CN113247801A

CN113247801A - Port gantry crane cluster unmanned system

Info

Publication number: CN113247801A
Application number: CN202110572938.0A
Authority: CN
Inventors: 郭霁月
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-05-25
Filing date: 2021-05-25
Publication date: 2021-08-13

Abstract

The invention provides a port portal crane group unmanned system, comprising: the laser radar system comprises a crane main body, wherein a laser radar is arranged on the surface of the crane main body; the boom inclination angle sensor is arranged on the surface of the crane main body. The port portal crane cluster unmanned system provided by the invention is characterized in that a laser radar is arranged on a portal crane, when obstacles are detected on two sides of an arm support, the portal crane is reminded or prohibited to rotate in a collision direction, an arm support inclination angle sensor is arranged on the portal crane, the position of the arm support in a space is calculated in real time, meanwhile, the space area is divided into a collision-capable area and a collision-free area, when one portal crane enters the collision-capable area, other portal cranes are prohibited from entering the collision-free area, and when a hook is used for fixing goods, the hook is protected by the aid of cooperation between a protective cover and a buffer component arranged on the surface of the hook.

Description

Port gantry crane cluster unmanned system

Technical Field

The invention relates to the field of cranes, in particular to an unmanned system of a port portal crane cluster.

Background

The crane refers to a multi-action crane for vertically lifting and horizontally carrying heavy objects within a certain range.

The crane that uses at present is many and environment and the effect that uses in time is different, need use the portal crane to operate when carrying out the material loading and unloading of goods at the pier.

Most of gantry cranes used on the existing wharf run simultaneously for multiple machines, but the multiple machines are easy to collide when running simultaneously, and the loading or unloading of the gantry cranes can cause that the cabin is taken to form a 'volcanic pit' which is required to be sent to a loader to push materials downwards, so that the operation efficiency is low.

Therefore, it is necessary to provide an unmanned system for a port gate seat crane cluster to solve the above technical problems.

Disclosure of Invention

The invention provides an unmanned system for a port portal crane cluster, which solves the problems that a plurality of cranes are easy to collide when operated simultaneously and the cranes are easy to unload in a 'crater'.

In order to solve the technical problem, the invention provides an unmanned system of a port gate seat crane cluster, which comprises:

the laser radar system comprises a crane main body, wherein a laser radar is arranged on the surface of the crane main body;

the boom inclination angle sensor is arranged on the surface of the crane main body.

Preferably, the port gantry crane cluster unmanned system further comprises a control cabinet, a controller is arranged in the control cabinet, and a lifting steel wire rope tension sensor is arranged at one end of the controller.

Preferably, one side of the hoisting wire rope tension sensor is provided with a hoisting encoder, one side of the hoisting encoder is connected with one side of the boom inclination angle sensor, and one side of the boom inclination angle sensor is provided with a rotation angle sensor.

Preferably, one side of the controller is provided with a first radar module, so one side of the first radar module is provided with a second radar module, and one side of the first radar module and one side of the second radar module are provided with a connection module below the controller.

Preferably, one side of connecting module is provided with the switch, one side of switch is provided with video capture card, one side of video capture card is provided with a plurality of high definition digtal camera, one side of switch is provided with the MP.

Preferably, one side of the controller is connected with one side of the connection module, so that one side of the controller is provided with the console, one side of the connection module is provided with the wireless access controller, and one side of the wireless access controller is provided with the MPP.

Preferably, one side of the wireless access controller is provided with an industrial personal computer, and one side of the industrial personal computer is provided with a plurality of display screens.

Preferably, one side of the crane main body is provided with a hook, and the surface of the hook is provided with a protective cover.

Preferably, the inside of protection casing is provided with buffering subassembly, buffering subassembly includes the spout, the inside slip of spout has the slider.

Preferably, one side of the sliding block is rotatably connected with a connecting rod through a rotating shaft, one side of the connecting rod is rotatably connected with the surface of the hook through the rotating shaft, and one side of the sliding block is located in the sliding groove and is provided with a spring.

