CN111196559A - Gantry crane container lifting control system and method - Google Patents
Gantry crane container lifting control system and method Download PDFInfo
- Publication number
- CN111196559A CN111196559A CN201811396280.7A CN201811396280A CN111196559A CN 111196559 A CN111196559 A CN 111196559A CN 201811396280 A CN201811396280 A CN 201811396280A CN 111196559 A CN111196559 A CN 111196559A
- Authority
- CN
- China
- Prior art keywords
- container
- signal
- lifting
- gantry crane
- truck
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000002265 prevention Effects 0.000 claims abstract description 6
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000012937 correction Methods 0.000 claims description 3
- 230000007257 malfunction Effects 0.000 claims 1
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 2
- 238000011179 visual inspection Methods 0.000 description 2
- 238000012351 Integrated analysis Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- 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
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- 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
- B66C2700/00—Cranes
- B66C2700/01—General aspects of mobile cranes, overhead travelling cranes, gantry cranes, loading bridges, cranes for building ships on slipways, cranes for foundries or cranes for public works
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention relates to a gantry crane container lifting control system and a gantry crane container lifting control method, which control the lifting process of a gantry crane container through a lifting device container placing signal, a locking and unlocking signal and a lifting device height signal, and a laser scanner detects the side surfaces of containers on a lane, a container yard and a gap between a container truck and a container, thereby realizing the control of truck alignment, lifting and pressure head prevention and lifting prevention, and simultaneously detecting whether an obstacle exists on the lane, and preventing the gantry crane from colliding with an adjacent container or the obstacle. The laser scanning line is aligned with a space gap between the truck-concentration flat car and the bottom surface of the container for scanning and ranging, the controller comprehensively links and analyzes the lifting appliance opening and closing lock signal and the container approaching signal according to the laser scanning information and the lifting appliance height signal to control the lifting process, if the system detects the lock head signal, the system immediately sends an alarm and sends a lifting stopping signal to be transmitted to the PLC control system of the gantry crane to stop lifting.
Description
Technical Field
The invention relates to a gantry crane lifting control method used in container loading and unloading operation, in particular to an automatic gantry crane loading and unloading operation in ports.
Background
At present, no effective accurate measurement method exists for the hoisting control of the containers of the gantry cranes in the field. The alignment of the container truck and the gantry crane hanger depends on manual visual inspection of a driver, and when the hanger descends to approach the container, the driver repeatedly moves the truck according to the positions of the visual inspection hanger and the container, so that the loading and unloading speed is reduced. When a container on the truck-collecting flat car is hoisted by a gantry crane, the lock head of the truck-collecting flat car is not completely unlocked, and the truck-collecting flat car and the truck head are hoisted together, so that safety accidents are caused. The invention patent of patent No. 20171016396.3 discloses a laser-based anti-lifting detection system and method, which adopts a vertical scanning method to scan the container contour, the system can not work normally under the interference of rain and snow, and the lifting alarm height error can not meet the design requirement. Patent No. 201720963617.2's utility model patent "automatic loading and unloading operation is automatic to be case and prevent the method of hoisting" adopts the cloud platform to drive the rotatory method of laser scanner and measures the tapered end, because scanner angle error is big, and the reliability is poor.
Disclosure of Invention
The laser scanner is arranged in the side surface of the gantry crane, the hoisting process of the gantry crane for hoisting the container is controlled by a crane box loading signal, a crane lock opening and closing signal and a crane height signal, the laser scanner detects the lane, the side surface of the container on a container yard and the gap between the container truck and the container, the alignment of the container truck, the hoisting pressure-proof headstock and the hoisting control are realized, meanwhile, whether an obstacle exists on the lane is detected, and the gantry crane is prevented from colliding with an adjacent container or the obstacle.
The invention provides a gantry crane container handling control system and a gantry crane container handling control method.
