WO2024038424A1 - Commande manuelle d'outils de commande de signal électrique sur des camions porte-conteneurs à moteurs hydrauliques - Google Patents

Commande manuelle d'outils de commande de signal électrique sur des camions porte-conteneurs à moteurs hydrauliques Download PDF

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Publication number
WO2024038424A1
WO2024038424A1 PCT/ID2022/000002 ID2022000002W WO2024038424A1 WO 2024038424 A1 WO2024038424 A1 WO 2024038424A1 ID 2022000002 W ID2022000002 W ID 2022000002W WO 2024038424 A1 WO2024038424 A1 WO 2024038424A1
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WO
WIPO (PCT)
Prior art keywords
signaling
signal
injection
controller
hydraulic motor
Prior art date
Application number
PCT/ID2022/000002
Other languages
English (en)
Inventor
Yul Yunazwin NAZARUDDIN
Augie WIDYOTRIATMO
Husnul AMRI
Original Assignee
Institut Teknologi Bandung
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Institut Teknologi Bandung filed Critical Institut Teknologi Bandung
Publication of WO2024038424A1 publication Critical patent/WO2024038424A1/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
    • B60P1/64—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading the load supporting or containing element being readily removable
    • B60P1/6409—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading the load supporting or containing element being readily removable details, accessories, auxiliary devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/02—Selector apparatus
    • F16H2059/0221—Selector apparatus for selecting modes, i.e. input device

