-in position limit switch is used to detect the position where the transfer platform is lifted relative to the transfer body. The in-position limit switch is used to detect the descending position of the transfer platform relative to the transfer body.

Optionally, the transfer platform is provided with two, and they are respectively a front platform and a rear platform; the limit switch of the lifting position comprises a limit switch of the lifting position of the front platform arranged on the front platform and a limit switch arranged on the The rear platform rises to the limit switch on the rear platform, and the lower limit switch includes the front platform lower limit switch arranged on the front platform and the rear platform lower limit switch arranged on the rear platform. switch.

Optionally, the transfer mechanism is an autonomous vehicle.

As can be seen from the above technical solutions, the beneficial effects of the present utility model are:

In the automatic transfer control system of the utility model, a transfer unit with a jacking function is used. After the container is transported to the destination, the container can be temporarily placed on the buffer support through the jacking mechanism without waiting for the yard area. The grabbing of containers by rail cranes or bridge cranes can effectively shorten the working time and improve the working efficiency of automated terminals. The automatic transfer control system can be widely used in terminal operations to improve the efficiency of the entire port transportation, reduce the operating cost of the port, and increase the overall business income.

Description of drawings

Fig. 1 is the control flow chart of an embodiment of the automatic rotation control system of the present invention;

Fig. 2 is the schematic diagram of the transfer mechanism in the automatic transfer control system shown in Fig. 1;

Fig. 3 is another schematic diagram of transfer mechanism in the automatic transfer control system shown in Fig. 1;

Fig. 4 is the working flow chart of the jacking mechanism in the automatic transfer control system shown in Fig. 1;

Fig. 5 is the operation flow chart of the automatic transport control system shown in Fig. 1 to take boxes;

FIG. 6 is a flow chart of the box feeding operation of the automatic transfer control system shown in FIG. 1 .

Reference numerals are explained as follows: 100, automatic transfer control system; 10, sensor unit; 20, transfer unit; 21, transfer mechanism; 211, transfer platform; 2111, front platform; 2112, rear platform; 22, jacking mechanism; 212 , the transfer body; 30, the control unit; 200, the container.

Detailed ways

Typical embodiments embodying the features and advantages of the present invention will be described in detail in the following description. It should be understood that the present utility model can have various changes in different embodiments without departing from the scope of the present utility model, and the descriptions and illustrations therein are essentially for the purpose of illustration rather than use to limit the utility model.

In order to further illustrate the principle and structure of the present utility model, the preferred embodiments of the present utility model are now described in detail with reference to the accompanying drawings.

Referring to FIG. 1 , an embodiment of the present application provides an automatic transshipment control system 100 applied to a port, which can effectively improve the overall work efficiency of an automated terminal. In this embodiment, the automatic transport control system 100 includes a sensor unit 10 , a transport unit 20 and a control unit 30 .

Specifically, the sensor unit 10 is used to acquire parameter signals of the goods to be transported. The transfer unit 20 includes a transfer mechanism 21 and a jacking mechanism 22, and the transfer mechanism 21 is used for the transfer of goods. The transfer mechanism 21 includes a transfer body 212 and a transfer platform 211 that can be lifted and lowered on the transfer body 212, and the transfer platform 211 is used for carrying goods. The jacking mechanism 22 is connected between the transfer platform 211 and the transfer body 212, and is used to realize the lifting and lowering of the transfer platform 211 relative to the transfer body 212, so as to transfer the goods on the transfer platform 211 to the storage area.

The control unit 30 is connected in communication with the transfer unit 20, and the control unit 30 is used to receive the parameter signal sent by the sensor unit 10, so as to control the transfer unit 20 according to the parameter signal, so that the jacking mechanism 22 and the transfer mechanism 21 can lift the goods and transfer the goods respectively. movement of goods.

