CN213302521U

CN213302521U - Gantry crane and door base machine anti-collision system

Info

Publication number: CN213302521U
Application number: CN202022225039.7U
Authority: CN
Inventors: 宋祥吉; 李书强; 余珍胜; 王昭胜; 杨双华; 蔡黄河; 孙慧利
Original assignee: Qingdao Haixi Heavy Duty Machinery Co Ltd
Current assignee: Qingdao Haixi Heavy Duty Machinery Co Ltd
Priority date: 2020-09-30
Filing date: 2020-09-30
Publication date: 2021-05-28
Anticipated expiration: 2030-09-30

Abstract

The utility model relates to a portal crane and gate base machine collision avoidance system, including GPS reference station subsystem, portal crane mobile station subsystem and gate base machine mobile station subsystem, have first GPS antenna and a GPS controller in the GPS reference station subsystem, a GPS controller can generate the difference number of corrections and broadcast to the dock area through a first 5G converter; the gantry crane mobile station subsystem comprises a second GPS antenna and a second GPS controller, and the second GPS controller can receive the differential correction number through a second 5G converter and complete the center positioning of the gantry crane; the gate seat machine mobile station subsystem comprises two third GPS antennas and a third GPS controller which are respectively arranged on a gate seat machine base and a suspension arm, and the third GPS controller can receive differential correction numbers through a third 5G converter and complete the positioning of the base and the suspension arm; the control device can respectively receive the position information transmitted by the gantry crane mobile station subsystem and the gantry crane mobile station subsystem so as to judge the relative positions of the gantry crane mobile station subsystem and the gantry crane mobile station subsystem.

Description

Gantry crane and door base machine anti-collision system

Technical Field

The utility model belongs to the technical field of hoisting equipment, concretely relates to portal crane and gate base machine collision avoidance system.

Background

In the field of ship industry, a dock is used as a life line for ship construction, the carrying progress of a section in the dock determines a ship construction period, the carrying of the total assembly section in a dock area mainly depends on a gantry crane and a gantry crane, and the position and the state of the total assembly section are determined through the positions of mechanisms of the gantry crane and the gantry crane. In the operation process of the equipment, the gantry crane possibly touches the beam bottom or the flexible legs of the gantry crane, in order to prevent collision accidents, the anti-collision early warning system is installed on the crane by detecting the positions of each mechanism of the gantry crane and the gantry crane in real time, the safety is improved, real-time display is carried out in a production command center through a simulation map, and the real-time state of each crane is conveniently and visually checked.

The inventor considers that the traditional ultrasonic anti-collision system is mainly suitable for the anti-collision of two equipment cart plane directions, and the shortcoming is obvious, because the characteristics of easy attenuation, easy reflection, refraction, easy interference and the like of ultrasonic wave determine that the stability of ultrasonic wave anti-collision is relatively poor. Meanwhile, the propagation rate of the ultrasonic wave is also susceptible to the ambient temperature.

Although the collision avoidance of the traditional 2D laser scanner can be suitable for plane collision avoidance, the collision avoidance of a three-dimensional surface is also suitable. However, the 2D laser scanner has a limited scanning range and many dead points for collision avoidance, and therefore, the method is not suitable for collision avoidance of the gantry crane and the gantry crane. At present, a mature and reliable automatic anti-collision technical scheme is not formed in the market.

Similarly, a stable, reliable and convenient network architecture for construction is required to be established for the equipment communication in the dock. For example, wireless Wifi communication which is commonly used in the past is limited by its own bandwidth, and signal delay is serious. The optical fiber communication is only suitable for wharfs with optical fibers fully covered in docks, but old dock wharfs cannot meet the requirements, the flexibility of communication is insufficient, and the range is limited.

SUMMERY OF THE UTILITY MODEL

The utility model aims at overcoming the not enough of above-mentioned prior art, provide a portal crane and gate base machine collision avoidance system, can solve one of above-mentioned technical problem at least.