Definitions

  • the present invention relates to a device for converting manual controls into electrical signals on hydraulic motorbased container trucks . More speci fically the present invention explained a manual control converter used in providing movement signals to each container truck actuator as part of a navigation function by utili zing a corresponding electrical signal .
  • the Container Terminal is the link between the various modes of transportation in the global logistics chain; therefore , container terminals are critical for the overall ef ficiency of the chain .
  • ef ficiency in terms of container loading and unloading activities can be expressed by the ratio of the number of TEUs over time and operational costs .
  • TEU is a unit of cargo capacity of container ships and container terminals . It is based on a standard-si zed, 20- foot-long ( 6 . 1 m) volume of intermodal containers that can be easily trans ferred between di f ferent modes of transport .
  • the land transportation mode requires a large amount of land, which is one of the main factors to determine the capacity of the port itsel f and how the operational system can be implemented .
  • spatial planning needs to be carried out in the land area to intensi fy the safety of container loading and unloading activities .
  • Indonesia needs to determine the problem at its port by knowing in advance what activities are running in it .
  • the whole process is determined by the geographical conditions and the layout of the entire series of processes .
  • good management and integration of the transportation system is needed, in order to support the loading and unloading system ( cargodoring) at the wharf .
  • One of the important modes of transportation in supporting the system is the container truck, which acts as a mode of transporting containers to the cargo section .
  • Container trucks are normally operated by operators ( drivers ) , but the problems are ef fieciency in terms of time ( operator need to rest ) , cost ( shi ft system for truck operators ) , and the potential for human error due to various aspects such as fatigue , lack of concentration, etc .
  • these problems can be overcome with automation system of container truck or utili zing an Automated Guided Vehicle (AGV) container truck transportation system to increase ef ficiency .
  • AGV Automated Guided Vehicle
  • AGV is basically an automatic guided vehicle that follows a marking line or a virtual or real lane point in navigating . To create a vehicle that has the capability to do this , it takes a vehicle that is able to be controlled using an electrical signal based on its position error to the desired posture at any given lane point . Modi fications or changes to the steering, throttle , and brake control systems are necessary to actuate and improve the vehicle ' s posture at all times while following the lane .
  • Patent CN107531272B proposes a method for controlling a vehicle with a manual steering wheel by means of an electric signal based on an electric motor .
  • This patent proposes a modi fication of the system on the rack and pinion portion of the steering column by adding a cluctch section to separate the mechanical portion of the manual steering wheel from the electric motor driven portion of the steering wheel .
  • the invention from this patent has not considered speed control (propulsion) and braking using an electric signal .
  • Patent US 11279404B2 proposes a system for releasing steering control from the driver when an action is required to return the vehicle to the appropriate lane .
  • the obj ect reviewed in this proposal is a car in general with a clutch that can be opened or locked so that the steering wheel can be locked in a certain position and is not intervened by the driver during automatic mode .
  • the level of braking is also controlled according to needs , but has not accommodated traction control or throttle .
  • the obj ect of the present invention is to provide a mean for converting manual control into electrical signals in a hydraulic motor-based container truck .
  • Control is carried out by modi fying the hydraulic actuator system so that an electrical signal can be given from a certain controller and it can move the hydraulic actuator in the process of steering, propulsion, gears , braking, and li fting .
  • a device for controlling the actuators in steering, traction ( gas ) , gearing, braking, and li fting on a container truck vehicle based on a hydraulic motor actuator .
  • the device of converting manual movement according to the invention comprises a uni fied signaling inj ection and modi fication device and an input/output ( I /O) signaling device .
  • the control converter according to the present invention comprises a signaling modi fication and inj ection device and a signaling switching interface device .
  • the signaling modi fication and inj ection device consists of a controller component , an in/out signal device , a terminal block, a relay switch, and a controller power safety and a cable connection terminal from the device according to the present invention to a separate built-in system in a hydraulic motor based container truck including a terminal connection to the traction and gear systems , connection terminals to the steering system, connection terminals to the brake system, connection terminals to the li fting system, connection terminals to the positive pole battery source system, connection terminals to the negative pole battery source system, connection terminals to the controller programming system and spare connection terminal for connection or additional cables .
  • the signal changer interface device consists of a power switch, a switch for converting manual signals to electric and an emergency button .
  • Figure 1 shows 3D illustration of a device that converts the manual control system into an electric signal on a container truck based on a hydraulic motor actuator, including ( a ) a signaling modi fication and inj ection device and (b ) a signaling changer interface device .
  • Figure 2 shows illustration of the block placement of components from a single unit converting a manual control system into 5 electrical signals on a container truck based on a hydraulic motor actuator, including ( a ) signaling modi fication and inj ection devices and (b ) signaling changer interface devices .
  • Figure 3 shows the connection system on a modi fied electrical braking control system on a container truck based on a hydraulic motor .
  • Figure 4 shows enlargement of detailed image controller and signaling device in/out on manual control system converter tool into electric signal on hydraulic motor actuator-based container truck .
  • Figure 5 shows enlargement of detailed image of terminal block on a manual control system converter into an electric signal on a hydraulic motor actuator-based container truck .
  • Figure 6 shows enlargement of detailed image of the relay device on a manual control system converter tool into an electric signal on a hydraulic motor actuator-based container truck .
  • Figure 7 shows enlargement of detailed image of controller power safety device , changer switch, emergency button, and relay coil on a manual control system converter tool into an electric signal on a hydraulic motor actuatorbased container truck .
  • Figure 8 shows a connection system on modi fied steering control system on container truck based on hydraulic motor actuator .
  • Figure 9 shows the connection system on the modi fied gas control system and the f orward/backward movement of a container truck based on a hydraulic motor actuator .
  • Figure 10 shows the connection system on an electrical modi fication of the braking control system on a container truck based on a hydraulic motor actuator .
  • Figure 11 shows the connection system on a hydraulic modi fication of the braking control system on a container truck based on a hydraulic motor actuator .
