CN111017732A - Precise box parking and cart synchronization control method for RMG cart - Google Patents
Precise box parking and cart synchronization control method for RMG cart Download PDFInfo
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- CN111017732A CN111017732A CN201911375962.4A CN201911375962A CN111017732A CN 111017732 A CN111017732 A CN 111017732A CN 201911375962 A CN201911375962 A CN 201911375962A CN 111017732 A CN111017732 A CN 111017732A
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- 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
- B66C13/18—Control systems or devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
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Abstract
The invention relates to the technical field of crane control and positioning, and discloses a method for controlling accurate box parking and cart synchronization of an RMG cart, which comprises the following steps: 1) the storage yard is divided according to the shell bit and stored in a database; 2) encoding paired barcode bands, and storing the paired barcode bands in a database corresponding to the beta bits; 3) sending a command that the cart reaches a specified box position, and encoding the Beibi conversion bar code band; 4) the system processing module sends a barcode strip code to the central processing module; 5) the central processing module controls the cart driver to control the cart to run on the track and scan the pair of barcode strips in real time; 6) the central processing module compares the two codes into a pair of bar code strip codes, calculates deviation values of the left side and the right side and adjusts the direction of the cart in real time; 7) and the cart arrives at a designated position, and the container is placed in a designated berth in a storage yard. Compared with the prior art, the invention reduces the action of adjusting the position of the cart, reduces the running distance and improves the running efficiency. Meanwhile, the cart is synchronous, so that the gnawing of cart wheels is eliminated, and the mechanical loss of the cart is reduced.
Description
Technical Field
The invention relates to the technical field of control of accurate box position parking and cart synchronization of a crane cart, in particular to a control method for accurate box position parking and cart synchronization of an RMG cart.
Background
With the continuous updating iteration and technical innovation of port technology, the construction of an automatic wharf is the development trend of the current port, the most basic and first-time problem to be solved for realizing automation is the accurate box parking of a cart, and the research of each wharf aiming at RMG in the aspect of the accurate box parking control system of the cart mainly comprises an encoder and a magnetic nail calibration positioning system, a differential GPS positioning system, an encoder and a FLAG plate calibration positioning system and a Gray bus positioning system. The application research in the aspect of large vehicle synchronization is rarely involved, and especially the application research of double functions of integrating double systems into a single system belongs to the first time. From the actual use effect of each wharf, the accurate box position parking control system of many dollies all has obvious not enough in the aspect of precision, anti external disturbance:
encoder + magnetic nail calibration positioning system adopts the mode of connecting the encoder in the action wheel through the shaft coupling, detects the number of turns of the rotation of action wheel and calculates the position of cart, calibrates through the magnetic nail that arranges along track both sides simultaneously, has reduced by a wide margin because the inaccurate influence in location that the slide rail produced, nevertheless mechanical vibration or stress are inevitable to the damage that the encoder caused, simultaneously because subside and the metal object that scatters in place can lead to the magnetic nail calibration system to appear missing the survey, and lead to whole positioning system's accurate nature to reduce.
The differential GPS positioning system adopts a differential GPS form to determine the specific position of the equipment by establishing a base station and a substation in the yard, the positioning accuracy often does not meet the requirement, and meanwhile, the signal of the system is unstable due to the shielding of the signal in the yard and the signal interference, so that the positioning accuracy is influenced; meanwhile, the system needs to be provided with a site base station, and is complex, large in engineering quantity and high in manufacturing cost.
Encoder + FLAG board calibration system, this system improves on encoder + magnetic nail calibration system's basis, improves the magnetic nail calibration system into FLAG board calibration system, has eliminated the magnetic nail calibration system and has subsided the aspect to the influence of positioning accuracy in the storage yard, even use abundant FLAG board, still can not eliminate the influence of the accumulative error that the slide rail produced to accurate location completely.