In order to achieve the above purpose, the utility model adopts the following technical scheme: a gantry crane and gate base machine anti-collision system comprises a GPS (global positioning system) reference station subsystem, a gantry crane mobile station subsystem and a gate base machine mobile station subsystem, wherein the GPS reference station subsystem is provided with a first GPS antenna and a first GPS controller, and the first GPS controller can generate a differential correction number and broadcast the differential correction number to a dock area through a first 5G converter;

the gantry crane mobile station subsystem comprises a second GPS antenna and a second GPS controller, and the second GPS controller can receive the differential correction number through a second 5G converter and complete the center positioning of the gantry crane;

the gate seat machine mobile station subsystem comprises two third GPS antennas and a third GPS controller which are respectively arranged on a gate seat machine base and a suspension arm, and the third GPS controller can receive differential correction numbers through a third 5G converter and complete the positioning of the base and the suspension arm;

the system also comprises a control device, wherein the control device can receive the position information transmitted by the gantry crane mobile station subsystem and the gantry crane mobile station subsystem so as to judge the relative positions of the gantry crane mobile station subsystem and the gantry crane mobile station subsystem.

The beneficial effects of one or more of the above technical solutions are as follows:

(1) the utility model can utilize 5G network communication transmission data to perform calculation and analysis according to the GPS differential positioning technology, the gantry crane and the gantry crane, and does not need additional ultrasonic wave, 2D laser scanner and other sensors, thus having low cost;

(2) the utility model solves the communication problem between the devices through the 5G network communication connection, ensures the data interaction between the devices, and can realize the mutual automatic anti-collision function between the devices through the existing PLC program;

drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.

Fig. 1 is an overall schematic view of a collision avoidance system according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a GPS base station subsystem according to an embodiment of the present invention;

fig. 3 is a schematic diagram of a subsystem of a gantry crane mobile station in an embodiment of the present invention;

fig. 4 is a diagram illustrating a mobile station subsystem of a portal phone according to an embodiment of the present invention.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

In a typical embodiment of the present invention, as shown in fig. 1-4, a gantry crane and gantry crane base machine collision avoidance system includes a GPS reference station subsystem, a gantry crane mobile station subsystem and a gantry crane mobile station subsystem, wherein the GPS reference station subsystem has a first GPS antenna and a first GPS controller, and the first GPS controller can generate a differential correction number and broadcast the differential correction number to a dock area through a first 5G converter; first GPS antenna passes through a digital radio and a GPS controller signal connection, and a 5G conversion module passes through a WIFI module and a GPS controller signal connection. The first GPS controller is powered by the UPS, and the UPS is powered by an external alternating current power supply.

The gantry crane mobile station subsystem comprises a second GPS antenna and a second GPS controller, and the second GPS controller can receive the differential correction number through a second 5G converter and complete the center positioning of the gantry crane; furthermore, the second GPS antenna is in signal connection with the second GPS controller through a second digital radio station, and the second 5G conversion module is in signal connection with the second GPS controller through a second wifi module.

And the second GPS controller is in signal connection with a PLC control unit in the gantry crane, so that the PLC control unit can read the position of the gantry crane. And the second GPS antenna is arranged at the top end of the rigid leg on one side of the gantry crane. The PLC control unit is in signal connection with an encoder, and the encoder can measure the position relation of the trolley and the lifting hook relative to the rigid legs in the gantry crane.

The gate seat machine mobile station subsystem comprises two third GPS antennas and a third GPS controller which are respectively arranged on a gate seat machine base and a suspension arm, and the third GPS controller can receive differential correction numbers through a third 5G converter and complete the positioning of the base and the suspension arm; and the two third GPS antennae are respectively in signal connection with two third digital radio stations, and the third digital radio stations are respectively in signal connection with a third GPS controller. And the third GPS controller is in signal connection with the third 5G conversion module through the WiFi module. And the third GPS controller is in signal connection with a PLC control module of the base machine, so that the PLC control module can read the positions of the suspension arm and the base.

The embodiment also comprises a control device, wherein the control device can receive the position information transmitted by the gantry crane mobile station subsystem and the gantry crane mobile station subsystem so as to judge the relative positions of the gantry crane mobile station subsystem and the gantry crane mobile station subsystem.

Specifically, the first GPS antenna of the reference station should be installed in an open place, ensuring that there is no high obstruction around it. The difference of the reference station for high-precision RTK positioning is realized, the effective distance is about 10Km, one reference station can meet the difference requirement of the whole dock area, and the position error of a single piece of equipment can be controlled within 1 cm.