  • Figure 12 shows the connection system on a modi fied li fting system on a hydraulic motor-based container truck .
  • Figure 13 shows an illustration of the placement of panels and tools for converting manual control to electrically based control on a hydraulic based container truck .
  • This invention is motivated by the need for a container truck vehicle based on a hydraulic motor that can be controlled by a steering system, traction ( gas ) , gears , li fting, and brakes based on a certain electrical signal as desired .
  • Vehicle control using electrical signals then allows the container truck vehicle to become an autonomous system and can track a certain trajectory reference according to user needs.
  • Figure 1 illustrates a three-dimensional illustration of a device according to the present invention comprising a signaling injection and modification device unit (1) and a signaling modifier interface device (2) with a block arrangement of its components shown in Figure. 2.
  • the signaling modification and injection device (1) functions as a direct interface with the hydraulic motor-based container truck system.
  • the signaling converter interface (2) functions as a truck operator interface medium to change the truck control from manual to electrical-based control.
  • the device according to the present invention is supported by components in the form of a controller (3) , an in/out signal device (4) , a relay switch (5) , a signaling terminal block (6 ) , controller power safety (7) , cable connection terminals from the device according to the invention to a separate built-in system in a hydraulic motor based container truck including connection terminals to the traction and gear systems (8) , connection terminals to the steering system (9) , connection terminal to brake system (10) , connection terminal to lifting system (11) , connection terminal to positive pole battery source system (12) , connection terminal to negative pole battery source system (13) , connection terminal to controller programming system (14) as well as spare connection terminals for connection or additional cables (15) .
  • the signaling changer interface device (2) is equipped with a power switch (16) which functions to turn on the signaling modification and injection device (1) , a switch to change the manual signal mode to an electrical signal (18) and an emergency switch to turn off the system in conditions that are not controlled (17) .
  • connection detail section of the controller component (3) , the input/output signal device (4) , the relay switch (5) , terminal block signaling (6) , controller power protection (7) .
  • the connections and configurations related to the switch components are also detailed to change the manual signal mode to an electrical signal (18) , the emergency switch to turn off the system (17) , and the coiling of the relay switch device (19) as part of the signal converter interface device
  • the controller component (3) which serves as the main device for providing control signal injection to the drive system in the hydraulic motor based container truck.
  • the controller (3) in the form of an automotive standard programmable logic controller (PLC) is assisted by an incoming/outgoing signal device (4) which functions as a signaling interface between the drive system in the container truck and the controller.
  • PLC programmable logic controller
  • the (3) consists of a serial communication connector (21) which functions as a connector between the controller and general computer equipment to carry out the programming process, as well as a controller condition indicator light (20) which describes the status of the input/output signaling device (4) .
  • a serial communication connector (21) which functions as a connector between the controller and general computer equipment to carry out the programming process
  • a controller condition indicator light (20) which describes the status of the input/output signaling device (4) .
  • module categories namely two digital signal input modules (22 and 23) , high-frequency digital signal input modules (24) , digital signal output modules (25 and 26) , voltage input modules analog (27, 28, and 29) , and analog signal output modules (30) .
  • Digital signal input module (22 and 23) serves to receive digital signals with 24VDC logic
  • high-frequency digital signal input module (24) functions to receive digital signals with high-frequency 24VDC logic and is applied to read tachometer devices
  • digital signal output module (25 and 26) is used to output a logical voltage signal of 24VDC
  • the analog voltage input module (27, 28, and 29) functions to read an analog voltage (0-10) VDC
  • 30 and the analog output module serves to provide a voltage value (0- 10 ) VDC .
  • the signaling terminal block component (6) used is made of nylon insulating material with a maximum voltage specification of 800V and a current of 76A, and functions as a direct interface between existing signals from the drive system on a hydraulic motorbased container truck with an injection signal from the controller (3) via signal out/in device (4) .
  • the signaling terminal block component (6) is intended so that the device according to this invention can be easily integrated with the system and can be assembled separately (modular) .
  • the device according to the present invention there is a connection from the device according to the present invention to the built-in separate system of the hydraulic motor-based container truck in the form of a steering, gear and traction system (31 and 33) , a braking system (34) and a chassis lifting system (32) .
  • the relay switch component (5) functions as an on/off switch which then decides whether the container truck will operate manually or operate with electrical signal-based control.
  • the switches in the relay switch component circuit (5) are normally open (NO) and normally closed (NC) , with each relay switch having 4 NC and NO contact terminals, with a maximum specification of 30V DC voltage and 8A current.
  • NO switch is needed to decide between the injection signal and the container truck's built- in system, while the NC switch is needed to directly connect the manual signal to the container truck's built-in system. If the switch is off, the container truck will forward a manual signal to the drive system. On the other hand, if the switch is on, the container truck will move based on the electrical signal from the controller (3) .
  • the power safety component (7) functions as an electrical safety mechanism to protect the controller component (3) in the event of a sudden electric current surge.
  • the power safety component (7) has a specification of a maximum voltage of 230V and a current of 40A in single phase, which directly disconnects the signaling modification and injection device (1) according to the present invention from a battery source.
  • the relay switch winding component (19) functions as a trigger for the relay switch contact (5) which determines whether the contact will be on or off status, with a maximum limit of 30V voltage and 8A current.
  • a switch component is also visualized to change the manual signal mode to an electric signal (18) as well as an emergency switch to turn off the system in an uncontrolled condition (17) as part of a signaling converter interface device (2) .
  • the switch component for changing the manual signal mode to an electric signal (18) functions as an operator interface to change the hydraulic motor-based container truck control mode from manual to electric mode with a maximum voltage specification of 230V and a maximum current of 6A.
  • the switch for converting the manual signal into an electrical signal (18) will give a signal to the controller (3) through the terminal block (6) and the input/output signal components (4) so that it leads to the action of turning on/off the winding contact (19) and the relay switch contact. (5) .
