WO2023072129A1 - 一种与岸桥直接交互的轨道式起重机及其控制方法 - Google Patents

一种与岸桥直接交互的轨道式起重机及其控制方法 Download PDF

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Publication number
WO2023072129A1
WO2023072129A1 PCT/CN2022/127605 CN2022127605W WO2023072129A1 WO 2023072129 A1 WO2023072129 A1 WO 2023072129A1 CN 2022127605 W CN2022127605 W CN 2022127605W WO 2023072129 A1 WO2023072129 A1 WO 2023072129A1
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WO
WIPO (PCT)
Prior art keywords
crane
rail
quay
cart
positioning device
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Application number
PCT/CN2022/127605
Other languages
English (en)
French (fr)
Inventor
张卫
张连钢
石强
王延春
肖作超
周兆君
郭乙运
郭朝阳
孙秀良
王崇山
Original Assignee
青岛港国际股份有限公司
青岛新前湾集装箱码头有限责任公司
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Publication of WO2023072129A1 publication Critical patent/WO2023072129A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
    • B65G63/06—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations with essentially-vertical transit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
    • B66C19/007—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries for containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C7/00—Runways, tracks or trackways for trolleys or cranes
    • B66C7/08—Constructional features of runway rails or rail mountings

Definitions

  • the invention belongs to the technical field of automated docks, and in particular relates to a rail-type crane that directly interacts with a quayside crane and a control method thereof.
  • the container terminal is the hub for sea and land logistics transportation. With the large-scale ships, the loading and unloading efficiency of the port needs to be continuously improved. At the same time, the requirements for reducing labor costs, environmental protection and energy saving of the terminal are also getting higher and higher.
  • Automated terminals have become a common development trend due to their significant advantages such as high safety and reliability, high operating efficiency, high site utilization, environmental friendliness, and low labor costs. For most ports, upgrading the existing container terminals is a feasible upgrade path.
  • the object of the present invention is to provide a rail-mounted crane that directly interacts with the quay crane and its control method.
  • the design of the rail-type crane is used to transform the traditional wharf quay crane, and the rail-mounted crane realizes the automatic interaction between the quay crane and the horizontal transportation equipment. , realizing the automation upgrade of traditional terminals with an economically feasible structure.
  • the present invention adopts following technical scheme to realize:
  • a rail-mounted crane that directly interacts with the quay crane which consists of a sea-side cart, a land-side cart, a track beam erected between the sea-side cart and the land-side cart, fixed on the sea-side cart or land-side cart It is composed of a loading platform on the top of the track beam and a trolley set on the track beam and walking along the track beam; it is set on the land side of the quay bridge and arranged along the shoreline of the front of the wharf; a driving lane for horizontal transport equipment is provided in the span below the track beam and an interactive lane to interact with the car.
  • the interactive lanes are set on both sides of the landside cart.
  • the running track of the sea-side cart and/or the land-side cart is laid with a positioning device, and each positioning device has a unique position number; the rail crane is equipped with a detection device nail receiving system.
  • a control method for rail cranes that directly interacts with quay cranes is proposed, which is applied to rail cranes that directly interact with quay cranes.
  • the rail cranes interacting with quay cranes are composed of sea side carts, land side The track beam between the side cart and the land side cart, the loading platform fixed on the sea side cart or the land side cart, and the trolley set on the track beam and walking along the track beam; set on the land side of the quay bridge, along the The shoreline of the front of the wharf is arranged along the shore; within the span below the track beam, there are driving lanes for horizontal transport equipment and interactive lanes for interacting with trolleys; the control methods include:
  • the rail crane receives the following instruction sent by the terminal operation control system; the rail crane drives itself to move to the designated position of the quay bridge based on the following instruction; when receiving the loading instruction of the terminal operation control system, The rail crane drives its trolley to run along the rail beam to the interactive lane, interacts with the horizontal transport equipment on the interactive lane to lift the container; drives the hanging box trolley to run along the rail beam to the interactive lane. on the loading platform, and load the container onto the loading platform; when receiving the unloading command from the terminal operation control system, the rail crane drives its trolley to run along the rail beam to the loading platform. On the platform, interact with the loading platform to lift the container; drive the box trolley to run along the track beam to the interactive lane, and load the container onto the horizontal transport equipment on the interactive lane.
