CN2820803Y - Automation system of optimum path of container crane - Google Patents
Automation system of optimum path of container crane Download PDFInfo
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- CN2820803Y CN2820803Y CN 200520044102 CN200520044102U CN2820803Y CN 2820803 Y CN2820803 Y CN 2820803Y CN 200520044102 CN200520044102 CN 200520044102 CN 200520044102 U CN200520044102 U CN 200520044102U CN 2820803 Y CN2820803 Y CN 2820803Y
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- hoisting crane
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Abstract
A kind of automation system of optimal path of container handling crane comprises: Programmable Logic Controller; Frequency converter, the lifting mechanism of control hoisting crane and the position of trolley body; The GPS position fixing system is the position of the current cart of location hoisting crane in the operation track; The GPS deviation-rectifying system is accurately located dolly and is used; Laser measurement system is measured the freight container height separately in whole operations track under the present hoisting crane, comprises the laser sensor with operation number of track-lines similar number; Electronics is prevented remote system, is a closed loop control system, makes the curve radian in suspender path bigger; Absolute value encoder is used for accurately locating the particular location that monkey and suspender hoist; The suspender collision avoidance system is used for the crashproof usefulness of optimal path system; Terminating machine is a remote portable computer; Touching display screen is operation and interface displayed.System of the present utility model realizes the optimization of crane hanger path of motion, makes safety indexes and efficiency index reach satisfied simultaneously.
Description
Technical field
The utility model relates to a kind of control system of suspender path of container depot hoisting crane, refers in particular to the automation control system of the optimal path of the hoisting crane (RTG and RMG) that is applied in harbour or the stockyard.
Background technology
In the terminal operation district, for safety, the lifting altitude of dolly when full speed is moved of General provisions storage yard container crane (RTG and RMG) (wherein RUBBER-TIRED CONTAINER HANDING GANTRY CRANE is called for short RTG, and RAIL-MOUNTED CONTAINER HANDING GANTRY CRANE is called for short RMG) is: when suspender only allows dolly that adjusting microinching (the front and back movement range that is dolly is very little) is arranged not in the extreme higher position time.The manner of execution of the whole hoisting crane under this security consideration (working pattern) can vivid appearance be door case type (frame pattern), be freight containers of every loading and unloading, all need suspender is raised to maximum height, as shown in Figure 1, the suspender 2 of hoisting crane 1 hangs the track of storing point (TO) with freight container 3 as doorframe, shown in the straight line of the band arrow among Fig. 1 from departure point (FROM).
The raising of door case type efficient in operation the safety of terminal operation, but but reduced efficiency of operation to a certain extent, and make the corresponding increase of energy consumption of wharf crane, be unfavorable for the economy index of harbour, the accounting of environmental protection index.Therefore, need freight container 3 be hung the path of motion of putting point (TO) from departure point (FROM) to suspender 2 and improve, shown in the dotted line of the band arrow among Fig. 1.
The utility model content
The purpose of this utility model is in order to solve the problem that above-mentioned prior art exists, a kind of work efficiency that can improve hoisting crane to be provided, and can guarantee the automation control system of optimal path of the hoisting crane of operational security again.
The purpose of this utility model is achieved in that a kind of automation control system of optimal path of hoisting crane comprises following parts: Programmable Logic Controller, be the parts of each operation of components of control in the described automation system, free memory has 7000 step programs at least, and dominant frequency will satisfy computation period after all programs that increase the optimal path part in 100 milliseconds; Frequency converter is connected with described Programmable Logic Controller, and the lifting mechanism of control hoisting crane and the position of trolley body are a kind of vector-control frequency converters; The GPS position fixing system is connected with described Programmable Logic Controller, and the operation track of hoisting crane has a plurality of, and the GPS position fixing system is the position of the current cart of location hoisting crane in the operation track; The GPS deviation-rectifying system is connected with described Programmable Logic Controller, obtains the deviate of current cart lengthwise position by the GPS deviation-rectifying system, is accurately compensating as coordinate in the dolly of location; Laser measurement system, measure the freight container height separately in whole operations track under the present hoisting crane, described laser measurement system comprises the laser sensor with operation number of track-lines similar number, the signal of the container height in the affiliated operation track that all laser sensors will collect is delivered to local conv, by after the local micro controller system collection and treatment, deliver to described Programmable Logic Controller again according to a communication format; Electronic anti-swinging or simulation electronic anti-sway system are connected with described Programmable Logic Controller, are closed loop control systems, can make the curve radian in suspender path bigger; Absolute value encoder is connected with described Programmable Logic Controller, is used for accurately locating the particular location that monkey and suspender hoist; The suspender collision avoidance system is connected with described Programmable Logic Controller, makes the usefulness of protection when being used for the optimal path system and makeing mistakes, and comprises at least 2 of horizontal direction obstacle avoidance sensors, at least 4 of vertical direction obstacle avoidance sensors; Terminating machine is a remote portable computer, and the DOS system is installed, and interface uses between standard serial mouth and the described Programmable Logic Controller and carries out intercommunication; Touching display screen is connected with described Programmable Logic Controller, be operation and show the interface;
Effect of the present utility model:
The automation control system green phase of the optimal path of hoisting crane of the present utility model is answered the cooperation of hardware and software, and the optimization of specific implementation suspender path of motion makes safety indexes and efficiency index reach satisfied simultaneously.