The automatic transshipment control system 100 of this embodiment can be applied to the transportation operation of the port, and the transshipped goods are mainly containers 200 . In the actual operation process of the automatic transfer control system 100, after the container 200 is transported to the destination by the transfer unit 20 with the jacking function, the container 200 is then placed in the buffer of the storage area by the jacking mechanism 22 of the transfer unit 20 on the stand.

The automatic transfer control unit 30 realizes the transfer of the container 200, which can save the operation steps of the rail crane or bridge crane grabbing the container 200 in the yard area, can effectively shorten the time of the transfer operation, and thus effectively improve the operation efficiency of the automated terminal.

Further, the transfer unit 20 of the present embodiment is an execution unit of the entire automatic transfer control system 100 , which can realize the pick, place and transfer of the container 200 under the control of the control unit 30 .

In the transfer unit 20, a transfer mechanism 21 is used for the transfer of goods, and the transfer mechanism 21 may be an autonomous vehicle. The setting of self-driving vehicles can save labor costs in transshipment operations, reduce fuel consumption during transportation, reduce the incidence of accidents during cargo transshipment, and improve the safety of transshipment operations.

The transfer mechanism 21 in this embodiment includes a transfer body 212 and a transfer platform 211 disposed on the transfer body. The transfer platform 211 is used for carrying the container 200 . The jacking mechanism 22 is connected between the transfer platform 211 and the transfer body 212 , so that the transfer platform 211 can be lifted and lowered relative to the transfer body 212 , thereby realizing the lifting and lowering of the goods and completing the picking and placing of the container 200 .

In this embodiment, the transfer body 212 has a walking device, and the walking device can realize the walking of the transfer mechanism 21 on the ground. When the transfer platform 211 carries the container 200, the transfer body 212 runs on the ground through the running device, so that the container 200 can be moved in the horizontal direction.

Combined with the transfer platform 211 that can be lifted and lowered relative to the transfer body 212, the container 200 can also be lifted and lowered vertically while moving in the horizontal direction. The cooperation of the transfer body 212 and the transfer platform 211 can take the containers 200 on the brackets in the area to be picked up to the transfer platform 211 to complete the pick-up operation; the containers 200 on the transfer platform 211 can also be placed in the buffer of the storage area. on the bracket to complete the box placement.

As shown in FIG. 2 and FIG. 3 , there are two transfer platforms 211 in this embodiment, respectively a front platform 2111 and a rear platform 2112 . In this embodiment, the carrying capacity of the front platform 2111 and the rear platform 2112 is adapted to the 20-foot box, that is, the two can transport the 20-foot box. The front platform 2111 and the rear platform 2112 are both connected with a lifting mechanism 22 , so that both the front platform 2111 and the rear platform 2112 can be lifted and lowered relative to the transfer body 212 .

The containers 200 are arranged in a front-to-back order on the racks in the to-be-fetched area and on the buffer racks in the storage area. Among them, the front platform 2111 is used to take the first 20-foot box or send the first 20-foot box, and the rear platform 2112 is mainly used to take the back 20-foot box or send the back 20-foot box. When two 20-foot, 40-foot and 25-foot containers are transshipped, the front platform 2111 and the rear platform 2112 are lifted at the same time, and they can be loaded together to complete the picking and placing process for containers 200 of corresponding sizes.

In addition, a plurality of transfer platforms 211 may also be provided, and the plurality of transfer platforms 211 are arranged at intervals on the transfer platform. Correspondingly, a plurality of jacking mechanisms 22 are also provided, and the plurality of jacking mechanisms 22 are provided on the plurality of transfer platforms 211 in one-to-one correspondence, so as to realize the lifting and lowering of the corresponding transfer platforms 211 relative to the transfer body 212 respectively.

The arrangement of multiple transfer platforms 211 can improve the carrying capacity of the transfer unit 20, so that the transfer unit 20 can be adapted to transfer various types of containers 200, and the number of transfer containers 200 is also increased, which can effectively improve the automatic transfer control system 100. transport efficiency.