  • the running track of the seaside cart and/or the landside cart is laid with a positioning device, and each positioning device has a unique position number; the rail crane is equipped with a receiving system for the detection device; then the The above-mentioned rail crane drives itself to move to the designated position of the quay bridge based on the following instruction, which specifically includes: analyzing the following instruction to obtain the position number of the set positioning device; driving itself to run in the direction of the set positioning device; during operation The receiving system detects the positioning device, determines its own operating position based on the unique position number of the positioning device; and brakes when running to the set position of the positioning device.
  • the method further includes: after the wharf operation control system controls the quay crane to move to the set position according to the wharf operation instruction, based on the position information of the set position, the following command is generated and sent to the Rail-mounted cranes.
  • the advantages and positive effects of the present invention are: in the rail crane directly interacting with the quay crane proposed by the present invention and its control method, the rail crane is configured for the traditional wharf, and the quay crane can pass through the rail crane.
  • the crane interacts with the horizontal transportation equipment.
  • the rail crane moves with the quay bridge according to the following instructions issued by the terminal operation control system.
  • the horizontal transportation equipment interacts with the rail crane to load the container onto its loading platform.
  • the quay crane takes the container from its loading platform; when unloading the ship, the rail crane moves with the quay crane according to the following instructions issued by the terminal operation control system, and the quay crane unloads the container onto its loading platform, while the horizontal transport equipment Interact with the rail crane to pick up boxes; based on the transformation idea of the present invention, equip the traditional wharf with the rail crane to achieve automatic upgrade in an economical and feasible structure, and realize the automatic interaction between the quay crane and the horizontal transportation equipment.
  • Figure 1 is a top view of the layout structure of the rail crane directly interacting with the quay crane proposed by the present invention
  • Fig. 2 is a side view of the layout structure of the rail crane directly interacting with the quay crane proposed by the present invention
  • Fig. 3 is a side view structural diagram of the rail crane directly interacting with the quay crane proposed by the present invention
  • Fig. 4 is the control flowchart of the rail crane control method that directly interacts with the quay crane proposed by the present invention
  • the present invention aims at proposing an economically feasible transformation scheme for traditional container terminals to realize the automatic interaction between quay bridges and horizontal transport equipment.
  • the present invention realizes the automatic interaction between the quay crane and the horizontal transport equipment by configuring a rail crane for the quay crane of a traditional wharf.
  • the rail crane 4 consists of a sea side cart 41, The land side cart 42, the track beam 43 erected between the sea side cart 41 and the land side cart 42, and the trolley 44 that can walk along the track beam 43 are composed; it is fixed on the sea side cart 41 or the land side cart 42 A loading platform 5 .
  • the driving lane 7 of the horizontal transport equipment 6 and the interactive lane 8 interacting with the trolley 44 are arranged in the span below the track beam 43 .
  • the rail-mounted crane 4 is arranged on the land side of the quay crane 3, arranged along the front shoreline of the wharf 2, and can follow the quay crane to move based on the operation requirements; in the present invention, the rail-mounted crane 4 and the quay crane 3 are not in one-to-one correspondence , One rail-mounted crane can correspond to multiple quay cranes. During operation, the rail-mounted crane closest to the designated quay crane is preferred.
  • the rail crane 4 includes but not limited to double cantilever type, gantry type and single cantilever type.
  • the track beam 43 is preferably a single cantilever structure, and the driving lanes 7 are arranged on the land side of the seaside cart 44, with two lanes; the interactive lanes 8 are arranged on both sides of the landside cart 42, with two lanes each Lane.
  • Horizontal transport equipment 6 is used for horizontal transshipment of containers in the port, such as trucks, unmanned trucks, automatic guided vehicles, straddle carriers, etc.
  • a positioning device is laid on the running track of the seaside cart 41 and/or landside cart 42, and each positioning device has a unique position code.
  • the system based on the detection of the positioning device by the receiving sky system, can realize the positioning of the rail crane.