For further specifying above-mentioned purpose of the present utility model, constructional feature and effect, the utility model is described in detail below with reference to accompanying drawing.
Description of drawings
Fig. 1 is the simple and easy scheme drawing of hoisting crane optimal path work.
Fig. 2 is the driver operation surface chart of optimal path function.
Fig. 3 is the arrangement plan of 7 laser sensors of complete machine.
Fig. 4 is the arrangement plan of 6 obstacle avoidance sensors on the suspender.
Fig. 5 is optimal path automation control system figure.
Fig. 6 is optimal path automation control system block construction figure.
The specific embodiment
Below, the embodiment to the automation control system of the optimal path of hoisting crane of the present utility model is elaborated in conjunction with the accompanying drawings.
Referring to Fig. 5, Fig. 6, Fig. 5 is optimal path automation control system figure; Fig. 6 is optimal path automation control system block construction figure.
The automation control system of the optimal path of hoisting crane of the present utility model comprises following parts:
1, PLC (Programmable Logic Controller is hereinafter to be referred as PLC) 76 is parts of each operation of components of control in the utility model control system, and free memory has 7000 step programs at least, is about 6000 steps according to experience optimal path all programs partly.In addition, the dominant frequency of PLC 76 will satisfy computation period (circle time) after increasing this 6000 step program in 100 milliseconds.PLC 76 adopts the PLC controller of existing C P317 model in the present embodiment.
2, frequency converter 75, are connected the lifting mechanism of control hoisting crane 1 (shown in Figure 1) and the position of trolley body with described PLC 76, it is a kind of vector-control frequency converter, control accuracy is 1/1000, and reason is that program needs accurate direct control frequency converter, therefore requires its may command ratio of precision higher.Frequency converter 75 adopts existing C R series vector-control frequency converter in the present embodiment.
In order to realize the optimal path function, complete machine also needs to be furnished with the GPS positioning subsystem in addition, GPS deviation-rectifying system or camera correction subsystem, laser measurement subsystem, electronic anti-swinging or anti-subsystem, absolute encoder, the crashproof subsystem of suspender, VMT terminating machine, the touching-type monitor etc. of shaking of simulation electronic.The concrete purposes of these subsystems in optimal path is as follows:
1.GPS position fixing system 72 is connected with described PLC 76, the main effect of GPS position fixing system 72 in the optimal path system is the position, current cart track (chassis row) of location hoisting crane 1, promptly judges it is in electric room side or diesel oil machine room side.The operation track of hoisting crane has a plurality of.Ordinary practice according to harbour is that the truck track is defined as 0 track, and the track on truck track next door is defined as the 1st track, and the like be the n track from truck lane track farthest.Hypothesis shown in Figure 3 has 7 tracks, then corresponding numbers as W0 among the figure to shown in the W6.
2.GPS deviation-rectifying system or camera cart deviation-rectifying system (hereinafter to be referred as: the cart deviation-rectifying system) 73, be connected with described PLC 76, the executive condition of optimal path function requires the lengthwise position deviation (offset) of cart to meet the requirements.Obtain current cart deviate longitudinally by cart deviation-rectifying system 73, accurately compensating as coordinate in the dolly of location.If system can not provide corresponding deviate on request, the optimal path system will can not open merit for security consideration, and can report dependent failure to the driver.Cart deviation-rectifying system 73 adopts existing AGSS controller in the present embodiment.