The Gray bus positioning system has the disadvantages of various devices, large engineering quantity and high manufacturing cost, is only applied in a test stage or a special occasion at present, and still cannot be popularized and applied in a large area in a special environment of a wharf.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems in the prior art, the invention provides a method for controlling accurate box space parking and synchronization of an RMG (remote metering group) cart, which controls the accurate box space parking and synchronization of the cart and the cart to smoothly arrive at a designated box space by scanning two sides of paired bar code strip information and according to the corresponding relation of the bar code strip information in a database and the shell space information in a storage yard.
The technical scheme is as follows: the invention provides a method for controlling accurate box position parking and cart synchronization of an RMG cart, which depends on a preset control system, wherein the control system comprises paired bar code belts extending along the directions of tracks on two sides of a storage yard, paired bar code readers capable of moving along with the cart and scanning the bar code belts, a system processing module, a database, a central processing module and a cart driver, the paired bar code belts are symmetrically arranged on the outer sides of the tracks on the two sides of the storage yard, and the paired bar code readers and the paired bar code belts are respectively arranged in an opposite way; the control method comprises the following steps:
the method comprises the following steps: the yard information is divided according to the shell bit, and the shell bit information is stored in a database;
step two: coding the bar code strips and storing the coded information of the bar code strips and the bit information in the first step in a database in a one-to-one correspondence manner;
step three: the system processing module sends a command that the cart reaches a specified box position, converts the beige position information into bar code band coding information according to the data prestored in the first step and the second step;
step four: the system processing module sends out bar code strip coding information to the central processing module, and simultaneously sends a speed reduction process and a speed reduction interval preset by the system to the central processing module;
step five: the central processing module controls the cart driver to drive the cart driver to run on the track, and bar code readers arranged on two sides of the cart driver read information of paired bar code strips along the line in real time along with the movement of the cart;
step six: the central processing module receives the five pieces of code band information and compares the information to obtain deviation values of the left side and the right side, and if the deviation values are inconsistent, the central processing module controls the cart frequency converter to adjust the cart direction, corrects the advancing positions of the left side and the right side of the cart in real time and controls the cart to smoothly reach the designated box position;
step seven: and the cart arrives at a designated position, and the container is placed in a fixed berth in a storage yard.
Furthermore, the control system also comprises a network transmission module, the bar code reader is in signal connection with the system processing module and the central processing module, the bar code reader transmits read bar code information to the system processing module through the network transmission module, and the central processing module is in driving connection with the cart driver.
Furthermore, the paired bar code strips in the second step are symmetrically arranged, and the encoding information of the bar code strips is consistent.
Further, the bit division step in the first step is as follows:
4.1) the decibels are divided into odd columns and even columns;
4.2) odd columns are marked in the center of the 20-foot box length, and the length of the 20-foot box is marked as a; the even columns are labeled in the center of the 40 foot box length; the fixed distance between every two 20-foot boxes is marked as b;
4.3) the position information of odd-numbered beits is y = (a + b) (x-1) + c, wherein c is half of the length of the 20-foot box; x is the number of odd numbered shellfishes, x =1, 2, 3 …, corresponding odd numbered shellfishes being 01, 03, 05 …;
4.4) position information of an even decimal place is y' = (a + b) (x-1/2) + c, wherein c is half of a 20 feet box length; x is the number of even numbered scallops, x =1, 2, 3 …, corresponding to even numbered scallops 02, 04, 06 ….
Further, when a container is placed in a certain bunk, the cart stops at the center of the bunk with a left-right deviation within 1/420 feet of box length or 1/440 feet of box length, and the container is considered to be placed in the bunk.
Further, the step of two-pair barcode strip encoding is: the bar code strip extends along the track, the length of the bar code strip depends on the length of the track, the initial code of the bar code strip is 000000, every 4cm defines a code, the code sequence of the bar code strip is 000000, 000004, 000008, …, 4n,
。
further, the deceleration process and the deceleration interval in the fourth step include:
the cart driver drives the cart to reach the front 3.5m of the designated position, and the cart driver controls the cart to reach 30% of full speed;
the cart driver drives the cart to reach the front 1.5m of the designated position, and controls the cart to reach 10% of the full speed;
the cart driver drives the cart to reach the front 0.5m of the designated position, and the cart driver controls the cart to reach 5% of the full speed;
the cart driver drives the cart to arrive at a designated position and then stops.