  • a positioning device is also laid on the running track of the quay crane 3 , which can be shared with the positioning device of the rail crane 4 , and a receiving system is installed on the quay crane 3 to realize the positioning of the quay crane 3 .
  • the rail-mounted crane that directly interacts with the quay crane proposed above in the present invention is equipped with a rail-mounted crane 4 for a traditional wharf, and the quay crane 3 can interact with the horizontal transport equipment 6 through the rail-mounted crane 4.
  • the quay crane 3 moves, the horizontal transport equipment 6 interacts with the rail crane 4 to load the container onto its loading platform 5, and the quay crane 3 picks up the container from its loading platform 5 ;
  • the rail crane 4 moves with the quay crane 3 according to the following instructions issued by the terminal operation control system, and the quay crane 3 unloads the container onto its loading platform 5, and the horizontal transport equipment 6 is connected with the rail crane.
  • the crane 4 interacts to pick up boxes; based on the transformation idea of the present invention, equip the traditional wharf with the rail-mounted crane, which can realize automatic upgrading in an economical and feasible structure, and realize the automatic interaction between the quay crane and the horizontal transportation equipment.
  • the present invention proposes a corresponding control method for the rail crane that directly interacts with the quay crane, including the following steps:
  • Step S41 The rail crane receives the following instruction sent by the terminal operation control system.
  • the terminal operation control system first issues terminal operation instructions to the quay crane 3 according to the loading or unloading operation, and controls the quay crane 3 to move to the set position of the shoreline, that is, to move to the position of the ship for loading or unloading; and then A following instruction is generated according to the position information of the set position, and the following instruction is sent to the control module of the rail crane proposed by the present invention, so that the rail crane moves following the quay crane based on the following instruction.
  • Step S42 The rail-mounted crane drives itself to move to the designated position of the quay crane based on the following instruction.
  • the rail crane can analyze the following instructions to get the position of the quay crane, determine the designated position it needs to reach according to the position of the quay crane, and then convert it into data such as the distance and direction of its own movement following the quay crane, and drive the seaside cart based on these data 41 and the landside cart 42 move along the shoreline until arriving at a designated location.
  • the running track of the sea side cart 41 and/or the land side cart 42 is laid with a positioning device, and each positioning device has a unique position number;
  • the rail crane is equipped with a receiving system of the detection device;
  • the rail crane drives itself to move to the specified position of the quay crane based on the following instruction, it first analyzes the following instruction to obtain the position of the quay crane, and then determines the position number of the setting positioning device according to the position of the quay crane; the setting positioning device and Corresponding to the position of the quay crane, it is the moving destination of the rail crane.
  • the rail crane After obtaining the position number of the set positioning device, the rail crane drives itself to run in the direction of the set positioning device; during operation, its receiving system detects the positioning device, and determines its own operating position based on the unique position number of the positioning device; when running to Brake when setting the position of the positioning device to reach the designated position of the quay crane.
  • Step S43 When receiving the loading instruction from the terminal operation control system, the rail crane drives its trolley to run along the rail beam to the interactive lane, interacts with the horizontal transport equipment on the interactive lane to lift the container; drives the trolley Run along the track beam to the loading platform, and load the container onto the loading platform.
  • the rail crane drives its trolley 44 to run along its rail beam 43 to the top of the interactive lane 8.
  • the horizontal transport equipment 6 on the platform interacts, picks up the container from it, drives the box trolley to run along the track beam 43 to the top of the loading platform 5, loads the container on the loading platform 5, and the quay bridge 3 takes the box from the loading platform 5; If the horizontal transport equipment has not stopped on the interactive lane 8 , it waits until the horizontal transport equipment 6 stops on the interactive lane 8 .
  • the horizontal transport device 6 runs from the interaction lane 8 onto the driving lane 7 and then leaves.
  • Step S44 When receiving the unloading command from the terminal operation control system, the rail crane drives its trolley to run along the rail beam to the loading platform, interacts with the loading platform to lift the container; drives the hanging box trolley to run along the rail beam to On the interactive lane, the container is loaded onto the horizontal transport equipment on the interactive lane.