  • an emergency button component (17) is provided with a maximum voltage specification of 250V and a maximum current of 5A, so that the safety of operators and workers in the surrounding environment can be maintained.
  • the device according to the present invention is then used to control 5 (five) drive systems in a hydraulic motorbased container truck.
  • the systems controlled by the device according to the invention include steering systems (35, 36 and 37) , traction control systems (gas) (39 and 40) , gear systems ( f orward/backward movement) (38) , braking systems (41, 42 43, 44 and 45) and chassis lifting systems (46, 47, 48, 49 and 50 ) .
  • the control converter provides signal injection to the steering system (35, 36 and 37) of a hydraulic truck-based container truck by means of several connection modifications.
  • the switch to change the manual signal mode to an electric signal (18) is turned on to provide an electrical signal in the form of a voltage with direct current or direct current (DC) of 24V to the electronic hydraulic valves at (36) and (37) in section J19.
  • the electrical signal will release the steering control from the steering wheel and then provide input in the form of the rate of change of the steering angle based on the analog voltage input in the range (0-24) VDC, with a stationary point at 12 VDC voltage at ECV2 (37) J18.
  • the change in steering angle is then read and informed to the controller or driver system via a magnetic-based steering angle sensor (35) .
  • control converter provides signal injection to the traction system (38, 39 and 40) of a hydraulic truck-based container truck by means of several connection modifications.
  • the gas control system will be activated by the user via a switch to change the manual signal mode to an electric signal
  • the movement of the vehicle is regulated by providing a combination of electrical signals to the electric hydraulic valve rotation direction controller (34) .
  • the combination of these electrical signals is a DC voltage of HIGH of 24V and LOW of 0V on YS3 (38) with a combination for forward in the form of HIGH - HIGH and for forward, and HIGH - LOW for reverse, with LOW - LOW for neutral conditions.
  • Feedback in the form of hydraulic motor speed to be converted into linear speed is obtained from the hydraulic motor speed sensor (39) in the form of a tachometer.
  • the control converter provides signal injection to the electrical and hydraulic braking system (41, 42, 43, 44 and 45) of a hydraulic truck based container truck by means of several connection modifications.
  • the braking system (41, 42, 43, 45 and 45) will be activated by a switch to change the manual signal mode to an electric signal (18) which is activated manually by the vehicle user.
  • the switch then allows input in the form of a combination of digital voltages to the electric and hydraulic actuators of the braking system.
  • the braking mechanism will first be carried out by activating valve B04 (44) to open and continue the pressure, then valve C01 (45) will close the pressure to the brake pedal, and forward it to the hydraulic main tank.
  • the pressure value during the braking process will be given by the pressure transducer sensor (41) to the control.
  • Brake pressure control will be based on a pressure command from the user, if the pressure is still not reached, the system will activate B01 (42) to continue to apply pressure to the cylinder path. However, when the pressure is sufficient, the system will stop applying braking pressure. When the brake is released, the pressure will be reduced so that the braking feedback sensor (41) will be the reference for opening or closing B02 (42) to reduce braking pressure.
  • the control converter provides signal injection to the chassis lifting system (46, 47, 48, 49 and 50) of a hydraulic truck based container truck by means of several connection modifications.
  • the process of lifting the vehicle chassis on a hydraulic motor-based container truck is carried out during the docking process. Lifting during docking is required so that containers can be attached to the docking pillar, or take containers from the docking pillar, so that trucks can continue loading and unloading activities without waiting to be picked up or loaded by the port loading and unloading system.
  • the container sensor (48) detects a container being carried, the container truck will check the height of the front and rear chassis by using the front (46) and rear (47) lifting sensors.
  • VDC VDC
  • altitude data which becomes a reference for the truck to carry out the lifting process or not. If the truck is carrying a container and the chassis height is not maximized, the truck will give an activation command to the lifting actuator (49) and (50) where the command is a 0V signal on the actuator
  • the chassis After completing the docking process, the chassis will be lowered so that the container will be stuck on the docking pillar.
  • the system When lowering the chassis, the system will give an activation signal to the lifting actuators (49) and (50) in the form of a voltage of 24V.
  • the actuator (50) When lowering the truck chassis, the actuator (50) will be given an analog signal in the form of a DC voltage above 13V, and the truck body will slowly descend until it reaches the lowest known point based on signals from the front lift (46) and rear (47) . When it reaches the lowest point, the analog signal on the actuator (50) will be returned to 12V leading to standby mode, and activation of the lifting actuator (49) and (50) will be given a 0V voltage signal. After that, the truck will come out of the docking post, and return the condition of the chassis height to its normal height, using the same method as for docking with containers.
  • the chassis lifting process is reversed, where initially the truck will first lower the chassis height to a minimum point, and then enter the docking pole. After that, the truck will raise the height of the chassis so that the container will be caught in the chassis of the vehicle, and the truck will move forward from the docking post in the position of carrying the container. Upon exiting the docking mast, the system returns the chassis height to its normal condition, and the truck can continue its journey to the port for loading.
  • a truck control converter device from manual to hydraulic-based control consisting of a signaling modification and injection device unit (1) and a signaling interface converter (2 ) is placed in the cab for easy access by the driver.
  • the signaling modification and injection device (1) is located on the left side of the steering column, while the signaling changer interface device (2) is located on the right side of the driver.
  • the control changer then communicates with the sensor panel and truck actuators, namely the traction system (gas) panel (51) , rectifier and steering wheel (51) , then the lift system panel (55) , steer actuator (53) , traction actuator (54) , front (52) and rear (56) lift actuators.
  • the control converter according to the present invention then communicates by doing injection and receiving signals from the panels so that it can change the control system from the driver's manual to the electric-based control .
  • the container truck vehicle can be controlled completely electrically based on the modification of the electrical system proposed in the present invention.
  • This invention has advantages over Patent CN107531272B Patent US11279404B2, which includes control of all drive systems ( traction/gas , steering, brakes, gears, and chassis lift) .
  • the tool according to the present invention is designed to be modular so that it can be assembled and integrated quickly.