The purpose of the invention is realized by the following technical scheme:
the invention relates to a gantry crane container lifting control system and a method, which are characterized in that: it includes: laser scanner, portal crane, hoist, container truck, PLC, controller, hoist is the case signal, switching lock signal, hoist height signal and scanner installing support. The lifting appliance is characterized in that the scanner mounting bracket is connected with the gantry crane, the scanner mounting bracket is connected with the laser scanner, the laser scanner scans horizontally, and the lifting appliance is provided with an opening and closing lock signal and a lifting appliance box-entering signal.
The laser scanner is connected with the controller, and the controller is connected with the PLC. PLC sends the hoist and is being case signal, switching lock signal, hoist height signal for the controller, and the controller synthesizes laser scanner signal, hoist and is being case signal, switching lock signal and hoist height signal, feeds back to PLC, controls portal crane handling process.
The laser scanner is horizontally scanned, is higher than the container truck, can measure the container on the truck, positions the container truck, scans the front, back, left and right position information of the container, and sends the information to the controller for calculation. Laser scanner inside has the laser scanning controller, and laser scanner links to each other with the controller, and the controller links to each other with PLC.
When the heavy-load container truck enters the lane, the data of the container on the truck horizontally scanned by the laser is calculated by the controller and is provided for the PLC to control the position of the lifting appliance, and the lifting appliance is aligned with the position of the container on the truck and is accurately positioned. Realize container truck location according to laser scanner horizontal scanning, show location information in the position that the driver of truck can see, provide truck locate function, the striking of hoist and adjacent container when preventing the handling container.
The container on the truck is hoisted by the gantry crane, if the lock head on the truck flat car is not completely rotated and opened, the lock hole of the container is still hooked, and the flat car can be taken up by the container. The controller comprehensively links and analyzes the opening and closing lock signal and the box falling signal of the lifting appliance according to the laser scanning information and the lifting appliance height signal, controls the lifting process and realizes the lifting prevention function. When the container is lifted by the gantry crane from the container truck, and the lifting appliance is in the container state, the signal of the lifting appliance in the container state is '0', and the height of the lifting appliance at the moment is recorded. When the container is lifted by the lifting appliance, the container lifting signal of the lifting appliance is changed into '1', when the lifting appliance reaches the set lifting-prevention height, the laser scanner horizontally scans the connecting part of the bottom of the container and the collection truck, if the lock is not completely unlocked, the laser scanner detects the lock signal, the system controls the lifting appliance to forbid upward movement, and the truck is prevented from being lifted. If the laser scanner does not detect the lock signal, the lifting appliance can continue to move upwards for lifting, and the lifting prevention function is realized.
When an empty container truck enters a lane, a support is installed on a certain height of the side surface of a gantry crane, a laser scanner is installed on the support to perform horizontal scanning, the laser scanner performs horizontal scanning on a lock head on the truck through lifting adjustment, a lock head signal on the truck is provided for a controller to be calculated, accurate positioning is performed on a lock hole of a container under a lifting appliance and the lock head on the truck, and automatic container handling of a lifting container is achieved.
When the container truck enters the lane, the laser scanner scans horizontally to scan and position the head of the container truck, so that the lifted container is prevented from being pressed to the head, the PLC controls the lifting appliance to stop descending when a collision trend is detected, and a stop signal is sent out. And when the container truck moves, controlling the lifting appliance to prohibit downward movement according to the laser scanner information and the lifting appliance height signal, and reminding a driver of the container truck.
In order to prevent the faults of the laser scanner and the controller, the PLC is controlled by using the system heartbeat principle to send out an alarm signal.
And in the process of the gantry crane advancing, the plane of the stacked containers is measured according to the laser horizontal scanning, so that the functions of the gantry crane in walking deviation correction and cart positioning are realized. Meanwhile, the laser scanner detects obstacles such as pedestrians, vehicles and the like on the lane, and prevents the gantry crane from colliding with the obstacles or adjacent containers.
The laser scanners can be arranged on two sides of the gantry crane respectively, the functions of systems on the two sides are the same, and the laser scanners can be switched to use when lane directions are changed.
