CN214243511U - A remote control system for portal crane - Google Patents
A remote control system for portal crane Download PDFInfo
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- CN214243511U CN214243511U CN202120169105.5U CN202120169105U CN214243511U CN 214243511 U CN214243511 U CN 214243511U CN 202120169105 U CN202120169105 U CN 202120169105U CN 214243511 U CN214243511 U CN 214243511U
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Abstract
一种门座式起重机远程遥控系统，该系统包括云服务器平台、客户端、遥控操作台、固定基站、门座机监控终端、抓斗监控部分、船头船尾定位装置。云服务器平台通过第五交换机分别连接客户端、遥控操作台。云服务器平台通过5G通讯模块连接门座机监控终端，门座机监控终端连接抓斗监控部分。门座机监控终端、抓斗监控部分、船头船尾定位装置均与固定基站通讯连接。本实用新型一种门座式起重机远程遥控系统，实现门座式起重机的远程遥控，并且可以与生产调度系统通讯联网，为码头实现无人化作业、降本增效提供技术支持。
A remote control system for a portal crane includes a cloud server platform, a client, a remote control console, a fixed base station, a portal monitoring terminal, a grab monitoring part, and a bow and stern positioning device. The cloud server platform is respectively connected to the client and the remote control console through the fifth switch. The cloud server platform is connected to the portal monitoring terminal through the 5G communication module, and the portal monitoring terminal is connected to the grab monitoring part. The portal monitoring terminal, the grab monitoring part, and the bow and stern positioning devices are all connected to the fixed base station for communication. The utility model relates to a remote control system for a portal crane, which realizes the remote control of the portal crane, and can be communicated and networked with a production scheduling system, so as to provide technical support for realizing unmanned operation of a wharf, reducing costs and increasing efficiency.
Description
Technical Field
The utility model relates to a high pedestal jib crane control technical field, concretely relates to high pedestal jib crane remote control system.
Background
Portal cranes are also known as jib cranes, in which a rotatable hoisting device (referred to as rotating part) is mounted on a portal frame. The 4 legs of the portal frame form 4 'door openings' for railway vehicles and other vehicles to pass through. The gantry crane is usually operated along a crane rail on the ground or a building to perform a lifting, loading and unloading operation. At present, the portal crane is mainly used for port machinery operation. The bridge is supported on the ground rail or foundation through the supporting legs at two sides, and has the characteristics of running along the ground rail and passing through railway vehicles or other ground vehicles below. The gantry crane is also gradually popularized and applied to docks, hydropower station construction sites and the like with operation conditions close to ports. The control part of the portal crane is an important part of the portal crane and is directly related to safe production and working efficiency. But because portal jib crane's special operating mode environment, there is not a set of comparatively advanced control system yet in the prior art, satisfies current portal jib crane demand accurate day by day.
The document "application of PLC remote monitoring system to gantry crane" (automation control, rich celebration) records a remote monitoring scheme for gantry cranes, which has certain disadvantages, as shown in: the scheme is used for remotely monitoring the equipment fault of the gantry crane, and is silent on improving the productivity and reducing the labor intensity of operators. Secondly, the scheme is transmitted through GPRS, a data channel is relatively small, the amount of data transmitted wirelessly is small, and the remote transmission function is objectively limited. Thirdly, the scheme does not have the functions of GPS positioning, image recognition and grab bucket anti-swing. How to improve the working efficiency of the gantry crane, reduce the labor intensity of a driver, reduce the cost and improve the working efficiency is the aim of the control pursuit of the gantry crane.
Disclosure of Invention
In order to improve the working efficiency of the portal crane, reduce the labor intensity of a driver, reduce cost and improve efficiency. The utility model provides a high pedestal jib crane remote control system realizes high pedestal jib crane's remote control to can with production dispatch system communication networking, realize unmanned operation, reduce cost and improve effect for the pier and provide technical support.
The utility model discloses the technical scheme who takes does:
a gantry crane remote control system, the system comprising:
the system comprises a cloud server platform, a client T5820, a remote control operation platform CX-LHJBB03, a fixed base station M300, a gate seat machine monitoring terminal, a grab bucket monitoring part and a bow and stern positioning device;
the cloud server platform is respectively connected with a client T5820 and a remote control console CX-LHJBB03 through a switch 5 HI-08;
the cloud server platform is connected with a gate seat machine monitoring terminal through a 5G communication module CPEPRO, and the gate seat machine monitoring terminal is connected with the grab bucket monitoring part;
the gate seat machine monitoring terminal, the grab bucket monitoring part and the bow and stern positioning device are all in communication connection with the fixed base station M300.
The switch 5HI-08 is connected with a streaming media server DVSCAR-51, and the streaming media server DVSCAR-51 is connected with a splicing screen CB 5503S.
The gate seat machine monitoring terminal comprises a PLC (programmable logic controller) S7-1500 and a touch screen VMC 1100; the touch screen VMC1100 is connected with a PLC controller S7-1500, the PLC controller S7-1500 is connected with a switch 2HI-08, and the switch 2HI-08 is respectively connected with a 5G communication module CPEPRO, a data transmission radio station 3SZ02, a scanner controller, a GPS positioning mobile base station 2CX-E728 and an anti-collision signal collector; the scanner controller is connected with a 3D laser scanner CX-JS800, and the GPS positioning mobile base station 2CX-E728 is respectively connected with a data transmission radio station 4SZ02, a GPS positioning antenna 2AT300 and a GPS directional antenna 3AT 300; the anti-collision signal collector is connected with an anti-collision sensor CX-HB 100;
the PLC controllers S7-1500 are respectively connected with a wind speed sensor YS-CF, a height encoder 1GM58S10K6MA12WN, a height encoder 2GM58S10K6MA12WN, a grab bucket supporting frequency converter ATV930, a grab bucket opening and closing frequency converter ATV930 and left and right cart traveling frequency converters;
the PLC controllers S7-1500 are respectively connected with an anti-swing module 1CX-FY400, an anti-swing module 2CX-FY400 and an anti-swing module 3CX-FY 400; the anti-swing module 1CX-FY400, the anti-swing module 2CX-FY400 and the anti-swing module 3CX-FY400 are respectively connected with the left rotary frequency converter, the right rotary frequency converter and the amplitude variable frequency converter;
the PLC S7-1500 is connected with a moment limiter CX-AV, and the moment limiter CX-AV is respectively connected with a weight sensor 1JZ-1, a weight sensor 2JZ-1 and an angle sensor CX-JD 90;
the PLC controllers S7-1500 are connected with a remote control receiver JT-KP.