Has the advantages that:
1. the method for controlling the accurate box parking and the cart synchronization of the RMG cart can effectively reduce the action of adjusting the cart position, reduce the running distance, save the running time and improve the running efficiency.
2. Meanwhile, the synchronization of the cart is realized, the gnawing of wheels of the cart is eliminated, and the mechanical loss of the cart is reduced.
3. By applying the control system, the safety, high efficiency, energy conservation and emission reduction of the equipment in the hoisting process are realized, the labor intensity of a driver is greatly reduced, the mechanical loss of a cart is greatly reduced, and the control system is economical, practical, safe, reliable and simple in structure.
4. The precision of the accurate box parking control of the cart of the control system is within +/-25 mm, and the precision of the synchronous positioning of the cart is within +/-40 mm, so that a solid foundation is laid for realizing the automation of RMG.
Drawings
FIG. 1 is a block diagram of a control system required by the present invention;
fig. 2 is a schematic diagram of a barcode strip and storage yard shell bit information according to the present invention.
The system comprises a bar code reader 1, a protective cover 2, a bar code strip 3, a column 4, a support 5, a system processing module 6, a central processing module 7, a cart driver 8, a bar code strip code 9, a shell code 10, a track 11 and a yard 12.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
The invention relates to the technical field of crane cart control and positioning, discloses a method for controlling accurate box parking and cart synchronization of an RMG cart, and solves the problems of low positioning accuracy, large influence of external factors on the positioning system accuracy, high manufacturing cost and relatively complex system architecture in the prior art, and simultaneously solves the problem of synchronization of the RMG cart which is not involved in the prior art.
The control method depends on a preset control system, and the control system comprises the following structures:
the system comprises a pair of bar code strips 3 extending along the direction of rails 11 on two sides of a storage yard 12, a pair of bar code readers 1 capable of moving with a cart and scanning the bar code strips 3, a system processing module 6, a database, a central processing module 7 and a cart driver 8. The track 11 sets up on the dragon way, and there is a pair of dragon way storage yard 12 both sides, is fixed with a pair of track 11 on the dragon way, still sets up a pair of stand 4 in track 11 for storage yard 12's the outside, is fixed with a protection casing 2 above the stand 4, and the lower surface of protection casing is pasted and is had mated bar code area 3, and the bar code area 3 of both sides sets up in pairs. The bar code readers 1 on two sides are arranged on a support 5, the support 5 is fixed in the middle of an RMG (large vehicle), and the two sides of the support are symmetrically arranged. The bar code readers 1 on two sides are respectively positioned right below the bar code strips 3 on two sides, the code scanning ports of the bar code readers are arranged right opposite to the bar code strips 3, and the bar code readers 1 are common scanning tools on the market and are of the BPS 348i type. The control system also comprises a network transmission module, and the bar code reader 1 transmits the read bar code information to the system processing module 6 through the network transmission module. The bar code reader 1 is in signal connection with both the central processing module 7 and the system processing module 6, the central processing module 7 is in driving connection with the cart driver 8 and is used for controlling the operation of the cart, the system processing module 5 is used for receiving and sending out signal instructions, and the instructions are transmitted through the network transmission module, and the network transmission module used in the invention supports the Profinet communication protocol.
In fig. 2, a pair of barcode stripes 3 extend along a track 11, a cart runs on the track 11, and a pair of barcode readers 1 reads information of the paired barcode stripes 3 along the line along with the movement of the cart.
The information of the storage yard 12 is divided according to the shell 10, the shell 10 information is confirmed along with the length of the storage yard 12, the shell 10 information is used for converting the coded information of the bar code strip 3, the coded information corresponds to each other and is memorized, and the fixed position of the cart in the storage yard 12 is determined.
Therefore, the method for controlling the accurate box parking and cart synchronization of the RMG cart comprises the following steps:
the method comprises the following steps: and dividing the yard information according to the shell bit, and storing the shell bit information into a database.