3. laser measurement system 77, are connected with described PLC 76, and laser measurement system 77 plays very large effect in optimal path, also be the important factor in order of total system stability indicator.Laser measurement system 77 is used for measuring freight container separately the height of 1 time whole track W0 of present hoisting crane to W6, for calculating, the path track provides reliability figure, therefore laser measurement system 77 is included in the laser sensor of being furnished with accordingly on the hoisting crane 1 with the number of track-lines similar number, and laser measurement system 77 is furnished with 7 laser sensor 31-37 (shown in Figure 3) in the present embodiment.The signal of the container height in the affiliated track that 7 laser sensor 31-37 will collect is delivered to local conv, again by after the local micro controller system collection and treatment, deliver to PLC 76 according to the certain communication form, the crossbeam of considering hoisting crane 1 is far away to the distance in electric room, generally adopts 422 forms to carry out communication up and down.According to experience, the refresh cycle that these 7 laser sensor 31-37 offer the data of PLC 76 must be not more than 2 seconds.
Laser sensor 31-37 is arranged in crossbeam one side of hoisting crane 1, as shown in Figure 3.The angle of installing gets according to the height and the span calculating of hoisting crane.Laser sensor 31-37 adopts existing laser sensor in the present embodiment.
4. electronic anti-swinging or simulation electronic anti-sway system 78 are connected with described PLC 76, and the anti-effect of shaking of the suspender of hoisting crane 1 is bigger to the influential effect of optimal path selection.According to experience, traditional machinery is anti-to be shaken if just adopt, and just can not satisfy the related request of optimal path selection, therefore is equipped with the electronic anti-swinging system on hoisting crane.
The electronic anti-swinging system is a closed loop control system, according to the signal that relevant reflecting plate and sensor feedback are returned little vehicle speed is controlled, reach anti-effect of shaking, more much better than the anti-effect of shaking of traditional machinery, can make the curve radian in suspender path bigger like this.
For the consideration (electronic anti-swinging can bring certain sense of discomfort to the driver) of economy and traveling comfort, do not dispose the electronic anti-swinging system on the hoisting crane 1, and only be provided with traditional mechanical anti-sway system in addition.In this case, we can use certain method to set up math modeling and realize the simulation electronic anti-sway system, improve the anti-effect of shaking to a certain extent as far as possible.Embodiment of the present utility model adopts the simulation electronic anti-sway system.
5. absolute value encoder 80, are connected with described PLC 76, and absolute encoder (absolute encoder) 80 is used for accurately locating the particular location that monkey and suspender hoist.Optimal path obtains by these two absolute value encoders in calculating that suspender 2 hoists and the exact location of dolly is determined and control the coordinate position of suspender 2 in the plane, generally is accurate to millimeter grade.The automatically controlled compatibility of absolute value encoder 80 and complete machine, the absolute value encoder of the utility model embodiment adopts existing product.
6. the suspender collision avoidance system 74, are connected with described PLC 76, and suspender collision avoidance system 74 is used for the optimal path system makes the usefulness of protection when makeing mistakes.Suspender is crashproof, and to be divided into horizontal direction crashproof and vertical direction is crashproof.Crashproof signal is gathered by several obstacle avoidance sensors, and wherein the horizontal direction obstacle avoidance sensor is at least 2, at least 4 of vertical direction obstacle avoidance sensors.Referring to Fig. 4, horizontal direction obstacle avoidance sensor 42 is 2 in the present embodiment, and vertical direction obstacle avoidance sensor 41 is 4.As its name suggests, horizontal direction is crashproof to be used for preventing with freight container when being the dolly horizontal motion crash-proof, generally the distance of reaction of horizontal direction obstacle avoidance sensor 42 is located at about 4 meters; Vertical direction is crashproof to be used for preventing with freight container 3 when being the vertical descending motion of lifting mechanism crash-proof, generally the distance of reaction of vertical direction obstacle avoidance sensor 41 is located at about 5 meters.
6 obstacle avoidance sensors are installed on the dual-side of bottom 11 of suspender 2 on the suspender 2 as shown in Figure 4,4 vertical direction obstacle avoidance sensors are put 41 and are placed position, four end, two bottom sides limit in the present embodiment, 2 horizontal direction obstacle avoidance sensors place the middle part on two bottom sides limit.Obstacle avoidance sensor 41,42 adopts the infradred sensor of existing DS60 model in the present embodiment.