The grab bucket monitoring part comprises a hysteresis type power supply winding drum MH1800-28/180, an electric power cat 2WD-200M and an electric power cat 1 WD-200M;
the AC220V power supply is connected with a hysteresis type power supply reel MH1800-28/180, the hysteresis type power supply reel MH1800-28/180 is connected with a switch power supply 1LRS-350-24, the switch power supply 1LRS-350-24 is respectively connected with a switch 1005, a grab bucket camera 1BS-CA33-IP, a grab bucket camera 2BS-CA33-IP, a mobile base station 1CX-E728 and a power supply manager CX-DY02, the mobile base station 1CX-E728 is respectively connected with a GPS antenna 1AT300 and a data transmission radio station 1SZ02, the power supply manager CX-DY02 is respectively connected with a data transmission radio station 2SZ02, a grab bucket searchlight 1SM-2009 and a grab bucket searchlight 2 SM-2009;
the grab camera 1BS-CA33-IP and the grab camera 2BS-CA33-IP are both connected with a switch 1005, the switch 1005 is connected with an electric cat 1WD-200M, and the electric cat 1WD-200M is connected with a hysteresis type power supply winding drum MH 1800-28/180;
hysteresis power supply reels MH1800-28/180 are connected to power line cat 2WD-200M, power line cat 2WD-200M is connected to switch 2HI-08, and switch 2HI-08 is connected to switch 3 HI-08.
The system further comprises: the system comprises a lifting hook monitoring camera CX-SXJ02, a cab-side ball machine DHK-EX300, a lifting rope camera BS-CA33-IP, an electric room camera BS-CA33-IP, a camera of a left cart walking track, a camera of a right cart walking track, a switch 4005, a left grab camera and a right grab camera; the power modem is 3WD-200M, and the power modem is 4 WD-200M;
the camera of the left cart walking track and the camera of the right cart walking track are both connected with the switch 4005, and the switch 4005 is connected with the power modem 3 WD-200M;
the electric cat 3WD-200M is connected with the switch 3HI-08, and the switch 3HI-08 is respectively connected with an electric room camera BS-CA33-IP, a lifting hook monitoring camera CX-SXJ02, a cab side dome camera DHK-EX300 and a lifting rope camera BS-CA 33-IP;
the switch 3HI-08 is connected with a video recorder DS-7804N-K2, and the video recorder DS-7804N-K2 is connected with a display E1715 SC;
the switch 2HI-08 is connected with the switch 1HI-08, and the switch 1HI-08 is respectively connected with the left grab camera and the right grab camera.
The bow stern positioner includes:
the bow positioning device comprises a mobile base station 3CX-E708, wherein the mobile base station 3CX-E708 is respectively connected with a switching power supply 1LRS-150-12, a data transmission radio station 6SZ02, a GPS positioning antenna 4BT5630 and a data transmission radio station 5SZ 02;
the stern positioning device comprises a mobile base station 4CX-E708, wherein the mobile base station 4CX-E708 is respectively connected with a switching power supply 2LRS-150-12, a data transmission radio station 8SZ02, a GPS positioning antenna 5BT5630 and a data transmission radio station 7SZ 02.
The utility model relates to a high pedestal jib crane remote control system, technological effect as follows:
1) by using a GIS electronic map technology and a satellite positioning technology, the digital modeling of a portal crane wharf site vector electronic map, a portal crane, a grab bucket, a rail, a berth and a ship is realized, the whole-process operation of the portal crane is digital and visual, and the whole-process digital operation of the grab bucket from material grabbing, lifting, amplitude variation, rotation, lowering, unloading and the like is realized, so that the automatic operation is realized.
2) According to a production scheduling instruction, an operator can issue a work target and a grab transportation task to a gate seat machine monitoring terminal through a client or a remote control operation platform, the gate seat machine terminal automatically reaches a target station and a cabin position according to the client instruction, automatically adjusts a gate seat machine control curve and a control flow according to the target cargo ship number, specification model and permission of the client, and can automatically or semi-automatically carry out grab transportation operation according to the control flow;
3) through big data analysis and machine learning and simulation, an anti-swing model and an air bucket throwing operation model are established, so that the automatic anti-swing and air bucket throwing operation functions of the grab are realized, the operation time of the grab is shortened, and the operation efficiency of the grab is improved;
4) the utility model discloses use GIS vector electronic map technique, satellite positioning technology to develop gate seat machine electron security fence, realized the safety isolation between gate seat machine grab bucket and the ship's edge, anticollision etc. between gate seat machine and the gate seat machine, can prevent effectively that the grab bucket from grabbing the ship's edge by mistake and colliding with the safe risk of peripheral barrier;
5) by using the 3D laser scanning and cloud computing analysis, the utility model realizes automatic material identification, automatic pile size calculation, pile height, ship edge position, cabin mouth height, funnel position height and the like, and lays an important foundation for automatic grab control and throwing bucket operation;
6) the automatic anti-collision function of the gantry crane jib is realized, the dynamic distance between adjacent gantry crane jibs can be monitored on line through a microwave radar arranged on the gantry crane jib, if the safety distance between the adjacent gantry crane jib and the gantry crane jib is sensed to be smaller than a set value, the system can automatically alarm and control, the gantry crane jib is forbidden to approach the adjacent gantry crane, and thus the collision risk of the two gantry cranes is avoided;
7) the intelligent grab bucket has the functions of GPS positioning, automatic high-efficiency illumination, video monitoring of the grab bucket, intelligent anti-collision, weighing and metering, automatic alarm of overload and over-torque, automatic protection and the like;
8) the system comprises a plurality of control modes such as automatic control, manual remote control, local control, field wireless remote control and the like, and a client can select the control modes according to field working conditions;
9) the video monitoring system can effectively assist the monitoring operation of operators;
10) and one person remotely controls a plurality of door seat machines to operate.
Drawings
Fig. 1 is an overall architecture diagram of the system of the present invention.
Fig. 2 is a flow chart of GIS electronic map development for bulk and grocery terminals.
FIG. 3 is a digital work flow chart of the gantry crane walking track.
FIG. 4 is a flow chart of digital berth establishment.