The yard 12 information is divided by the decibel 10, with odd columns (01/03 …) indicated at the center of the 20 foot box length, even columns (02, 04 …) indicated at the center of the 40 foot box length, and a fixed distance b (b =400 mm) between every two 20 foot box lengths.
Shell bit dividing step:
1) the decibels are divided into odd columns and even columns.
2) The odd columns are indicated at the center of the 20 foot box length, the even columns are indicated at the center of the 40 foot box length, and the fixed spacing between every two 20 foot box lengths is b (b =400 mm).
3) The position information of odd beige is y = (a + b) (x-1) + c, wherein a is 20 feet box length, and a =6058 mm; c is half of the length of the 20 foot box, and c =3029 mm; x is the number of odd numbered shellfishes, x =1, 2, 3 …, corresponding to odd numbered shellfishes 01, 03, 05 ….
4) The position information of an even decimal place is y' = (a + b) (x-1/2) + c, wherein a is 20 feet box length, and a =6058 mm; c is half of the length of the 20 foot box, and c =3029 mm; x is the number of even numbered scallops, x =1, 2, 3 …, corresponding to even numbered scallops 02, 04, 06 ….
And calculating and storing the position information into a database of the system processing module 5 through the calculation formula, and establishing a Map table for use in the next accurate parking space parking.
Step two: and coding the bar code strips and storing the coded information of the bar code strips and the bit information in the first step in a database in a one-to-one correspondence manner.
Referring to fig. 2, a pair of bar code strips 3 extend along the tracks 11 on both sides, the length of the bar code strips 3 depends on the length of the tracks 11, and the starting code of the bar code strips 3 is 000000, and one code is defined every 4cm, so that the length of the tracks 11 is subdivided. The bar code information read by the bar code reader 1 in real time is transmitted to the system processing module 6 through the Profinet network, and is stored in the database in one-to-one correspondence with the copy number information. In this step, the barcode strips 3 on both sides are encoded in the same manner. Such as: the information stored in the database of the beige 10 is m, and the information n and n ' of the corresponding paired barcode strip codes 9, that is, the data stored in the database is h, k and k ', where k and k ' are equal.
Step three: and the system processing module 6 sends a command that the cart reaches the designated bin position, converts the Bei Bin 10 information into bar code band coding 9 information according to the data prestored in the first step and the second step.
Step four: the system processing module 6 sends the barcode tape code 9 information to the central processing module 7, and simultaneously sends the deceleration process and the deceleration interval preset by the system to the central processing module 7.
The deceleration process and the deceleration section include:
the cart driver 8 drives the cart to reach the front 3.5m of the designated position, and the cart driver 7 controls the cart to reach 30% of full speed;
the cart driver 8 drives the cart to reach the front 1.5m of the designated position, and the cart driver 7 controls the cart to reach 10% of the full speed;
the cart driver 8 drives the cart to reach the front 0.5m of the designated position, and the cart driver 7 controls the cart to reach 5% of the full speed;
the cart driver 8 drives the cart to arrive at a designated position and then stops.
Step five: the central processing module 7 controls the cart driver 8 to drive the cart driver to run on the track 11, and the bar code readers 1 arranged on two sides of the cart driver read information of the paired bar code strip codes 9 along the line in real time along with the movement of the cart;
step six: and the central processing module 7 receives the information of the five code band codes 9 and compares the information to obtain deviation values of the left side and the right side, and if the deviation values are inconsistent, the central processing module 7 controls the cart frequency converter to adjust the cart direction, corrects the advancing positions of the left side and the right side of the cart in real time and controls the cart to smoothly reach the designated box position.
Step seven: when the cart arrives at a designated position and a container is placed in a fixed bay 10 in a storage yard 12, the cart is agreed that when the container is placed in a certain bay 10, the left and right deviation of the center of the bay 10 when the cart stops at the bay is within one fourth of the length of a 20-foot box or the length of a 40-foot box, and the container is considered to be placed in the bay 10.