Due to the adoption of the technical scheme, the invention has the beneficial effects that: the automatic container loading and unloading device solves the problem of anti-hoisting detection of container trucks outside the automatic wharf, prevents the container trucks from being hoisted, eliminates potential safety hazards, and improves the production efficiency of hoisting and loading and unloading containers by the container gantry crane of the field automatic wharf.
Drawings
Fig. 1 is a structural diagram of a gantry crane container lifting control system.
Fig. 2 is an electrical connection diagram.
Fig. 3 the gantry crane container handling control system detects a lock signal.
Fig. 4 the gantry crane container handling control system does not detect a lock signal.
Fig. 5 illustrates the alignment process of the gantry crane container handling control system to the heavy-duty container truck.
FIG. 6 detection process of gantry crane container lifting control system for obstacles on driveway
In the figure, (1) a laser scanner, (2) a gantry crane, (3) a lifting appliance, (4) a container truck, (5) a container, (6) a lifting appliance height signal, (7) a locking and unlocking signal, (8) a lifting appliance box-landing signal, (9) a controller, (10) a PLC (programmable logic controller) and (11) a person.
The specific implementation mode is as follows:
laser scanner (1) link to each other with controller (9), controller (9) link to each other with PLC (10). The PLC (10) sends a lifting appliance box signal (8), an opening and closing lock signal (7) and a lifting appliance height signal (6) to the controller, and the controller (9) synthesizes a laser scanner (1) signal, a lifting appliance box signal (8), an opening and closing lock signal (7) and the lifting appliance height signal (6) and feeds back the signals to the PLC (10) to control the lifting process of the gantry crane (2).
The laser scanner (1) is horizontally scanned, is higher than the container truck (4), can measure the container on the truck, positions the container truck (4), scans the front, back, left and right position information of the container, and sends the information to the controller (9) for calculation.
When the heavy-load container truck (4) enters the lane, the data of the containers (5) on the truck horizontally scanned by the laser is calculated by the controller (9) and provided to the PLC (10) to control the position of the lifting appliance (3), and the lifting appliance (3) is aligned with the positions of the containers (5) on the container truck (4) and is accurately positioned. Realize container truck location according to laser scanner horizontal scanning, show location information in the position that the driver of truck can see, provide truck locate function, the striking of hoist and adjacent container when preventing the handling container.
The gantry crane (2) lifts the container (5) on the container truck, and if the lock head on the container truck flat car is not completely rotated and opened, the lock hole of the container (5) is still hooked, and the flat car can be taken up by the container. The controller is according to laser scanner (1) information, hoist height signal (6), switching lock signal (7), hoist and is being case signal (8) integrated analysis, control handling process, realize preventing lifting function. When the container (5) is lifted by the gantry crane (2) from the container truck and the lifting appliance is in the container state, the container signal (8) of the lifting appliance is '0', and the height of the lifting appliance at the moment is recorded. When the container is lifted by the lifting appliance, the container lifting signal (8) of the lifting appliance is changed into '1', when the lifting appliance reaches the set lifting-prevention height, the laser scanner horizontally scans the connecting part of the bottom of the container (5) and the container truck (4), if the lock is not completely unlocked, the laser scanner (1) detects the lock signal, the system controls the lifting appliance (3) to forbid upward movement, and the container truck (4) is prevented from being lifted. If the laser scanner (1) does not detect the lock signal, the lifting appliance (3) can continue to move upwards for lifting, and the anti-lifting function is realized.
When an empty container truck enters a lane, a support is installed on a certain height of the side face of a gantry crane (2), a laser scanner (1) is installed on the support to perform horizontal scanning, the laser scanner (1) performs horizontal scanning on a lock head on the truck through lifting adjustment, a lock head signal on the truck is provided for a controller (9) to be calculated, accurate positioning is performed on a lock hole of the container under a lifting appliance and the lock head on the truck, and automatic container handling of a lifting container is realized.
When the container truck (4) enters a lane, the laser scanner (1) horizontally scans and positions the head of the container truck (4), so that a lifted container (5) is prevented from being pressed to the head, the PLC (10) controls the lifting appliance (3) to stop descending when a collision trend is detected, and a stop signal is sent. When the container truck (4) moves, the lifting appliance (3) is controlled to prohibit downward movement according to the information of the laser scanner (1) and the lifting appliance height signal (6), and a driver of the container truck is reminded.