Fig. 5 is a flow chart of the digital ship establishment.
Fig. 6 is a flow chart of the modeling of the digital doorseat machine.
Fig. 7 is a flow chart of digital grapple modeling.
FIG. 8 is a flowchart of the gantry crane electrical safety fence establishment.
Fig. 9 is a flow chart of grab bucket electric safety fence establishment.
Fig. 10 is a flow chart of the surrounding building electric safety fence establishment.
Fig. 11 is a flow chart of the establishment of the electric safety fence at the ship hatch.
Fig. 12 is a configuration diagram of the fixed base station of the present invention.
Fig. 13 is a schematic diagram of the system of the present invention.
Fig. 14 is the working principle diagram of the system gate seat machine monitoring terminal of the present invention.
Fig. 15 is the working principle diagram of the monitoring part of the grab bucket of the system of the utility model.
Fig. 16 is a schematic view of the system video monitoring of the present invention.
Fig. 17 is the utility model discloses the system grab bucket is prevented rocking and is got rid of fill operation positioning function schematic diagram aloft.
Fig. 18 is a schematic diagram of the system of the present invention for identifying the position of the cabin and the position of the material pile.
Fig. 19 is a schematic diagram of the operation of the system of the present invention for positioning the bow.
Fig. 20 is a stern positioning operation diagram of the system of the present invention.
Detailed Description
A portal crane remote control system, portal crane operating characteristics and operating mode requirement, adopt SOA technical framework and B/S structure to build the automatic monitoring management platform of portal crane, utilize GIS electronic information technology, big data and AI technology, offer the digitization, visual basis for the automatic control of portal crane; and then advanced means such as GPS positioning, 3D digital scanning, CAE online monitoring analysis, 5G communication and the like are adopted to realize door machine anti-swing, space anti-collision, material identification, obstacle identification, mechanical structure fatigue predictive maintenance and the like.
(I): the overall architecture of the system is shown in fig. 1:
the system is divided into three parts: the system comprises a data acquisition and control part, a cloud service part and a management scheduling part; the data acquisition and control part mainly comprises various sensors, a PLC (programmable logic controller) S7-1500, a frequency converter, a touch screen VMC1100 and the like and is mainly responsible for acquiring and controlling the information of the gantry crane; the cloud service part mainly comprises a GIS electronic map, a cloud server platform, a database and the like, and is mainly responsible for providing GIS electronic map support, cloud computing, AI computing support service and the like for the gate phone terminal, and the management scheduling part is mainly responsible for gate phone task arrangement and remote control.
(II): the realization of each function of the system:
2.1. designing a GIS electronic map of a bulk and grocery wharf:
firstly, a customer unit provides CAD maps of bulk and general cargo terminals, equipment and the like, and on the basis, MO (map objects) component type GIS software of ESRI company in America is adopted to organize and manage vector data and image data in a file form, so that multi-source spatial data are displayed in the same environment, and the operation function of geographic spatial data is realized. And then establishing an oracle-based database, and connecting the graph and the attribute data by using the ID to realize the comprehensive application of the spatial information and the attribute information. Microsoft VB (Visual Basic) Enterprise Edition is used as a software development tool, a system user interface is established by combining the GIS function of MO and the oracle relational database management function, system tools such as space and attribute data browsing, inquiring, counting, calling and drawing are provided, an application platform for real-time and dynamic navigation positioning, display, storage and release of various devices in a field is realized, so that digital support creation conditions are provided for gantry crane control, and the development flow of a GIS (geographic information System) electronic map of a wharf for bulk and general cargo is shown in figure 2.
2.2. And (3) equipment digital modeling treatment: after the electronic map is designed, the electronic map can be used for modeling a door seat machine walking track, a berth, a door seat machine, a grab bucket and a ship, and then the models are respectively solidified and numbered and stored in a database.
2.2.1. Modeling a digital track of a gantry crane:
through the establishment of the digital track, a visual basis can be provided for a cart to find a ship berth and grab positioning, and a foundation is laid for the automatic control of a system. The digital work flow chart of the gate seat machine walking track is shown in figure 3.
2.2.2. Digital modeling of ship berthing:
through the establishment of the digital berth, a digital foundation can be established for the berth of the ship, a visual basis is provided for the cart to find the berth and the grab bucket to position, and the berth digital establishment process is shown in fig. 4.
2.2.3. Digital modeling of a ship:
through the establishment of the digital ship, a digital basis can be established for gate seat machine positioning, grab bucket operation, electronic fence setting and a 3D digital scanner, a visual basis is provided for a cart to find the ship, the electronic fence, the grab bucket positioning and the like, and the ship digital establishment process is shown in fig. 5.
2.2.4. Digital modeling of a gate seat machine:
through the establishment of the digital gate seat machine, a digital basis can be established for the operation of the grab bucket, the anti-collision of the gate seat machine and the 3D digital scanner, a visual basis is provided for the large vehicle to find a parking space and the positioning of the grab bucket, and the digital modeling process of the gate seat machine is shown in fig. 6.
2.2.5. Carrying out digital modeling on the grab bucket:
through the establishment of the digital grab bucket, a digital basis can be established for the grab bucket accurate operation, anti-swing, anti-misoperation of the grab ship edge, the entering and exiting of the cabin, the throwing bucket operation and the like, a visual basis is provided for the grab bucket operation and the grab bucket accurate positioning, and the grab bucket digital modeling process is shown in fig. 7.
2.2.6. The establishment of the gate seat machine electronic safety fence:
the system comprises the following components: the system comprises a GIS electronic map, a database, a 5G communication module CPEPRO, a switch 2HI-08, a PLC controller S7-1500, a touch screen VMC1100, a portal mobile base station 2CX-E728, a GPS positioning antenna 2AT300, a GPS positioning antenna 3AT300, a grab bucket mobile base station 1CX-E728, a GPS positioning antenna 1AT300, a portable ship mobile base station 3CX-E728, a GPS positioning antenna 4AT300, a portable ship mobile base station 4CX-E728, a GPS positioning antenna 5AT300 and the like.