Compared with the prior art, the port gate seat crane cluster unmanned system provided by the invention has the following beneficial effects:

the invention provides a port gantry crane cluster unmanned system.A laser radar is arranged on a gantry crane, when obstacles are detected on two sides of an arm support, the gantry crane is reminded or prohibited to rotate towards a collision direction, an arm support inclination angle sensor is arranged on the gantry crane, the position of the arm support in a space is calculated in real time, meanwhile, the space area is divided into a collision-capable area and a collision-free area, and when one gantry crane enters the collision-capable area, other gantry cranes are prohibited from entering the area.

Drawings

Fig. 1 is a schematic structural diagram of a port gate seat crane cluster unmanned system according to a first embodiment of the present invention;

fig. 2 is a schematic structural diagram of the Mesh network architecture shown in fig. 1;

FIG. 3 is a schematic view of the connection of the apparatus shown in FIG. 1;

FIG. 4 is a block diagram of the operation of the master control device shown in FIG. 1;

FIG. 5 is a block diagram of the operation of the operations center of FIG. 1;

fig. 6 is a schematic structural diagram of a port gate seat crane cluster unmanned system according to a first embodiment of the present invention;

FIG. 7 is a schematic view of the structure of the cushioning assembly shown in FIG. 6;

FIG. 8 is a schematic structural view of the fixing assembly shown in FIG. 7;

fig. 9 is a perspective view of the entire device shown in fig. 7.

Reference numbers in the figures:

1. crane main body, 2 laser radar, 3 cantilever crane inclination angle sensor, 4 hook

5. Protective cover

6. Buffer component 61, sliding chute 62, sliding block 63, connecting rod 64 and spring

7. Fixing component, 71, sliding cavity, 72, connecting rod, 73, sliding block, 74, sliding groove, 75 and fixing ring.

Detailed Description

The invention is further described with reference to the following figures and embodiments.

First embodiment

Please refer to fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5 in combination, wherein fig. 1 is a schematic structural diagram of a first embodiment of a port gate seat crane fleet unmanned system according to the present invention; fig. 2 is a schematic structural diagram of the Mesh network architecture shown in fig. 1; FIG. 3 is a schematic view of the connection of the apparatus shown in FIG. 1; FIG. 4 is a block diagram of the operation of the master control device shown in FIG. 1; fig. 5 is an operation block diagram of the manipulation center shown in fig. 1. An unmanned system for a port gate seat crane cluster, comprising:

the crane comprises a crane body 1, wherein a laser radar 2 is arranged on the surface of the crane body 1;

the boom inclination angle sensor 3 is arranged on the surface of the crane main body 1.

The port portal crane cluster unmanned system further comprises a control cabinet, a controller is arranged inside the control cabinet, and a lifting steel wire rope tension sensor is arranged at one end of the controller.

And a hoisting encoder is arranged on one side of the hoisting steel wire rope tension sensor, one side of the hoisting encoder is connected with one side of the arm support inclination angle sensor 3, and a rotation angle sensor is arranged on one side of the arm support inclination angle sensor 3.

One side of the controller is provided with a first radar module, so one side of the first radar module is provided with a second radar module, and one side of the first radar module and one side of the second radar module are provided with a connecting module below the controller.

The first and second radar modules may use millimeter wave radar or laser radar.

One side of connection module is provided with the switch, one side of switch is provided with video capture card, one side of video capture card is provided with a plurality of high definition digtal camera, one side of switch is provided with the MP.

One side of controller with one side of linking module is connected, so one side of controller is provided with the operation panel, one side of linking module is provided with wireless access controller, one side of wireless access controller is provided with MPP.

One side of the wireless access controller is provided with an industrial personal computer, and one side of the industrial personal computer is provided with a plurality of display screens.

Please refer to fig. 2, which is a Mesh wireless network formed by a wireless access point device (AP) and a wireless Access Controller (AC) through a wireless network communication system.