  • the rail crane drives its trolley 44 to run along the rail beam 43 to the top of the loading platform 5 (at this time, the quay crane 3 has placed the container on the loading platform 5), from the loading Hang the box on the platform 5, drive the box trolley to run along the track beam 43 to the interactive lane 8, and load the container onto the empty horizontal transport equipment 6 waiting on the interactive lane 8.
  • the container-carrying horizontal transport device 6 travels from the interaction lane 8 to the driving lane 7 and leaves.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ship Loading And Unloading (AREA)

Abstract

一种与岸桥直接交互的轨道式起重机及其控制方法，其为传统码头（2）配置轨道式起重机（4），岸桥（3）可通过轨道式起重机与水平运输设备（6）实现交互，装船时，轨道式起重机根据码头作业控制系统下发的跟随指令，跟随岸桥移动，水平运输设备与轨道式起重机交互将集装箱装载至其装载平台（5）上，岸桥则从其装载平台取箱；当卸船时，轨道式起重机根据码头作业控制系统下发的跟随指令，跟随岸桥移动，岸桥将集装箱卸载至其装载平台上，水平运输设备则与轨道式起重机交互取箱；其为传统码头配备该轨道式起重机即可以经济可行的架构实现自动化升级，实现岸桥与水平运输设备的自动交互。

Description

一种与岸桥直接交互的轨道式起重机及其控制方法 技术领域
本发明属于自动化码头技术领域，具体地说，是涉及一种与岸桥直接交互的轨道式起重机及其控制方法。
 背景技术
集装箱码头是实现海陆物流运输的枢纽，随着船舶大型化，港口的装卸效率迫切需要不断提高，同时，对降低人力成本、码头的环保、节能等方面的要求也越来越高。
自动化码头因其安全可靠性高、作业效率高、场地利用率高、环境友好、人力成本低等显著优点而成为普遍的发展趋势。对大多数港口来说，通过对已建集装箱码头进行升级改造，是一条切实可行的升级途径。
 技术问题
传统码头岸桥的远程控制改造并非最大难题，但如何实现岸桥与水平运输设备自动交互，如何以经济可行的方案攻克岸桥与水平运输设备自动交互，却一直困扰是大多数港口自动化升级的难题。
 技术解决方案
本发明的目的在于提供一种与岸桥直接交互的轨道式起重机及其控制方法，采用轨道式起重机的设计对传统码头岸桥实施改造，通过轨道式起重机实现岸桥与水平运输设备的自动交互，以经济可行的架构实现了传统码头的自动化升级。
本发明采用以下技术方案予以实现：
提出一种与岸桥直接交互的轨道式起重机，由海侧大车、陆侧大车、架设于海侧大车和陆侧大车之间的轨道梁、固定于海侧大车或陆侧大车上的装载平台、以及设置于轨道梁上沿轨道梁行走的小车组成；设置于岸桥的陆侧，沿码头正面岸线顺岸布置； 于轨道梁下方的跨距内设有水平运输设备的行驶车道和与小车交互的交互车道。
进一步的，所述交互车道设置于所述陆侧大车的两侧。
进一步的，所述海侧大车和/或所述陆侧大车的运行轨道铺设有定位装置，每个定位装置具有唯一位置编号；所述轨道式起重机安装有检测装置钉的接收系统。