The working principle is as follows: the gate seat machine electronic safety fence has the function that the operation coordinate ranges of a gate seat machine cart, a gate seat machine arm frame and a gate seat machine grab bucket and the forbidden coordinate ranges of a ship edge and a funnel are defined on a GIS electronic map through an on-site GIS electronic map and a database technology; once the gate seat machine cart or the arm support and the grab bucket are driven out or break into the coordinate range, an alarm system of the GIS monitoring platform can be triggered; the cloud service monitoring platform sends alarm information to the touch screen VMC1100 of the PLC S7-1500 of the gantry crane monitoring terminal through the 5G communication module CPEPRO to give an alarm, and the touch screen VMC1100 instructs the PLC S7-1500 to stop the traveling of the gantry crane or the rotation frequency converter ATV930 or the amplitude frequency converter ATV930 to continue to run in the dangerous direction, so that the gantry crane, the boom or the grab bucket are protected from colliding with surrounding obstacles. The setup procedure is shown in fig. 8.
2.2.7. The process of establishing the grab bucket electric safety fence is shown in fig. 9.
2.2.8. The establishment of peripheral buildings, barriers and cabin opening electronic safety fences:
the system comprises the following components: the system comprises a GIS electronic map, a database, a 5G communication module CPEPRO, a switch 2HI-08, a PLC controller S7-1500, a touch screen VMC1100, a portal mobile base station 2CX-E728, a GPS positioning antenna 2AT300, a GPS positioning antenna 3AT300, a portable ship mobile base station 3CX-E728, a GPS positioning antenna 4AT300, a portable ship mobile base station 4CX-E728, a GPS positioning antenna 5AT300 and the like.
The working principle is as follows: the electronic safety fence function of buildings, barriers and cabin mouths around the portal frame is also realized by the aid of a field GIS electronic map and a database technology on the GIS electronic map, the buildings, the barriers, the cabin mouths and the like are bound and prevented from entering a coordinate range, when the satellite positioning antenna 3AT300 on the bridge of the portal frame or the grab GPS positioning antenna 1AT300 enters or exits the range, an alarm of a GIS monitoring platform is triggered, the GIS platform alarms the touch screen VMC1100 of the PLC controllers S7-1500 of the portal frame monitoring terminal through the 5G communication module CPEPRO, and the touch screen VMC1100 commands the PLC controllers S7-1500 to stop the rotation frequency converter ATV930 or the amplitude converter ATV930 to continue running, so that the portal frame, the arm support or the grab are protected from colliding with the surrounding buildings, the barriers, the cabin mouths and the like. The flow chart is shown in fig. 10.
2.2.9. The process of establishing the electric safety fence at each ship hold opening is shown in fig. 11.
2.3. Establishing a cloud server:
in order to effectively utilize cloud resources to automatically service the gate seat machine, the cloud server is configured as follows:
2.4. installing a fixed base station:
the fixed base station is an important device for real-time calibration of the Beidou satellite mobile receiving base station, and high-precision positioning control cannot be realized without the fixed base station, so that the system must be provided with one fixed base station within a range of 75KM, and the fixed base station is configured as shown in FIG. 12.
2.5. The realization of the remote control function of the gate base machine:
2.5.1. the working principle of the gate base machine remote control system is as follows:
2.5.1.1 remote control system of the gate base machine:
the system comprises a cloud server platform (GIS monitoring management platform), a 5G communication module CPEPRO, a client T5820, a remote control console CX-LHJBB03, a streaming media server DVSCAR-51, a spliced screen CB5503S, a GPS fixed base station M300, a local remote controller JT-KP, a video monitoring system CX-SXJ03, a 3D laser scanner CX-X8000, a gate seat machine monitoring terminal S7-1500, a grab bucket monitoring part CX-E728, a bow portable mobile base station CX-E728, a stern portable mobile base station CX-E728 and the like, and a schematic diagram is shown in FIG. 13.
2.5.1.2. The working principle of the system is as follows:
when the portal crane monitoring terminal works, an operator firstly performs video inspection on a working environment of the portal crane on a splicing screen CB5503S through a remote control console CX-LHJBB03 to check whether the field environment is suitable for remote control operation or not, and starts to issue various control instructions to S7-1500 of the portal crane monitoring terminal through a client T5820 according to the position of an electronic map when no abnormality occurs, a cloud platform forwards the instructions to S7-1500 of the portal crane monitoring terminal through a 5G communication module CPEPRO, and S7-1500 of the portal crane monitoring terminal executes the instructions according to the client T5820; after the grab bucket reaches the designated position, the 3D laser scanner CX-X8000 scans the cabin material grabbing scene, then the scanning result is sent to a gantry crane monitoring terminal, and the monitoring terminal adjusts the posture of a gantry crane arm support according to the 3D laser scanner CX-X8000 so that the grab bucket can be in place to start operation.
When the GPS fixed base station M300 works, the received satellite positioning information is continuously communicated with a mobile base station 1CX-E728, a mobile base station 2CX-E728, a mobile base station 3CX-E728 and a mobile base station 4CX-E728 of a portal crane control system, the coordinates of the GPS fixed base station are continuously sent to the mobile base stations, and the coordinates of the GPS fixed base station are continuously corrected by the mobile base stations, so that the accuracy of the position of the portal crane, the position of a grab bucket and the position of a cabin is improved, and the GPS fixed base station is used for positioning of the portal crane control system; if the environment is a non-standard environment, an operator can perform manual operation control through the operation console.
2.5.2. The door machine monitor terminal working principle:
the door machine monitor terminal comprises: the system comprises a crane operating handle, a crane working mode selection switch (automatic/semi-automatic), a PLC controller S7-1500, a touch screen VMC1100, a 3D laser scanner CX-JS800, a GPS positioning mobile base station 2CX-E728, a GPS positioning antenna 2AT300, a GPS directional antenna 3AT300, a data transmission radio station 4SZ02, a moment limiter CX-AV, a wind speed sensor YS-CF, a rotation angle sensor (provided by the GPS directional antenna 3AT 300), a height encoder 1GM58S10K6MA12WN, a height encoder 2GM58S10K6MA12 CX 12WN, an anti-collision sensor CX-HB100, an anti-collision signal collector, a grab bucket supporting frequency converter ATV930, a grab bucket opening and closing frequency converter ATV930, a left rotation frequency converter ATV930, a right rotation frequency converter ATV930, a variable-amplitude converter ATV930, a cart left travel frequency converter ATV930, a cart right travel frequency converter ATV930, an anti-swing module 1-Y400, an anti-CX 2-AV 400, an anti-CX 2-CX 300, an anti-FY module, The anti-swing module comprises a 3CX-FY400 module, a 5G communication module CPEPRO and the like.