7.VMT terminating machine 71 is connected with described PLC 76, VMT terminating machine 71 is exactly a remote portable computer with regard to its structure in fact, and the DOS system generally is installed.The interface aspect is generally used between standard serial mouth and the PLC 76 and is carried out intercommunication.VMT terminating machine 71 is generally provided by harbour, and is compatible mutually with the whole management system of harbour operation department, plays in the selection of suspender 2 optimal paths at PLC 76 and operates the function served as bridge that inter-sectional information is transmitted with harbour.Its effect mainly is divided into receiving does case order and related data library information, and finishes relevant datas such as returning Container Weight behind the case and upgrade the relevant data storehouse by operating portion.The form of concrete Frame and harbour IT department consult agreement mutually.The IT system compatibility of VMT terminating machine and user's harbour is generally provided by user's harbour.
8. touching display screen 79, are connected with described PLC 76, and touching display screen 79 is mutual operation of driver and PLC76 and interface displayed.On the one hand, the driver sends various command (ORDER) by it to PLC 76, on the other hand, feeds back on the touching display screen 79 after the processing data information that PLC 76 collects total system, for reference driver.User interface design should be accomplished close friend and easy operating.The design example of touching display screen 79 interactive interfaces comprises as shown in Figure 2: automatically initiating key 21, suspender return that zero-bit 22, side distribute that (PROFILE) coupling 23, side distribute that (PROFILE) do not match 24, suspender is crashproof 25, fault Menu key 26, frequency converter menu 27 keys, task list Menu key 28, system's key point 29, system core 210, cart position OK key 211, task are finished key 212, middle key 213, automatic OK key 214 and laser sensor, the demonstration of harbour data bank etc. are carried out in automation.Present embodiment adopts existing touching-type monitor.
Describe referring to Fig. 5 and other accompanying drawing working process the automation control system of the optimal path of the utility model hoisting crane.
Entire work process was divided into for four steps, and is as follows:
The first step, the harbour operating portion is sent by the VMT terminating machine 71 of PLC 76 on hoisting crane (RTG) 1 by wireless network and does the case order, specifying information comprises freight container 3 sides distribution (profile) record under the present hoisting crane 1 in the data bank, and the three-dimensional position of the FROM of freight container 3 and TO.Data flow is shown in arrow among Fig. 5 51.
In second step, PLC 76 controllers are collected each external equipment and sensor, the automation control that judges whether to satisfy condition and carry out optimal path.Each sub-condition is as follows, has only to satisfy this a little condition simultaneously and just can enter third step.
1, check cart deviation-rectifying system 73, judge whether the cart lengthwise position of hoisting crane meets the requirements.Data flow is shown in arrow among Fig. 5 54.If exceeding, lengthwise position reports " GANTRY LANDSCAPE POSITION NOT IN RANGE " fault to the driver by touching display screen 79.And total system switched to manual state.
2, check GPS position fixing system 72, judge whether the cart horizontal position of hoisting crane 1 meets the requirements.Data flow is shown in arrow among Fig. 5 53.If position coordinate of reading from the GPS position fixing system and the position coordinate of reading from VMT terminating machine 71 are inconsistent, then by touching display screen 79 to driver's report " GANTRY PORTRAIT POSITION MISMATCH " fault.And total system switched to manual state.
3, check laser measurement system 77, according to the data that laser sensor 30-37 collects the distributions of freight container 3 sides under the present hoisting crane 1 (profile) are calculated.Data flow is shown in arrow among Fig. 5 56.Freight container 3 sides that the freight container side distributes (profile) and VMT terminating machine 71 the sends distributions (profile) that laser sensor 30-37 reads are carried out strictness relatively, have only the Data Matching of these two sides distributions (profile) could carry out optimal path, otherwise should report the fault of " CRANE PROFILE MISMATCH " to the driver, and total system is switched to manual state.
In the 3rd step, PLC 76 controllers are controlled the lifting mechanism of hoisting cranes 1 and the position of trolley body by calculating direct drive vector frequency converter 75.Data flow is shown in arrow among Fig. 5 61 and 62.Shake effect and accurate positioning and safety in order to reach well anti-, in this control process, utilize following 3 subsystems to realize:
1, absolute value encoder 80.General absolute value encoder 80 can be accurate to millimeter, therefore can guarantee the accuracy of position control by absolute value encoder 80.Data flow is shown in arrow among Fig. 5 57.