提出一种与岸桥直接交互的轨道式起重机控制方法，应用于与岸桥直接交互的轨道式起重机中，所述岸桥交互的轨道式起重机由海侧大车、陆侧大车、架设于海侧大车和陆侧大车之间的轨道梁、固定于海侧大车或陆侧大车上的装载平台、以及设置于轨道梁上沿轨道梁行走的小车组成；设置于岸桥的陆侧，沿码头正面岸线顺岸布置； 于轨道梁下方的跨距内设有水平运输设备的行驶车道以及与小车交互的交互车道；所述控制方法包括：
所述轨道式起重机接收码头作业控制系统发送的跟随指令；所述轨道式起重机基于所述跟随指令驱动自身移动至岸桥的指定位置；当接收到所述码头作业控制系统的装船指令时，所述轨道式起重机驱动其小车沿所述轨道梁运行至所述交互车道之上，与所述交互车道上的水平运输设备交互将集装箱吊起；驱动吊箱小车沿所述轨道梁运行至所述装载平台之上，将集装箱装载至所述装载平台之上；当接收到所述码头作业控制系统的卸船指令时，所述轨道式起重机驱动其小车沿所述轨道梁运行至所述装载平台之上，与所述装载平台交互将集装箱吊起；驱动吊箱小车沿所述轨道梁运行至所述交互车道之上，将集装箱装载至所述交互车道上的水平运输设备上。
进一步的，所述海侧大车和/或所述陆侧大车的运行轨道铺设有定位装置，每个定位装置具有唯一位置编号；所述轨道式起重机安装有检测装置的接收系统；则所述轨道式起重机基于所述跟随指令驱动自身移动至岸桥的指定位置，具体包括：解析所述跟随指令得到设定定位装置的位置编号；驱动自身向所述设定定位装置方向运行；运行期间所述接收系统检测定位装置，基于定位装置的唯一位置编号确定自身的运行位置；当运行至所述设定定位装置位置时制动。
进一步的，所述方法还包括：所述码头作业控制系统在根据码头作业指令控制所述岸桥移动至设定位置后，基于所述设定位置的位置信息生成所述跟随指令并发送给所述轨道式起重机。
 有益效果
与现有技术相比，本发明的优点和积极效果是：本发明提出的与岸桥直接交互的轨道式起重机及其控制方法中，为传统码头配置轨道式起重机，岸桥可通过该轨道式起重机与水平运输设备实现交互，装船时，该轨道式起重机根据码头作业控制系统下发的跟随指令，跟随岸桥移动，水平运输设备与该轨道式起重机交互将集装箱装载至其装载平台上，岸桥则从其装载平台取箱；当卸船时，该轨道式起重机根据码头作业控制系统下发的跟随指令，跟随岸桥移动，岸桥将集装箱卸载至其装载平台上，水平运输设备则与该轨道式起重机交互取箱；基于本发明改造思路，为传统码头配备该轨道式起重机即可以经济可行的架构实现自动化升级，实现岸桥与水平运输设备的自动交互。
 附图说明
图1 为本发明提出的与岸桥直接交互的轨道式起重机的布设结构俯视图；
图2为本发明提出的与岸桥直接交互的轨道式起重机的布设结构侧视图；
图3为本发明提出的与岸桥直接交互的轨道式起重机的侧视结构图；
图4为本发明提出的与岸桥直接交互的轨道式起重机控制方法的控制流程图；
其中，1-船舶，2-码头，3-岸桥，4-轨道式起重机，5-装载平台，6-水平运输设备，7-行驶车道，8-交互车道；41-海侧大车，42-陆侧大车，43-轨道梁，44-小车。
 本发明的最佳实施方式
下面结合附图对本发明的具体实施方式作进一步详细的说明。
本发明旨在针对传统的集装箱码头提出一种经济可行的改造方案，以实现岸桥与水平运输设备的自动交互。
如图1至图3所示，本发明通过为传统码头的岸桥配置轨道式起重机的方式实现岸桥与水平运输设备的自动交互，具体的，该轨道式起重机4由海侧大车41、陆侧大车42、架设于海侧大车41和陆侧大车42之间的轨道梁43和可沿轨道梁43行走的小车44组成；在海侧大车41或陆侧大车42上固定一装载平台5。
于轨道梁43下方的跨距内设有水平运输设备6的行驶车道7以及与小车44交互的交互车道8。
该轨道式起重机4设置于岸桥3的陆侧，沿码头2正面岸线顺岸布置，基于作业需求可跟随岸桥移动；本发明中，轨道式起重机4与岸桥3并非一一对应关系，一台轨道式起重机可以对应多部岸桥，作业时，优先选用距离指定岸桥最近的轨道式起重机使用。轨道式起重机4包括但不限定于双悬臂式、龙门架式和单悬臂式。