Further, referring to FIGS. 1 to 3 , the sensor unit 10 of this embodiment includes a size detection sensor. The size detection sensor is used to detect the size of the container 200 to be transported to confirm the size of the container 200 and obtain size parameter signals, thereby distinguishing which size the container 200 belongs to, such as 20 feet, 40 feet or 45 feet and other sizes.

By confirming the size of the container 200 to be transported by the size detection sensor, the shape of the container to be transported 200 can be known before the start of the transfer operation, so as to accurately carry out the action of taking out and placing the container during the transfer operation, so as to ensure the smooth progress of the transfer operation. .

In this embodiment, the sensor unit 10 further includes a weight sensor. The weight sensor is used to weigh the container 200 to be transported, so as to obtain a weight parameter signal of the container 200 .

After acquiring the weight parameter signal of the container 200, the weight of the container 200 to be transported can be predicted accordingly before the transshipment operation, so as to adaptively adjust the running speed of the transshipment body 212 in the transshipment unit 20 according to the weight of the container 200 to be transshipped, It is ensured that the transfer of the container 200 proceeds smoothly.

The sensor unit 10 of this embodiment further includes an in-position limit switch. The in-position limit switch is disposed on the transfer platform 211 to detect the lifting position of the transfer platform 211 relative to the transfer body 212 .

The in-position limit switch includes an up-in-position limit switch and a down-in position limit switch. The up-in-position limit switch is used to detect the lifting position of the transfer platform 211 relative to the transfer body 212 , and the down-in-position limit switch is used to detect the transfer platform 211 The position relative to the lowered position of the transport body 212 .

In the present embodiment, the limit switches of the ascent position are divided into a limit switch of the front platform ascension position set on the front platform 2111 and a limit switch of the rear platform ascent position set on the rear platform 2112 . The lowering position limit switch is divided into a front platform lowering position limit switch arranged on the front platform 2111 and a rear platform lowering position limit switch arranged on the rear platform 2112 .

Specifically, the front platform up-to-position limit switch and the front platform down-in-position limit switch detect whether the front platform 2111 is lifted to the right position or lowered to the right position, thereby judging whether the front platform 2111 takes the box and puts it out. The rear platform up-in-position limit switch and the rear platform down-in-position limit switch detect whether the rear platform 2112 is lifted in place or lowered in place, respectively, so as to determine whether the rear platform 2112 has finished taking and placing the boxes.

In addition, the sensor unit 10 of the present embodiment further includes an ultrasonic sensor. The ultrasonic sensor is arranged on the transfer platform 211 to obtain the distance parameter signal between the transfer platform 211 and the container 200 on the support. Through the distance information, the transfer unit 20 can be made to respond safely in advance, so as to avoid the occurrence of collision accidents during the lifting and transfer process, and ensure the safety of the transportation process.

Further, in the automatic transfer control system 100 of the present embodiment, the control unit 30 is a logic unit that determines and controls whether and how the transfer unit 20 performs lifting and transfer operations according to the parameter signals transmitted by the sensor unit 10 .

Referring to FIG. 1 and FIG. 4 , an industrial computer is provided in the autonomous vehicle, and the industrial computer has a remote dispatch system. The control unit 30 receives the control command from the remote dispatching system, then integrates the parameter signals detected by the sensor unit 10, makes a reasonable decision under the condition of business logic and functional safety, and sends the final decision result to the transport unit 20, And act on the jacking mechanism 22 .

The control unit 30 is connected in communication with the transfer unit 20, and the control unit 30 is used for receiving the size parameter signal and the weight parameter signal sent by the sensor unit 10, judging the model and weight of the container 200 to be transferred, and controlling the rotating unit according to the signal information, so that the The jacking mechanism 22 performs the actions of jacking up and transferring the cargo.

The automatic transfer control system 100 of this embodiment is mainly used in the interaction area between the automatic driving vehicle and the yard. In the yard interaction area, the container 200 transportation operations are divided into a container retrieval process and a container delivery process.