Abstract

La présente invention se rapporte à une commande manuelle d'un convertisseur de signal électrique dans un camion porte-conteneurs à moteur hydraulique comprenant une unité de dispositif d'injection et de modification de signalisation (1) et un dispositif d'interface de convertisseur de signalisation (2). Le dispositif de modification et d'injection de signalisation (1) est constitué d'un dispositif de commande (3), d'un dispositif de signal d'entrée/de sortie (4), d'un bloc de jonction (6), d'un commutateur de relais (5), d'une sécurité de puissance de dispositif de commande (7) ainsi que d'une borne de connexion de câble à partir du dispositif. La présente invention fournit des systèmes intégrés séparés présents dans des camions porte-conteneurs à moteur hydraulique (8, 9, 10, 11,12, 13, 14 et 15). Le dispositif d'interface de changeur de signal (2) est constitué d'un commutateur de puissance (16), d'un commutateur destiné à convertir des signaux manuels en électricité (18) et d'un bouton d'urgence (17). La présente invention est destinée à fournir un moyen de commande d'un camion porte-conteneurs à moteur hydraulique avec un signal électrique. Contrairement à la précédente invention, la présente invention a un objectif de commande complet et inclut l'ensemble du système d'entraînement dont la direction, le gaz, le frein, l'engrenage et la portance, et est modulaire et peut être intégrée rapidement.
PCT/ID2022/000002 2022-08-19 2022-10-18 Commande manuelle d'outils de commande de signal électrique sur des camions porte-conteneurs à moteurs hydrauliques WO2024038424A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IDP00202208885 2022-08-19
IDP00202208885 2022-08-19

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WO2024038424A1 true WO2024038424A1 (fr) 2024-02-22

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110071718A1 (en) * 2005-10-21 2011-03-24 William Robert Norris Systems and Methods for Switching Between Autonomous and Manual Operation of a Vehicle
US20120197498A1 (en) * 2009-08-25 2012-08-02 Envision Vechicle Engineering Novasio Technology Event Modular and scaleable port verhicle
CN107531272A (zh) 2015-04-15 2018-01-02 德尔福技术有限公司 用于自主车辆的转向系统和方法
US20180370410A1 (en) * 2015-12-15 2018-12-27 Konecranes Global Corporation Transport vehicle for containers
US11279404B2 (en) 2017-07-13 2022-03-22 Audi Ag Steering device for a vehicle

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110071718A1 (en) * 2005-10-21 2011-03-24 William Robert Norris Systems and Methods for Switching Between Autonomous and Manual Operation of a Vehicle
US20120197498A1 (en) * 2009-08-25 2012-08-02 Envision Vechicle Engineering Novasio Technology Event Modular and scaleable port verhicle
CN107531272A (zh) 2015-04-15 2018-01-02 德尔福技术有限公司 用于自主车辆的转向系统和方法
US20180370410A1 (en) * 2015-12-15 2018-12-27 Konecranes Global Corporation Transport vehicle for containers
US11279404B2 (en) 2017-07-13 2022-03-22 Audi Ag Steering device for a vehicle

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