In the advancing process of the gantry crane (2), the plane of the stacked containers is measured according to laser horizontal scanning, and the functions of walking deviation correction and cart positioning of the gantry crane (2) are realized. Meanwhile, the laser scanner (1) detects obstacles such as people (11) and vehicles on the lane, and prevents the gantry crane from colliding with the obstacles or adjacent containers.
It will be appreciated by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be construed as limiting the present invention, and that changes and modifications to the above described embodiments will fall within the scope of the appended claims as long as they come within the true spirit of the present invention.
Claims (9)
1. A gantry crane container handling control system and method are characterized in that the system comprises: the system comprises a laser scanner, a gantry crane, a lifting appliance, a container truck, a PLC, a controller, a lifting appliance loading signal, a locking and unlocking signal, a lifting appliance height signal and a scanner mounting bracket;
the device comprises a gantry crane, a scanner mounting bracket, a laser scanner, a lifting appliance and a control system, wherein the scanner mounting bracket is connected with the gantry crane, the scanner mounting bracket is connected with the laser scanner, the laser scanner scans horizontally, and the lifting appliance is provided with a locking and unlocking signal and a lifting appliance box loading signal; the laser scanner is connected with the controller, and the controller is connected with the PLC; PLC sends the hoist and is being case signal, switching lock signal, hoist height signal for the controller, and the controller synthesizes laser scanner signal, hoist and is being case signal, switching lock signal and hoist height signal, feeds back to PLC, controls portal crane handling process.
2. The gantry crane container handling control system and method as claimed in claim 1, wherein the laser scanner is horizontally scanned and is higher than the container truck, and can measure the container on the truck, locate the position of the container truck, scan the front, back, left and right position information of the container, and send the information to the controller for calculation.
3. The gantry crane container handling control system and method of claim 1, wherein the data of the container on the truck horizontally scanned by the laser is calculated by the controller and provided to the PLC to control the position of the spreader, align the spreader with the position of the container on the truck, and precisely position the spreader.
4. The gantry crane container handling control system and method as claimed in claim 1, wherein the laser scanner is internally provided with a laser scanning controller, the laser scanner is connected with the controller, and the controller is connected with the PLC.
5. The gantry crane container handling control system and method as claimed in claim 1, wherein the laser scanner scans horizontally to scan and position the head of the container truck, so as to prevent the handled containers from being pressed against the head, and when a collision trend is detected, the PLC controls the lifting appliance to stop descending and sends a stop signal.
6. The gantry crane container handling control system and method as claimed in claim 1, wherein the controller comprehensively links and analyzes a lifting process according to laser scanning information, a lifting appliance height signal, a lifting appliance locking and unlocking signal and a container landing signal, and realizes a lifting prevention function; when the container is lifted by the gantry crane from the container truck, and the lifting appliance is lifted, the lifting appliance lifting signal is '0', and the height of the lifting appliance at the moment is recorded; when the container is lifted by the lifting appliance, the container lifting signal of the lifting appliance is changed into 1, when the lifting appliance reaches the set lifting-prevention height, the laser scanner horizontally scans the connecting part of the bottom of the container and the collection truck, if the lock is not completely unlocked, the laser scanner detects the lock signal, the system controls the lifting appliance to prohibit the upward movement, and the truck is prevented from being lifted; if the laser scanner does not detect the lock signal, the lifting appliance can continue to move upwards for lifting, and the lifting prevention function is realized.
7. The gantry crane container handling control system and method as claimed in claim 1, wherein a system heartbeat principle is used to control the PLC to send out an alarm signal in order to prevent the malfunction of the laser scanner and the controller.
8. The gantry crane container handling control system and method as claimed in claim 1, wherein when the container truck is moving, the spreader is controlled to prohibit downward movement and remind the driver of the container truck according to the laser scanner information and the spreader height signal.