As shown in fig. 14, when the portal monitoring terminal works, the touch screen VMC1100 receives, through the 5G communication module CPEPRO, a GIS electronic map, a ship ID number, a berth on the shore, ship satellite positioning coordinate information, target station coordinate information, preset blanking point coordinate information, electronic security fence information, and the like, which are sent by the cloud server platform; the gantry crane touch screen VMC1100 can automatically call the ship performance parameters stored in the hard disk according to the ship ID number, according to information such as ship coordinates, PLCS7-1500 automatically starts a cart left walking frequency converter ATV930 and a cart right walking frequency converter ATV930 to walk to the berth according to a client T5820 instruction, after the cart is in place, a gantry crane touch screen VMC1100 control system adjusts the posture and the working amplitude of the arm support according to a starting point set by a program, at the moment, the 3D laser scanner CX-JS800 starts to work, a scanning designated area is set according to the program, and the direction is designated for the grab bucket work; the gate base machine touch screen VMC1100 control system automatically judges a work start position according to the material pile information provided by the 3D laser scanner CX-JS800 and snatchs and transports block by block from left to right or from right to left according to the axis direction of the ship, when in work, if the program setting is the block by block snatchs and transports according to the sequence from left to right, the touch screen VMC1100 positions the cart on the first left, then according to the sequence from front to back or from back to front, the grab bucket is released from 1 to start grabbing, because the first bucket generally starts from the position 1 of the first block, at this moment, the grab bucket approaches the ship edge, at this moment, red electronic fence protection information appears on the touch screen VMC1100, meanwhile, virtual grab bucket motion information appears, if the virtual grab bucket approaches the electronic fence, an alarm is triggered, and the PLCS 7-arm support control system 1500 automatically adjusts the posture in the grab bucket releasing process, the ship edge which is possibly touched is automatically avoided, so that the anti-maloperation function is realized;
when the grab bucket is fully used for grabbing materials, the touch screen VMC1100 control system judges whether the grab bucket leaves a ship hatch or not according to the cabin height provided by a GPS mobile base station 3CX-E728 and a GPS mobile base station 4CX-E728 which are installed on the current ship, after the grab bucket leaves the ship hatch, the doorphone touch screen VMC1100 drives a lifting support frequency converter ATV930 to accelerate lifting through PLCS7-1500, meanwhile, a PLCS7-1500 controller automatically drives an amplitude variable frequency converter ATV930 to carry out amplitude variable operation, when the grab bucket height reaches a set value, the PLCS7-1500 control system starts a rotary frequency converter ATV930, according to a preset blanking place, a CX-FY400 module is automatically started to enter an anti-swing control curve, when the arm support rotates to a preset place, the rotary frequency converter ATV930 automatically decelerates until the blanking place stops rotating, and blanking is carried out, at the moment, the CX 3D laser scanner-800 sends JS area material pile information, the PLCS7-1500 control system can automatically select the low position of the material pile as a blanking point, then starts to lower at a constant speed, automatically decelerates when reaching a set height, stops the lower operation until the height (which can be set) of the blanking point, then opens the grab bucket to unload, and the operation is repeated.
If the gantry crane grab bucket is replaced by a lifting hook, other sundries are lifted, when the crane works, a control center operator can set coordinates such as a starting point, a terminal point and the height of the lifting hook of the fallen sundries, the gantry crane is started to the lifting object starting point, the lifting hook is placed to the set height, the crane waits for the operation of a field crane by using a field remote controller JT-KP, the lifting hook is placed to a proper position to be hooked, then the crane enters an automatic mode after being lifted to the set height, the gantry crane automatically rotates, the lifted object is lifted to the terminal point position automatically, then the lifting hook is placed to the set height, the crane waits for the terminal crane to place the lifted object on the ground by using the remote controller JT-KP, and the process is repeated;
if the system is overloaded or over-torque occurs during lifting, the torque limiter CX-AV system can automatically alarm and automatically control to ensure the safety of the crane.
2.5.3. Realization of intelligent grab bucket monitoring function:
the system comprises the following components: the system comprises a hysteresis type power supply reel MH1800-28/180, a power modem 2WD-200M, a power modem 1WD-200M, a switch 1005, a grab camera 1BS-CA33-IP, a grab camera 2BS-CA33-IP, a mobile base station 1CX-E728, a GPS antenna 1AT300, a data transmission radio station 1SZ02, a power supply manager CX-DY02, a grab searchlight 1SM-2009, a grab searchlight 2SM-2009, a data transmission radio station 2SZ02, a switching power supply 1LRS-350-24 and the like, and the schematic diagram is shown in FIG. 15.
When the intelligent door seat machine works, a door seat machine AC220V power supply supplies power to a hysteresis type power supply reel MH1800-28/180, an AC220V power supply is sent to a switching power supply 1LRS-350-24 by the output end of the power supply reel, then the switching power supply 1LRS-350-24 converts the power supply into DC24V to be supplied to a switch 1005, a grab camera 1BS-CA33-IP, a grab camera 2BS-CA33-IP, a mobile base station 1CX-E728, a GPS antenna 1AT300, a data transmission radio station 1SZ02, a power supply manager CX-DY02, a data transmission radio station 2SZ02, a grab searchlight 1SM-2009, a grab searchlight 2SM-2009 and the like.
The method comprises the steps that collected video signals are sent to a power modem 1WD-200M through a switch 1005 by a grab camera 1BS-CA33-IP and a grab camera 2BS-CA33-IP, a mobile base station 1CX-E728 and a GPS antenna 1AT300, the collected grab positioning signals are converted into carrier signals by the power modem 1WD-200M, the carrier signals are sent to the power modem 2WD-200M through a hysteresis type power supply reel MH1800-28/180, the received signals are decoded by the power modem 2WD-200M and then sent to a switch 2HI-08, and one path of the switch 2HI-08 sends the video signals to a video recorder DS-7808N-K2 through the switch 3HI-08 for storage and then sent to a display E171 1715SC for display; the other path of the switch 2HI-08 sends the video signal to a streaming media server DVSCAR-51 through a 5G communication module CPEPRO, and the streaming media server DVSCAR-51 sends the video signal to a splicing screen CB5503S for displaying and monitoring;
the grab positioning signal is sent to a PLC controller S7-1500 through an exchanger 2HI-08 and then sent to a touch screen VMC1100 for calculation, control and positioning;
the grab searchlight 1SM-2009 and the grab searchlight 2SM-2009 are subjected to power control management by a client T5820 or a remote control console CX-LHJBB03, when the remote control system works, a remote control operator issues a command through the client T5820 or the remote control console CX-LHJBB03 and sends the command to the switch 2HI-08 through a 5G communication module CPEPRO, and then the command is wirelessly transmitted to a data transmission radio station 2SZ02 through a data transmission radio station 3SZ02, the data transmission radio station 2SZ02 sends the command to a power manager CX-DY02, and the power manager CX-DY02 performs on-off control on the power of the grab searchlight 1SM-2009 and the power of the grab searchlight 2 SM-2009.