The receiving board card of the reference station needs to adopt a dual-frequency multi-system board card, so that the application of multi-system signals such as the second generation of Beidou, GPS, GLONASS and the like is met, various differential formats such as CMR, RTCM and the like are output, and the differential positioning requirements of various satellite positioning products are met.

And the second GPS controller is provided with an embedded software system, the control software broadcasts the positioning data of the gantry crane in real time, receives the anti-collision information calculated by the monitoring software, provides a Profinet interface for communicating with the PLC, acquires the encoder information from the PLC, performs fusion processing with the positioning and attitude information of the GPS, realizes mutual standby mutual inspection of the double positioning systems, sends an automatic anti-collision control command to the PLC and gives an alarm prompt to an operator in time.

The two direction-finding antennas of the third GPS controller are at the gate seat and ensure that the baseline is greater than 2 meters.

In the embodiment, the GPS controller integrates a receiving board card with combined direction finding and high-precision positioning direction finding, an embedded control board and a 5G communication module. The GPS controller is provided with an embedded software system, control software broadcasts positioning data of machinery and position information of the tail parts of the arm support and the counterweight balance beam to a central monitoring system in real time, the central monitoring system collects position information of all gantry cranes and door seats, judges the position state of adjacent machinery, carries out safety judgment, sends safety anti-collision information to a related mobile station system, and provides a Profinet interface PLC for communication, safety automatic anti-collision control is carried out, and alarm prompt is given to an operator in time.

Real-time data of the gantry crane and the gantry crane can be transmitted to a production command center through a 5G network, real-time display is carried out through a virtual simulation map, an electronic map is used as a background, and important information such as the current position, the working state, collision avoidance, alarming and the like of dock equipment is displayed on computer-aided equipment. Meanwhile, the computer auxiliary equipment can store all real-time information into the database and can also perform post inquiry, playback and statistical analysis according to the archived information of the database of the data service center.

The utility model discloses utilize 5G network communication advantage, can send all equipment data information of collection to the remote control center, show in real time, complete machine state analysis and early warning and realize the data playback traceability of complete machine state.

Although the present invention has been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without inventive work are still within the scope of the present invention.

Claims

1. A gantry crane and gate base machine anti-collision system is characterized by comprising a GPS (global positioning system) reference station subsystem, a gantry crane mobile station subsystem and a gate base machine mobile station subsystem, wherein the GPS reference station subsystem is provided with a first GPS antenna and a first GPS controller, and the first GPS controller can generate a differential correction number and broadcast the differential correction number to a dock area through a first 5G converter;

2. The gantry crane and gate base machine collision avoidance system of claim 1, wherein the first GPS antenna is in signal connection with the first GPS controller through a first digital radio station, and the first 5G conversion module is in signal connection with the first GPS controller through a first WIFI module.

3. The gantry crane and gate base collision avoidance system of claim 2, wherein the first GPS controller is powered by a UPS, which is powered by an external ac power source.

4. The gantry crane and gate base machine collision avoidance system of claim 1, wherein the second GPS antenna is in signal connection with the second GPS controller through a second digital radio, and the second 5G conversion module is in signal connection with the second GPS controller through a second wifi module.

5. The gantry crane and gantry crane collision avoidance system of claim 1, wherein said second GPS controller is in signal connection with a PLC control unit in the gantry crane so that the PLC control unit can read the position of the gantry crane.

6. The gantry crane and gantry crane collision avoidance system of claim 5, wherein said second GPS antenna is mounted on the top of a rigid leg on one side of the gantry crane.

7. The gantry crane and gantry crane collision avoidance system according to claim 6, wherein said PLC control unit is in signal connection with an encoder, said encoder being capable of measuring the positional relationship of the gantry crane trolley and hook relative to the rigid legs.

8. The gantry crane and gate base collision avoidance system of claim 1, wherein two third GPS antennas are respectively in signal connection with two third digital radio stations, and the third digital radio stations are respectively in signal connection with a third GPS controller.

9. The gantry crane and gate base collision avoidance system of claim 1, wherein the third GPS controller is in signal connection with the third 5G conversion module through a WiFi module.

10. The gantry crane and base unit anti-collision system according to claim 1, wherein the third GPS controller is in signal connection with a PLC control module of the base unit so that the PLC control module can read the positions of the boom and the base.