在本发明一些实施例中，轨道梁43优选单悬臂结构，行驶车道7设置于海侧大车44的陆侧，2条车道；交互车道8设置于陆侧大车42的两侧，各2条车道。水平运输设备6用于港内集装箱水平转运作业，例如集卡、无人集卡、自动导引车、跨运车等。
在本发明一些实施例中，在海侧大车41和/或陆侧大车42的运行轨道铺设有定位装置，每个定位装置具有唯一位置编码，相应的，在轨道式起重机上安装有接收系统，基于接收天系统对定位装置的检测，可实现对该轨道式起重机的定位。
在本发明一些实施例中，岸桥3的运行轨道上也铺设有定位装置，可与该轨道式起重机4的定位装置共用，岸桥3上安装有接收系统，可实现对岸桥3的定位。
基于对岸桥3的定位，以及对轨道式起重机4的定位，可以实现轨道式起重机4对岸桥3的跟随移动。
本发明上述提出的与岸桥直接交互的轨道式起重机，为传统码头配置轨道式起重机4，岸桥3可通过该轨道式起重机4与水平运输设备6实现交互，装船时，该轨道式起重机4根据码头作业控制系统下发的跟随指令，跟随岸桥3移动，水平运输设备6与该轨道式起重机4交互将集装箱装载至其装载平台5上，岸桥3则从其装载平台5取箱；当卸船时，该轨道式起重机4根据码头作业控制系统下发的跟随指令，跟随岸桥3移动，岸桥3将集装箱卸载至其装载平台5上，水平运输设备6则与该轨道式起重机4交互取箱；基于本发明改造思路，为传统码头配备该轨道式起重机即可以经济可行的架构实现自动化升级，实现岸桥与水平运输设备的自动交互。
具体的，如图4所示，本发明为该与岸桥直接交互的轨道式起重机提出相应的控制方法，包括如下步骤：
步骤S41：轨道式起重机接收码头作业控制系统发送的跟随指令。
码头作业控制系统首先根据装箱或卸箱作业情况向岸桥3下发码头作业指令，控制岸桥3移动至岸线的设定位置，也即移动至与装船或卸船船舶位置；进而根据设定位置的位置信息生成跟随指令，将该跟随指令下发至本发明提出的轨道式起重机的控制模块，使得轨道式起重机基于该跟随指令跟随岸桥移动。
步骤S42：轨道式起重机基于跟随指令驱动自身移动至岸桥的指定位置。
轨道式起重机可解析该跟随指令得到岸桥的位置，根据岸桥的位置确定自身需要达到的指定位置，继而换算成自身跟随岸桥移动的距离、方向等数据，根据这些数据驱动海侧大车41和陆侧大车42沿岸线移动，直至到达指定位置。
在本发明一个具体实施例中，海侧大车41和/或陆侧大车42的运行轨道铺设有定位装置，每个定位装置具有唯一位置编号；轨道式起重机安装有检测装置的接收系统；当轨道式起重机基于跟随指令驱动自身移动至岸桥的指定位置时，首先解析该跟随指令得到岸桥的位置，进而根据岸桥的位置确定设定定位装置的位置编号；该设定定位装置与岸桥的位置相对应，为轨道式起重机移动的目的地。
在获取设定定位装置的位置编号后，轨道式起重机驱动自身向所设定定位装置方向运行；运行期间其接收系统检测定位装置，基于定位装置的唯一位置编号确定自身的运行位置；当运行至设定定位装置位置时制动，达到岸桥的指定位置。
步骤S43：当接收到码头作业控制系统的装船指令时，轨道式起重机驱动其小车沿轨道梁运行至交互车道之上，与交互车道上的水平运输设备交互将集装箱吊起；驱动吊箱小车沿轨道梁运行至装载平台之上，将集装箱装载至装载平台之上。
当码头作业控制系统下发的为装船指令时，轨道式起重机驱动其小车44沿其轨道梁43运行至交互车道8的上方，若水平运输设备已经停在交互车道8，则与交互车道8上的水平运输设备6交互，从其上吊取集装箱，驱动吊箱小车沿轨道梁43运行至装载平台5上方，将集装箱装载至装载平台5上，岸桥3再从装载平台5取箱；若水平运输设备还未停留在交互车道8上，则等待直至水平运输设备6停在交互车道8上。
水平运输设备6从交互车道8运行到行驶车道7上后离开。