As shown in FIG. 5 , the operation process for the autonomous vehicle as the transfer mechanism 21 to go to the yard to pick up the container 200 includes:

In the first step, the control unit 30 obtains the type of the container 200 on the yard support and the placement position of the container 200 on the support from the remote dispatching system;

In the second step, the control unit 30 obtains the running direction of the autonomous vehicle when it enters the yard support;

In the third step, according to the placement position of the container 200 on the support and the running direction of the autonomous vehicle, the control unit 30 determines the transfer platform 211 on which the vehicle needs to move;

In the fourth step, after the transfer platform 211 completes the jacking action, the self-driving vehicle drives away from the support area;

Step 5: The transfer platform 211 is lowered to a suitable position, and the self-driving vehicle completes the entire control process of jacking up and taking out the box.

For the automatic transfer control system 100 of the present embodiment, in the first three steps of the container retrieval process, the container 200 is placed in the front of the rack, and when the front of the autonomous vehicle enters the rack, the control unit 30 determines and confirms the transfer unit 20 The front platform 2111 of the transfer unit 20 is lifted up; if the container 200 is located in front of the support, but the head of the autonomous vehicle enters the support in other directions, the control unit 30 determines and confirms that the rear platform 2112 of the transfer unit 20 is lifted.

If the information obtained by the control unit 30 from the remote dispatching system is that the container 200 is placed at the rear of the support, and the front of the autonomous vehicle enters the support with the front of the vehicle facing forward, the control unit 30 determines and confirms that the rear platform 2112 of the transfer unit 20 is lifted; if the control unit 30. The information obtained by the remote dispatching system is that the container 200 is placed at the rear of the support, and the front of the autonomous vehicle enters the support in other directions, the control unit 30 determines and confirms that the front platform 2111 of the transfer unit 20 is lifted; The information obtained by the remote dispatch system is that the container 200 is placed in the middle of the bracket, and the control unit 30 determines and confirms the front platform 2111 and the rear platform 2112 regardless of the direction in which the autonomous vehicle enters the frame, that is, the double platform is jacked up.

In the fourth and fifth steps of the taking-out process, after the control unit 30 controls the corresponding front platform 2111 and/or the rear platform 2112 to be lifted up in conjunction with the jacking mechanism 22, it can be judged whether the corresponding transfer platform 211 is through the lifting position limit switch. Lift into place. When the self-driving vehicle leaves the frame and the transfer platform 211 descends accordingly, it can be judged whether the transfer platform 211 has descended to the proper position through the lower limit switch.

Further, referring to FIG. 6 , after the container retrieval operation is completed, the autonomous vehicle carries the container 200 and transfers the container 200 to the yard support in the storage area. The container delivery process includes:

In the first step, the control unit 30 acquires the model of the container 200 carried in the autonomous vehicle by the sensor unit 10;

In the second step, according to the model of the container 200, the control unit 30 determines the transfer platform 211 that the autonomous vehicle needs to move;

In the third step, after the jacking action is completed, the control unit 30 receives the signal and controls the autonomous driving vehicle to drive and enter the support area;

In the fourth step, the control unit 30 controls the corresponding transfer platform 211 to drop down, so that the container 200 is placed on the support, and the entire container delivery control process is completed.

For the automatic transfer control system 100 of this embodiment, in the first and second steps of the container delivery process, when the sensor unit 10 determines that the carrying container 200 is the first 20 feet, the control unit 30 controls the front platform 2111 to lift; When the sensor unit 10 determines that the carrying container 200 is the rear 20 feet, the control unit 30 controls the rear platform 2112 to lift up; when the sensor unit 10 determines that the carrying container 200 is double 20 feet, 40 feet or 45 feet, the control unit 30 controls the front platform 2111 and rear platform 2112, namely double platform jacking.