When the cart obtains a box grabbing command, the cart reaches a designated position, a container on the container truck is grabbed, the position of the cart is adjusted, the cart is placed in a fixed parking stall, the lifting appliance is unlocked and locked, the control system processing module 6 records the information of the bar code strip code 9 read by the bar code reader 1, the information is the position of the container in the storage yard 12 (other containers are also recorded according to the information), the process that the container is placed in the parking stall 10 is not the point needing protection of the invention, and the detailed description is not provided here. .
The control process comprises the following steps: in actual use, assuming that the cart is currently located at the box position A or any position, the cart obtains an instruction to the box position B, the system processing module 6 retrieves the position information of the box position B stored in the database, the system processing module 6 sends a deceleration process and a deceleration interval (the front 3.5m of a specified position, the cart is controlled to 30% of full speed, the cart is controlled to 10% of full speed, the front 0.5m of the specified position, the cart is controlled to 5% of full speed, and the cart is parked after reaching the specified position) preset by the system to the central processing module 7 of the cart, the central processing module 7 controls the cart driver 8 to control the cart to smoothly reach the specified box position B, and in the running process of the cart, the central processing module 7 compares real-time barcode tape codes 9 read by the barcode readers 1 on the left side and the right side to obtain deviation amounts on the left side and the right side, and controlling a cart frequency converter to correct the advancing positions of the left side and the right side of the cart in real time, so as to realize the synchronization of the advancing of the two sides of the cart.
In the actual traveling process of the cart, if the left and right sides of the cart are synchronized, the bar code strip codes 9 read by the bar code readers 1 on the left and right sides are consistent; if the bar code strip codes 9 on the left side and the right side read by the bar code reader 1 are inconsistent in the process of advancing the cart, the advancing on the left side and the right side of the cart is asynchronous, and the bar code strip codes 9 represent the position of the cart in a storage yard.
The difference value of the bar code strip codes 9 is the distance behind one side of the left side and the right side of the cart from the other side, namely the deviation of the two sides.
After the deviation is obtained, the central processing module 7 increases the given value of the cart driver 8 at the lagging side, so that the cart driver is synchronized with the other side, the bar code strip codes 9 read by the bar code readers 1 at the left side and the right side are consistent, and the cart is synchronized.
In the process of the traveling of the cart, the deviation amount of the bar code strips on the two sides is monitored in real time, and the cart driver 8 on the lagging side is compensated in real time, so that the cart is kept synchronous all the time in the process of the traveling of the cart.
The box position positioning precision of the whole control system is controlled within +/-25 mm, and the control precision of the cart synchronization is controlled within +/-40 mm.
The above embodiments are merely illustrative of the technical concepts and features of the present invention, and the purpose of the embodiments is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (7)
1. A control method for accurate box parking and cart synchronization of an RMG cart is characterized in that the control method depends on a preset control system, the control system comprises paired bar code belts extending along the track directions of two sides of a storage yard, paired bar code readers capable of moving along with the cart and scanning the paired bar code belts, a system processing module, a database, a central processing module and a cart driver, the paired bar code belts are symmetrically arranged on the outer sides of the tracks of the two sides of the storage yard, and the paired bar code readers and the paired bar code belts are respectively arranged in a right-to-right mode; the control method comprises the following steps:
the method comprises the following steps: the yard information is divided according to the shell bit, and the shell bit information is stored in a database;
step two: coding the bar code strips and storing the coded information of the bar code strips and the bit information in the first step in a database in a one-to-one correspondence manner;
step three: the system processing module sends a command that the cart reaches a specified box position, converts the beige position information into bar code band coding information according to the data prestored in the first step and the second step;
step four: the system processing module sends out bar code strip coding information to the central processing module, and simultaneously sends a speed reduction process and a speed reduction interval preset by the system to the central processing module;
step five: the central processing module controls the cart driver to drive the cart driver to run on the track, and bar code readers arranged on two sides of the cart driver read information of paired bar code strips along the line in real time along with the movement of the cart;
step six: the central processing module compares the encoded information of the bar code bands in the step five, calculates the deviation amount of the left side and the right side, controls the cart frequency converter to adjust the cart direction if the deviation amount is inconsistent, corrects the advancing positions of the left side and the right side of the cart in real time, and controls the cart to smoothly reach the designated box position;
step seven: and the cart arrives at a designated position, and the container is placed in a designated berth in a storage yard.