步骤S44：当接收到码头作业控制系统的卸船指令时，轨道式起重机驱动其小车沿轨道梁运行至装载平台之上，与装载平台交互将集装箱吊起；驱动吊箱小车沿轨道梁运行至交互车道之上，将集装箱装载至交互车道上的水平运输设备上。
当码头作业控制系统下发的为卸船指令时，轨道式起重机驱动其小车44沿轨道梁43运行至装载平台5上方（此时岸桥3已经将集装箱放置于装载平台5上），从装载平台5上吊箱，驱动吊箱小车沿轨道梁43运行至交互车道8上，将集装箱装载至交互车道8上等待的空载水平运输设备6上。
载箱水平运输设备6从交互车道8行驶到行驶车道7上离开。
应该指出的是，上述说明并非是对本发明的限制，本发明也并不仅限于上述举例，本技术领域的普通技术人员在本发明的实质范围内所做出的变化、改型、添加或替换，也应属于本发明的保护范围。

Claims (6)

  1. 一种与岸桥直接交互的轨道式起重机，其特征在于，
    由海侧大车、陆侧大车、架设于海侧大车和陆侧大车之间的轨道梁、固定于海侧大车或陆侧大车上的装载平台、以及设置于轨道梁上沿轨道梁行走的小车组成；设置于岸桥的陆侧，沿码头正面岸线顺岸布置；
    于轨道梁下方的跨距内设有水平运输设备的行驶车道和与小车交互的交互车道。
  2. 根据权利要求1所述的与岸桥直接交互的轨道式起重机，其特征在于，所述交互车道设置于所述陆侧大车的两侧。
  3. 根据权利要求1所述的与岸桥直接交互的轨道式起重机，其特征在于，所述海侧大车和/或所述陆侧大车的运行轨道铺设有定位装置，每个定位装置具有唯一位置编号；
    所述轨道式起重机安装有检测定位装置的接收系统。
  4. 一种与岸桥直接交互的轨道式起重机控制方法，应用于与岸桥直接交互的轨道式起重机中，所述岸桥直接交互的轨道式起重机由海侧大车、陆侧大车、架设于海侧大车和陆侧大车之间的轨道梁、固定于海侧大车或陆侧大车上的装载平台、以及设置于轨道梁上沿轨道梁行走的小车组成；设置于岸桥的陆侧，沿码头正面岸线顺岸布置； 于轨道梁下方的跨距内设有水平运输设备的行驶车道以及与小车交互的交互车道；
    其特征在于，所述控制方法包括：
    所述轨道式起重机接收码头作业控制系统发送的跟随指令；
    所述轨道式起重机基于所述跟随指令驱动自身移动至岸桥的指定位置；
    当接收到所述码头作业控制系统的装船指令时，所述轨道式起重机驱动其小车沿所述轨道梁运行至所述交互车道之上，与所述交互车道上的水平运输设备交互将集装箱吊起；驱动吊箱小车沿所述轨道梁运行至所述装载平台之上，将集装箱装载至所述装载平台之上；
    当接收到所述码头作业控制系统的卸船指令时，所述轨道式起重机驱动其小车沿所述轨道梁运行至所述装载平台之上，与所述装载平台交互将集装箱吊起；驱动吊箱小车沿所述轨道梁运行至所述交互车道之上，将集装箱装载至所述交互车道上的水平运输设备上。
  5. 根据权利要求4所述的与岸桥直接交互的轨道式起重机控制方法，其特征在于，所述海侧大车和/或所述陆侧大车的运行轨道铺设有定位装置，每个定位装置具有唯一位置编号；所述轨道式起重机安装有检测定位装置的接收系统；
    则所述轨道式起重机基于所述跟随指令驱动自身移动至岸桥的指定位置，具体包括：
    解析所述跟随指令得到设定定位装置的位置编号；
    驱动自身向所述设定定位装置方向运行；
    运行期间所述接收系统检测定位装置，基于定位装置的唯一位置编号确定自身的运行位置；
    当运行至所述设定定位装置位置时制动。
  6. 根据权利要求5所述的与岸桥直接交互的轨道式起重机控制方法，其特征在于，所述方法还包括：
    所述码头作业控制系统在根据码头作业指令控制所述岸桥移动至设定位置后，基于所述设定位置的位置信息生成所述跟随指令并发送给所述轨道式起重机。
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