In the third and fourth steps of the box feeding process, after the control unit 30 controls the corresponding front platform 2111 and/or the rear platform 2112 to be lifted up in combination with the jacking mechanism 22, it can be judged whether the corresponding transfer platform 211 is not through the lifting limit switch. Lift into place. When the automatic driving vehicle transfer platform 211 is correspondingly lowered to perform the box placing action, it can be determined whether the transfer platform 211 is lowered to the right position through the drop-in limit switch.

To sum up, the automatic transfer control system of this embodiment is applied to a transfer unit with a jacking function. After the container is transported to the destination, the container can be temporarily placed on the buffer support through the jacking mechanism without waiting for the stacking. The grabbing of containers by rail cranes or bridge cranes in the yard can effectively shorten the working time and improve the working efficiency of automated terminals. The automatic transfer control system can be widely used in terminal operations to improve the efficiency of the entire port transportation, reduce the operating cost of the port, and increase the overall business income.

While the present invention has been described with reference to several exemplary embodiments, it is to be understood that the terms used are of description and illustration, and not of limitation. Since the invention can be embodied in various forms without departing from the spirit or essence of the invention, it should be understood that the above-described embodiments are not limited to any of the foregoing details, but should be broadly within the spirit and scope defined by the appended claims Therefore, all changes and modifications that come within the scope of the claims or their equivalents are intended to be covered by the appended claims.

Claims (10)

1. An automated transfer control system, comprising:

the sensor unit is used for acquiring parameter signals of goods to be transported;

the transfer unit comprises a transfer mechanism and a jacking mechanism; the transfer mechanism is used for transferring goods and comprises a transfer body and a transfer platform which is arranged on the transfer body in a lifting manner, wherein the transfer platform is used for bearing the goods; the jacking mechanism is connected between the transferring platform and the transferring body so as to enable the transferring platform to ascend and descend relative to the transferring body, and therefore goods on the transferring platform are transferred to the storage area;

and the control unit is in communication connection with the transfer unit and is used for receiving the parameter signals sent by the sensor unit so as to control the transfer unit according to the parameter signals, so that the jacking mechanism and the transfer mechanism respectively perform actions of lifting goods and transferring goods.

2. The automatic transfer control system of claim 1, wherein the sensor unit comprises a size detection sensor for detecting a size of the cargo to be transported.

3. The automatic transfer control system of claim 1, wherein the sensor unit comprises a weight sensor for weighing the cargo to be transported to obtain a weight parameter signal of the cargo.

4. The automatic transfer control system of claim 1, wherein the sensor unit comprises an ultrasonic sensor disposed on the transfer platform to obtain a distance parameter signal between the transfer platform and the cargo in the storage area.

5. The automatic transfer control system of claim 1, wherein the transfer platform is provided in plurality, and the plurality of transfer platforms are arranged at intervals along a length direction of the transfer body.

6. The automatic transfer control system of claim 5, wherein the plurality of jacking mechanisms are arranged on the plurality of transfer platforms in a one-to-one correspondence manner, so as to respectively realize the lifting of the transfer platforms relative to the transfer body.

7. The automatic transfer control system of claim 1, wherein the sensor unit further comprises an in-position limit switch disposed on the transfer platform for detecting a position at which the transfer platform is raised and lowered relative to the transfer body.

8. The automatic transfer control system of claim 7, wherein the in-position limit switches comprise an up-position limit switch for detecting a position of the transfer platform being lifted relative to the transfer body and a down-position limit switch for detecting a position of the transfer platform being lowered relative to the transfer body.

9. The automatic transfer control system of claim 8, wherein there are two transfer platforms, a front platform and a rear platform; the ascending limit switch in place comprises a front platform arranged on the front platform, a ascending limit switch in place and a rear platform arranged on the rear platform, wherein the ascending limit switch in place and the rear platform are arranged on the front platform, and the descending limit switch in place comprises a front platform arranged on the front platform, a descending limit switch in place and a rear platform arranged on the rear platform, and the descending limit switch in place.

10. The automatic transfer control system of claim 1 wherein the transfer mechanism is an autonomous vehicle.

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