2, electronic anti-swinging system 78.According to physics, the pendulum angle of suspender 2 and following variable have relation: the intrinsic characteristic (exogenous variable) of the height of suspender 2 (length of steel wire rope), suspender 2 and the weight of 2 times freight containers 3 of suspender, the size of dolly acceleration/accel, whole mechanical mechanism.For electronic anti-swinging, must grasp and reaching less pendulum angle constraint (expectation) time length of steel wire rope. the relation of the weight of suspender 2 and 2 times freight containers 3 of suspender and the size of dolly acceleration/accel.According to the experience of practice, this relation is not the functional relation of determining, but correlationship.Therefore we set up monobasic correlationship math modeling according to repeatedly testing the DS Data Set that obtains, and use the parameter that method of least square calculates this model.PLC 76 controllers obtain the acceleration/accel that dolly was controlled and revised to relevant acceleration/accel with the height that hoists with this relational model of weight substitution in control, in the hope of reach and when test corresponding obtain reasonable prevent shaking effect.Data flow is shown in arrow among Fig. 5 60.
3, suspender collision avoidance system 74.In the suspender operational process, must in the scanning period of each PLC 76 controller, check suspender collision avoidance system 74 for guaranteeing safety.There is any problem must stop the optimal path automation as finding at once, switches to manual state, and report " SPREADER ANTI-COLLISION ACTIONED, ORDER ABORTED " fault to the driver by touching display screen.Data flow is shown in arrow among Fig. 5 55.
In the 4th step, report that to the driver finishing this smoothly does the case order, and the weight of freight container 3 is issued operating portion, for upgrading Relational database by VMT terminating machine 71.Data flow is shown in arrow among Fig. 5 52.
Those of ordinary skill in the art will be appreciated that, above embodiment is used for illustrating the present invention, and be not to be used as limitation of the invention, as long as in connotation scope of the present invention, all will drop in the scope of claims of the present invention variation, the modification of the above embodiment.
Claims (5)
1, a kind of automation system of optimal path of container handling crane is characterized in that comprising following parts:
Programmable Logic Controller is the parts of each operation of components of control in the described automation system, and free memory has 7000 step programs at least, and dominant frequency will satisfy computation period after all programs that increase the optimal path part in 100 milliseconds;
Frequency converter is connected with described Programmable Logic Controller, and the lifting mechanism of control hoisting crane and the position of trolley body are a kind of vector-control frequency converters;
The GPS position fixing system is connected with described Programmable Logic Controller, and the operation track of hoisting crane has a plurality of, and the GPS position fixing system is the position of the current cart of location hoisting crane in the operation track;
The GPS deviation-rectifying system is connected with described Programmable Logic Controller, obtains the deviate of current cart lengthwise position by the GPS deviation-rectifying system, is accurately compensating as coordinate in the dolly of location;
Laser measurement system, measure the freight container height separately in whole operations track under the present hoisting crane, described laser measurement system comprises the laser sensor with operation number of track-lines similar number, the signal of the container height in the affiliated operation track that all laser sensors will collect is delivered to local conv, by after the local micro controller system collection and treatment, deliver to described Programmable Logic Controller again according to a communication format;
Electronic anti-swinging or simulation electronic anti-sway system are connected with described Programmable Logic Controller, are closed loop control systems, can make the curve radian in suspender path bigger;
Absolute value encoder is connected with described Programmable Logic Controller, is used for accurately locating the particular location that monkey and suspender hoist;
The suspender collision avoidance system is connected with described Programmable Logic Controller, makes the usefulness of protection when being used for the optimal path system and makeing mistakes, and comprises at least 2 of horizontal direction obstacle avoidance sensors, at least 4 of vertical direction obstacle avoidance sensors;
Terminating machine is a remote portable computer, and the DOS system is installed, and interface uses between standard serial mouth and the described Programmable Logic Controller and carries out intercommunication;
Touching display screen is connected with described Programmable Logic Controller, be operation and show the interface.
2, the automation system of the optimal path of the container handling crane shown in claim 1 is characterized in that:
The signal of the container height in the affiliated operation track that described laser measurement system collects is to be sent to described Programmable Logic Controller according to 422 communication formats after treatment;
3, the automation system of the optimal path of the container handling crane shown in claim 1 is characterized in that: described laser sensor is crossbeam one side that is placed in hoisting crane.
4, the automation system of the optimal path of the container handling crane shown in claim 1 is characterized in that: described vertical direction obstacle avoidance sensor is installed on the position, four ends on two bottom sides limit of the suspender of hoisting crane.
5, the automation system of the optimal path of the container handling crane shown in claim 1 is characterized in that: described horizontal direction obstacle avoidance sensor be installed on hoisting crane suspender the two bottom sides limit the middle part.
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| CN100497152C (en) * | 2007-04-24 | 2009-06-10 | 青岛港（集团）有限公司 | Deviation rectifying method of tyre type container gantry crane |
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