9. The gantry crane container handling control system and method as claimed in claim 1, wherein the traveling deviation correction and cart positioning functions of the tire crane are realized by measuring the plane of the stacked containers according to laser horizontal scanning; meanwhile, the laser scanner detects obstacles such as pedestrians, vehicles and the like on the lane, and prevents the gantry crane from colliding with the obstacles or adjacent containers. .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811396280.7A CN111196559A (en) | 2018-11-19 | 2018-11-19 | Gantry crane container lifting control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811396280.7A CN111196559A (en) | 2018-11-19 | 2018-11-19 | Gantry crane container lifting control system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111196559A true CN111196559A (en) | 2020-05-26 |
Family
ID=70744211
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811396280.7A Pending CN111196559A (en) | 2018-11-19 | 2018-11-19 | Gantry crane container lifting control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111196559A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111832415A (en) * | 2020-06-15 | 2020-10-27 | 航天智造（上海）科技有限责任公司 | Intelligent truck safety protection system for container hoisting operation |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201198441Y (en) * | 2008-02-28 | 2009-02-25 | 上海明路绳网索具有限公司 | Apparatus for rectifying deviation of container gantry crane, laser aligning container truck and preventing hoist of container truck |
-
2018
- 2018-11-19 CN CN201811396280.7A patent/CN111196559A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201198441Y (en) * | 2008-02-28 | 2009-02-25 | 上海明路绳网索具有限公司 | Apparatus for rectifying deviation of container gantry crane, laser aligning container truck and preventing hoist of container truck |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111832415A (en) * | 2020-06-15 | 2020-10-27 | 航天智造（上海）科技有限责任公司 | Intelligent truck safety protection system for container hoisting operation |
| CN111832415B (en) * | 2020-06-15 | 2023-12-26 | 航天智造（上海）科技有限责任公司 | Truck safety intelligent protection system for container hoisting operation |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103231990B (en) | Lifting appliance path optimization control system used for container gantry crane | |
| CN106829742B (en) | A kind of anti-based on laser slings detecting system and method | |
| CN203439940U (en) | Automatic control system for RTG/RMG dual-laser sling crash-proof box at container terminal | |
| CN203229326U (en) | Intelligent container gantry crane loading and unloading control system | |
| WO2020177288A1 (en) | Automatic container terminal stock yard landside automatic operation system and control method thereof | |
| CN201343377Y (en) | Anti-collision control system for hoisting trolley of gantry crane | |
| CN103523675A (en) | Rail-mounted gantry crane automatic yard operation control system and automatic loading and unloading method | |
| EP2707749B1 (en) | System for determination of a container's position in a vehicle and/or in its trailer to be loaded with containers | |
| EP2782863B1 (en) | System for indicating and measuring the position of a container in a vehicle and/or trailer loaded with containers | |
| CN104085794A (en) | Intelligent detection system and method for distribution profile and position of container | |
| CN207293963U (en) | Automatic the case of automated handling operation and anti-sling system | |
| CN107522114B (en) | Automatic change front and hang | |
| CN101244791B (en) | Safety operating control method for container hoisting and hanging system | |
| CN203740901U (en) | Automated stacking yard operation control system of track crane | |
| CN110422761B (en) | Automatic control system and method for preventing derailment of reach stacker container | |
| CN108584716B (en) | Portal crane safety protection and operation auxiliary system | |
| CN201109688Y (en) | Hoisting hanging high speed energy-saving safety operating control system for container | |
| JP4817908B2 (en) | Spreader anti-collision device | |
| CN205953374U (en) | A device for judging RTG operation in -process truck and container separation | |
| KR20090113988A (en) | Method and apparatus for crane position verification | |
| CN111196559A (en) | Gantry crane container lifting control system and method | |
| WO2013011199A1 (en) | Crane and method for controlling crane | |
| CN112850498A (en) | Positioning control system and method for lifting appliance of railway gantry crane | |
| CN210480653U (en) | Novel bridge crane plays to rise device | |
| CN109368502B (en) | Truck collection guiding method based on sound and light |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20200526 |