2.5.4. The video monitoring function is realized:
the system comprises the following components: the system comprises a lifting hook monitoring camera CX-SXJ02 with anti-swing and shock-absorbing damping functions, an omnibearing monitoring dome camera DHK-EX300 arranged below a bridge of a trunk and arranged beside a cab, a lifting steel wire rope monitoring camera BS-CA33-IP arranged in an equipment machine room, a camera BS-CA33-IP arranged in an electrical room for monitoring electrical equipment, a camera BS-CA33-IP arranged beside a platform for monitoring a left cart walking track, a camera BS-CA33-IP arranged beside the platform for monitoring a right cart walking track, a switch 4005 power cat 1WD-200M, a power cat 2WD-200M, a camera BS-CA33-IP arranged beside the left side of a grab pulley block, a camera BS-CA33-IP arranged beside the right side of the grab pulley block, a switch 1005, a switch 2HI-08 HI-200M, a switch 2 HI-200M, a switch, The electric cat monitoring system comprises an electric cat 3WD-200M, an electric cat 4WD-200M, a hysteresis type power supply reel MH1800-28/180, an exchanger 3HI-08, a video recorder DS-7804N-K2, a display E1715SC, a 5G communication module CPEPRO, a streaming media server DVSCAR-51, a spliced screen CB5503S and the like, and the working principle diagram is shown as 16.
When the monitoring device works, video signals are transmitted to an electric cat 3WD-200M through an exchanger 4005 by a left cart walking monitoring camera BS-CA33-IP and a right cart walking monitoring camera BS-CA33-IP, the electric cat 3WD-200M converts the video signals into microwave signals, the microwave signals are transmitted to an electric cat 4WD-200M through an on-off power supply slip ring, the electric cat 4WD-200M, a lifting hook monitoring camera CX-SXJ02, an omnibearing monitoring ball machine DHK-EX300, a lifting steel wire rope monitoring camera BS-CA33-IP, an electric room equipment monitoring camera BS-CA33-IP and the like enter an exchanger 3HI-08 together, and then the video signals are transmitted to a video recorder DS-7804N-K2 for storage and then transmitted to a display E1715SC for display; the other path of the switch 3HI-08 sends the video signal to the switch 2HI-08, and the video signal together with the video signals of the grab camera 1BS-CA33-IP and the grab camera 2BS-CA33-IP are sent to the streaming media server DVSCAR-51 through the 5G communication module CPEPRO, and the streaming media server DVSCAR-51 is sent to the splicing screen CB5503S for displaying, so that an operator can monitor and use the video signal.
2.5.5. The implementation of the anti-collision monitoring and alarming function of the arm support is as follows:
the system comprises the following components: the system comprises a microwave radar sensor CX-HB100, an anti-collision signal collector CX-KC16, a PLCS7-1500 controller, a touch screen VMC1100, a 5G communication module CPEPRO, a GIS platform server and the like which are arranged on two sides of a boom;
when the robot works, a microwave radar sensor CX-HB100 continuously detects the movement information of the adjacent gantry crane arm supports on two sides of the arm support, the information is sent to an anti-collision collector CX-KC16, the collector CX-KC16 is processed and then sent to a switch 2HI-08 and then sent to a gantry crane remote control terminal PLCS7-1500, the PLCS7-1500 sends the information to a touch screen VMC1100, the touch screen VMC1100 carries out analysis and processing, when the distance between the local arm support and the adjacent gantry crane arm support is smaller than a set value, the touch screen VMC1100 immediately issues a control command to the PLCS7-1500 and commands a rotary frequency converter ATV930 to prohibit rotation, so that the collision risk of the two gantry crane arm supports is avoided; meanwhile, the touch screen VMC1100 sends the anti-collision information to the 5G communication module CPEPO through the PLCS7-1500 and the switch 2HI-08, the 5G communication module CPEPO sends the anti-collision alarm information to the GIS platform server, and the GIS platform server sends the information to the switch 5HI-08 through the network and then sends the information to the client T5820 to display the alarm.
2.5.6. The realization of the automatic control function of the gate seat machine:
the system comprises the following components: the system is composed of a client T5820, a GIS electronic map of a cloud platform, a fixed satellite positioning base station M300 installed on the central outdoor roof of a bulk cargo wharf, a satellite positioning antenna AT300 of the fixed base station, a data transmission radio station SZ02 of the fixed base station, a gate seat GPS mobile base station 2CX-E728, a GPS antenna 2AT300, a GPS antenna 3AT300, a data transmission radio station 4SZ02, a grab bucket GPS mobile base station 1CX-E728, a GPS antenna 1AT300, a data transmission radio station 1SZ02, a portable ship mobile base station 3CX-E728, a GPS antenna 4AT300, a data transmission radio station 5SZ02, a data transmission radio station 6SZ02, a portable ship mobile base station 4CX-E728, a GPS antenna 5AT300, a data transmission radio station 7SZ02, a data transmission radio station 8SZ02 and the like.