2. The method for controlling accurate bin parking and cart synchronization of the RMG cart according to claim 1, wherein the control system further comprises a network transmission module, the barcode reader is in signal connection with the system processing module and the central processing module, the barcode reader transmits read barcode information to the system processing module through the network transmission module, and the central processing module is in driving connection with a cart driver.
3. The method for controlling the accurate parking space and the synchronization of the RMG cart according to claim 1, wherein the paired bar-code strips in the second step are symmetrically arranged, and the encoded information of the bar-code strips is consistent.
4. The method for controlling accurate bin parking and cart synchronization of the RMG cart according to claim 1, wherein the first step of the bunk division comprises the following steps:
4.1) the decibels are divided into odd columns and even columns;
4.2) odd columns are marked in the center of the 20-foot box length, and the length of the 20-foot box is marked as a; the even columns are labeled in the center of the 40 foot box length; the fixed distance between every two 20-foot boxes is marked as b;
4.3) the position information of odd-numbered beits is y = (a + b) (x-1) + c, wherein c is half of the length of the 20-foot box; x is the number of odd numbered shellfishes, x =1, 2, 3 …, corresponding odd numbered shellfishes being 01, 03, 05 …;
4.4) position information of an even decimal place is y' = (a + b) (x-1/2) + c, wherein c is half of a 20 feet box length; x is the number of even numbered scallops, x =1, 2, 3 …, corresponding to even numbered scallops 02, 04, 06 ….
5. The method for controlling accurate bin parking and synchronization of RMG trucks according to claim 4, wherein when a container is placed in a bay, the right and left deviations of the center of the bay from 1/420 ft of the bin length or 1/440 ft of the bin length at which the truck is parked are determined to be the bay.
6. The method for controlling accurate bin parking and cart synchronization of an RMG cart according to claim 1, wherein said step of two-pair barcode strip encoding is: the bar code strip extends along the track, the length of the bar code strip depends on the length of the track, the initial code of the bar code strip is 000000, every 4cm defines a code, the code sequence of the bar code strip is 000000, 000004, 000008, …, 4n,
。
7. the method for controlling accurate bin parking and cart synchronization of the RMG cart according to claim 1, wherein the deceleration process and deceleration interval in the fourth step comprises:
the cart driver drives the cart to reach the front 3.5m of the designated position, and the cart driver controls the cart to reach 30% of full speed;
the cart driver drives the cart to reach the front 1.5m of the designated position, and controls the cart to reach 10% of the full speed;
the cart driver drives the cart to reach the front 0.5m of the designated position, and the cart driver controls the cart to reach 5% of the full speed;
the cart driver drives the cart to arrive at a designated position and then stops.
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| CN201911375962.4A CN111017732A (en) | 2019-12-27 | 2019-12-27 | Precise box parking and cart synchronization control method for RMG cart |
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| CN201911375962.4A CN111017732A (en) | 2019-12-27 | 2019-12-27 | Precise box parking and cart synchronization control method for RMG cart |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114882102A (en) * | 2022-04-01 | 2022-08-09 | 弥费实业(上海)有限公司 | Walking positioning control device and method for air transport trolley |
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| JPH06278991A (en) * | 1993-03-26 | 1994-10-04 | Hitachi Kiden Kogyo Ltd | Position control method for automatic crane |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114882102A (en) * | 2022-04-01 | 2022-08-09 | 弥费实业(上海)有限公司 | Walking positioning control device and method for air transport trolley |
| CN114882102B (en) * | 2022-04-01 | 2023-09-08 | 弥费科技(上海)股份有限公司 | Walking positioning control device and method for air transportation trolley |
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Application publication date: 20200417 |