When the intelligent gate seat machine is in work, an operator sets a starting point coordinate, a wharf berth coordinate, a ship grabbing position coordinate, a discharging point coordinate and the like of the gate seat machine on a GIS electronic map of a client T5820 according to a task of the same day, the operator sends a command to the gate seat machine touch screen VMC1100 through the 5G communication module CPEPRO, the gate seat machine touch screen VMC1100 sends a command PLCS7-1500 to start the cart to advance to a specified berth coordinate after receiving the command (the position is provided by a rotation center GPS antenna 3AT300 of a gate seat machine mobile base station 2 CX-E728), and after reaching the specified berth, the gate seat machine touch screen VMC1100 sends a data transmission radio station SZ02 to a data transmission radio station through a data transmission radio station 6SZ02 and a data transmission radio station 8SZ02 in a wireless mode according to a portable ship mobile base station 3CX-E728 and a GPS antenna 4AT300 and a portable ship mobile base station 4CX-E728 and a GPS antenna 5AT300 and sends the data transmission radio station to a current cabin coordinate of an S7-1500 through a switch 2HI 02 and an S7-1500 in a wireless mode, calculating the coordinate difference between the GPS antenna 3AT300 on the trunk of the trunk and the central axis (the material grabbing position) of the ship, then commanding the PLCS7-1500 to drive the rotary frequency converter ATV930 to align the position of the boom with the target cabin, and then commanding the amplitude converter ATV930 to adjust the coordinate of the GPS antenna 3AT300 on the trunk of the trunk to be consistent with the target coordinate (the central axis) of the ship, so that the operation can be started.
2.5.7. The grab bucket prevents rocking and gets rid of realization of fill operation locate function in the air:
the system comprises the following components: the system comprises a GIS management platform, a switch 5HI-08, a client T5820, a remote control console CX-LHJBB03, a 5G communication module CPEPRO, a touch screen VMC1100, a PLC controller S7-1500, a switch 2HI-08, a mobile base station 2CX-E728, a GPS positioning antenna 2AT300 (installed AT a gantry crane rotation center), a GPS positioning antenna 3AT300 (installed AT a trunk bridge), a data transmission radio station 3SZ02, a data transmission radio station 4SZ02, a 3D laser scanner CX-JS800, an image controller CX-X8000, a torque limiter CX-AV, a weight sensor 1JZ-1, a weight sensor 2JZ-1, an angle sensor CX-JD90, a left operating handle, a right operating handle, a wind speed sensor YS-CF, a height 1GM58S10K6MA12 amplitude transformer 12WN, a grab bucket supporting frequency converter ATV930, a left rotary frequency converter ATV930, a right rotary frequency converter ATV930, a left rotary frequency converter ATV930 and an ATV930, The anti-swing module comprises an anti-swing module 1CX-FY400, an anti-swing module 2CX-FY400, an anti-swing module 3CX-FY400, a grab bucket mobile base station 1CX-E728, a GPS positioning antenna 1AT300, a portable ship mobile base station 3CX-E728, a GPS positioning antenna 4AT300, a portable ship mobile base station 4CX-E728, a GPS positioning antenna 5AT300 and the like, and the schematic diagram is shown in FIG. 17.
When the device works, firstly, sampling is carried out, the touch screen VMC1100 collects the swing amplitude positions of the grab bucket of the gantry crane under the rotation and amplitude variation working conditions of different weights, different heights, different speeds and different wind speeds, then the data are uploaded to a GIS management platform through a 5G communication module CPEPRO for calculation and simulation respectively, then the simulated program is sent to the touch screen VMC1100 through the 5G communication module CPEPRO, the touch screen VMC1100 is sorted, respectively solidifying the rotation anti-swing program to the left rotation anti-swing module CX-FY400, the right rotation anti-swing module CX-FY400 and the amplitude variation anti-swing module CX-FY400, when in work, under different working conditions, the touch screen VMC1100 commands different anti-swing modules to regulate and control the frequency converter according to control parameters under different weights, different heights, different speeds and different wind speeds, so that the aim of inhibiting the swing amplitude of the grab bucket is fulfilled;
to further illustrate the anti-swing working principle of the door seat machine, the working conditions of the door seat machine are as follows: the coal is grabbed from the cabin and conveyed to a telescopic coal unloading hopper under the crotch of the gate seat machine, then the coal is unloaded to a belt conveyor by the hopper, and the coal is conveyed to a coal yard by the belt conveyor;
therefore, the height from the grab bucket to the coal unloading hopper is relatively fixed every time, and the coal grabbing route is as follows: the grab bucket (fed back by the GPS antenna 1AT300 of the grab bucket mobile base station 1 CX-E708) is lifted vertically from a cabin to pass through a cabin opening (fed back by the GPS antenna 4BT5630 and the GPS antenna 5BT5630 of the portable ship mobile base station) to accelerate lifting (the speed is fed back by an operating handle) + amplitude variation (the angle sensor CX-JD 90) to be higher than the proper position of the coal unloading funnel (the height encoder 1GM58S10K6MA12 WN), the amplitude variation anti-swing module CX-FY400 works to approach the proper position above the coal unloading funnel (the angle sensor CX-JD90 feeds back) and the PLC S7-1500 commands the grab bucket switch ATV930 to open the grab bucket unloading coal (the weight sensor 1JZ-1 and the weight sensor 2 JZ-1), when the impact speed of the grab bucket reaches the center point of the coal unloading funnel, after the coal of the grab bucket is unloaded (fed back by the weight sensor 1JZ-1 and the weight sensor 2 JZ-1), the amplitude-variable anti-swing module CX-FY400 finishes working, and when the speed of the grab bucket is zero (fed back by the GPS antenna 1AT300 of the grab bucket mobile base station 1 CX-E708), the PLCS7-1500 immediately shifts gears to order the amplitude-variable frequency converter ATV930 to move in the opposite direction, so that the air anti-swing and air bucket-swinging operation process is completed, and the efficient operation of the grab bucket is realized;
according to the principle, in order to improve the efficiency of grabbing coal by the grab bucket, the height and the size of a coal pile in the cabin collected by a 3D laser scanner CX-JS800 are analyzed by a touch screen VMC1100, and then a PLC (programmable logic controller) S7-1500 is controlled according to the position coordinate of the coal pile, the high and large priority grabbing and transporting of the coal pile is set above the ship edge AT zero speed according to the convention, but in order to grab coal material under the ship edge, the grab bucket is opened AT a proper position in the ship cabin (fed back by a GPS antenna 1AT300 of a grab bucket moving base station 1 CX-E728) by utilizing the anti-swing stroke sequence of an amplitude anti-swing module CX-FY400 according to the height of the coal pile (fed back by the GPS antenna 1AT300 of the grab bucket moving base station 1 CX-E728) according to the height of the 3D laser scanner CX-JS800 and the horizontal position of the opened grab bucket, and the arm support is accurately thrown to the coal material under the ship edge by the speed of the grab bucket, meanwhile, the ship edge and the ship body cannot be impacted, so that the functions of aerial anti-swing and bucket-throwing and coal-grabbing operation are realized.
2.5.8. Cabin position and material pile position identification:
the system comprises the following components: the system comprises a 3D laser scanner CX-JS800, a scanner controller CX-X8000, a switch HI-08, a PLC controller S7-1500, a touch screen VMC1100, a 5G communication module CPEPRO, a GIS management platform, a client T8520 and the like, and the working principle is shown in figure 18.
When the three-dimensional ship-borne laser scanner works, a laser transmitter in the 3D laser scanner CX-JS800 aims at a ship body to send out laser pulses, and after the laser waves touch the ship cabin body, the laser scanner calculates the distance value between the laser waves and the ship cabin body; the laser scanner CX-JS800 continuously emits a laser pulse wave, the laser pulse wave impinges on the mirror surface rotating at a high speed, and the laser pulse wave is emitted in various directions to form a two-dimensional area. And on the basis of two-dimensional scanning, a holder is added to perform orthogonal rotation, so that three-dimensional space scanning can be formed. The three-dimensional coordinate information and the reflectivity information of a large number of dense points on the surface of the measured ship body are recorded through the scanner controller CX-X8000, the three-dimensional data of various ship body scenes are completely collected into the controller CX-X8000 and processed through point cloud processing software, and then various drawing data such as a three-dimensional model of the measured ship body and lines, surfaces and bodies of a material pile in a cabin are quickly reconstructed.
Because the laser can penetrate through the glass, the 3D laser material scanner CX-JS800 can be well protected and can be used for severe environment measurement (high temperature, high pressure, high humidity and high dust). Because the laser emission angle is very small (< 0.2 degrees), the 3D laser material scanner CX-JS800 can measure the material level in a narrow space, three-dimensional measurement can be carried out on irregular material level, then the detected information is sent to the image controller CX-X8000, the image controller CX-X8000 is provided with point cloud processing software, three-dimensional images of the material level are formed through the processing of the point cloud processing software, the lowest material level, the highest material level, the average material level, the cabin distance, the cabin height, the cabin width and the like of the cabin material level are obtained, then the three-dimensional images are sent to the PLC controller S7-1500 through the switch HI-08 in a protocol mode, the PLC controller S7-1500 is sent to the touch screen VMC1100, and the position of a cart or the posture of an arm support is adjusted by the touch screen VMC1100 according to the coal catching rule, so that the grab bucket can accurately fall to the highest material level of the cabin; the touch screen VMC1100 controls the PLC S7-1500 to work, and simultaneously sends the work to the GIS management platform and the client T8520 through the 5G communication module CPEPRO for the client T8520 to monitor and use.
2.5.9. The realization of the positioning function of the ship hatch height and the ship cabin position:
bow stern positioner includes:
the bow positioning device comprises a mobile base station 3CX-E708, wherein the mobile base station 3CX-E708 is respectively connected with a switching power supply 1LRS-150-12, a data transmission radio station 6SZ02, a GPS positioning antenna 4BT5630 and a data transmission radio station 5SZ 02;
the stern positioning device comprises a mobile base station 4CX-E708, wherein the mobile base station 4CX-E708 is respectively connected with a switching power supply 2LRS-150-12, a data transmission radio station 8SZ02, a GPS positioning antenna 5BT5630 and a data transmission radio station 7SZ 02. The schematic diagrams are shown in fig. 19 and 20.
When the intelligent ship is in work, the GPS positioning antenna 3BT5630, the GPS positioning antenna 4BT5630 send received bow and stern satellite positioning signals and height signals to the mobile base station 3CX-E708 and the mobile base station 4CX-E708, the mobile base station 3CX-E708 and the mobile base station 4CX-E708 carry out differential calculation, then current bow and stern position coordinates and height values are sent to the PLC controllers S7-1500 through the data transmission radio station 6SZ02 and the data transmission radio station 8SZ02, the data transmission radio station 3SZ02 is sent to the PLC controllers S7-1500, then the PLC controllers S7-1500 are sent to the touch screen VMC1100, then the touch screen VMC1100 calculates the current cabin positions and the ship edge heights according to the current bow position coordinates and height values, and then the PLC controllers S7-1500 order the big vehicle frequency converter ATV to reach the set ship cabin 930 according to the commands of the client T5820 or the remote control console CX-JLHBB 5, driving a trolley to drive a grab bucket to reach a set coal grabbing position of a cabin by a trolley frequency converter to prepare for starting coal grabbing operation;
the switch power supply 1LRS-150-12 and the switch power supply 2LRS-150-12 respectively provide power for the ship head and stern satellite positioning system.
The data transmission station 5SZ02 and the data transmission station 7SZ02 communicate with the data transmission station SZ02 of the fixed base station, and are mainly used for calibrating the position accuracy of the mobile base station 3CX-E708 and the mobile base station 4 CX-E708.
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| CN202120169105.5U CN214243511U (en) | 2021-01-21 | 2021-01-21 | A remote control system for portal crane |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112758827A (en) * | 2021-01-21 | 2021-05-07 | 宜昌市创星电子技术发展有限公司 | Portal crane remote control system |
| CN114380200A (en) * | 2022-01-19 | 2022-04-22 | 安徽马钢矿业资源集团姑山矿业有限公司 | Control method for irregular inclined material grab bucket of bulk cargo stock yard |
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2021
- 2021-01-21 CN CN202120169105.5U patent/CN214243511U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112758827A (en) * | 2021-01-21 | 2021-05-07 | 宜昌市创星电子技术发展有限公司 | Portal crane remote control system |
| CN112758827B (en) * | 2021-01-21 | 2024-12-20 | 宜昌市创星电子技术发展有限公司 | A remote control system for portal crane |
| CN114380200A (en) * | 2022-01-19 | 2022-04-22 | 安徽马钢矿业资源集团姑山矿业有限公司 | Control method for irregular inclined material grab bucket of bulk cargo stock yard |
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Denomination of utility model: A remote control system for gantry crane Granted publication date: 20210921 Pledgee: Hubei Three Gorges Rural Commercial Bank Co.,Ltd. Qiaobian Sub branch Pledgor: YICHANG CHUANGXING ELECTRONIC TECHNOLOGY DEVELOPMENT CO.,LTD. Registration number: Y2025980002450 |