Compared with the traditional non-Mesh network, the wireless Mesh network has the following advantages: (1) the deployment is rapid, the installation of the wireless Mesh network equipment is simple and convenient, and the wireless Mesh network can be established within hours; (2) the network coverage can be dynamically increased, and the coverage of the Mesh network can be rapidly increased along with the continuous addition of the wireless Mesh nodes; (3) the robustness, the wireless Mesh network is a peer-to-peer network, the whole network can not be influenced by the fault of a certain node, if the certain node has the fault, the message information can be transmitted to the destination node through other equipment paths; (4) the structure is flexible, the network does not need basic equipment connected with the AP, and the network equipment can join or leave the network at any time according to the requirement, so that the network is more flexible; (5) the application scene is wide, and the Mesh network can be widely applied to the application scenes of large warehouses, ports and docks, metropolitan area networks, rail transit, emergency communication and the like besides the conventional WLAN network common scenes of enterprise networks, office networks, campus networks and the like; (6) the cost performance is high, only the MPP node in the Mesh network needs to be connected to the wired network, the dependence degree on the wire is reduced to the minimum, and the investment cost of purchasing a large amount of wired equipment and installing wiring is saved.

Please refer to fig. 3, in which an AP is placed at a certain distance from the shore and the gantry crane as an MP, and an AP is also placed at a certain distance from the control center to the shore as an MP, and the wireless access controller is placed at the control center. And an optical fiber line can be laid to connect the shore and the control center in a wired mode.

Please refer to fig. 4 for the system on the gantry crane: the rotation angle and arm support inclination angle sensor is used for measuring the spatial position of the arm support; the hoisting multi-turn encoder is used for measuring the ground clearance of the grab bucket; the hoisting and hoisting steel wire rope tension sensor is used for measuring whether the grab bucket contacts the ground or not; the millimeter wave or laser radar sensor on the arm is used for measuring whether barriers exist on two sides of the arm support or not; the high-definition camera is used for remote video monitoring; and the onboard controller is used for acquiring sensor signals, performing local calculation, communicating with other nodes and outputting control instructions.

Please refer to fig. 5, which is a video display screen for displaying the pictures of the cameras; the portal crane state display screen is used for displaying the working state and the position posture of each portal crane; the control device is used for remotely controlling the gantry cranes, and one control device can switch and control a plurality of gantry cranes; the industrial computer is used for centralized control calculation and communication with the remote gantry crane; a wireless access point device and a wireless access controller.

Remote control function

The system is provided with an operation center, and the gantry crane can be remotely controlled at the operation center through videos.

The cameras are arranged at proper positions on the shore and the gantry crane, video images of the cameras are transmitted back to the control center, and a driver can remotely control the gantry crane to move, rotate, change amplitude, lift and the like along the track through the video images and the control device.

One or more sets of operating devices can be configured in the operating center, and each set of operating device can be switched to control each gantry crane.

The operating device is provided with mechanisms such as an operating handle and a button, and the controller acquires signals of the control mechanisms and sends the signals to the corresponding gantry crane through a wireless network so as to realize the remote control of the gantry crane.

Passive collision avoidance function

The main purpose of passive anticollision is to increase the anticollision security of gantry crane, and with initiative anticollision cooperation, realize the purpose of anticollision jointly.

The passive collision avoidance can adopt a millimeter wave radar or a laser radar sensor.

The millimeter wave radar has extremely high penetration rate, can accurately detect objects by penetrating light, rainfall, dust raising, fog or frost, can work in a completely black environment and can work all the day. Laser radar can receive weather effect, and the function can be restricted when heavy snow, haze, and the price is more expensive.

According to the scheme, the millimeter wave radar is preferentially selected to realize the function of detecting the obstacles on the two sides of the arm support. The controller receives obstacle information sent by the millimeter wave radar, and when the obstacle is detected and is within the alarm range, the controller sends an alarm signal in the corresponding direction, and the alarm signal prohibits the gantry crane from continuing to perform rotary motion in the direction of the obstacle.

Centralized monitoring and data center functionality

The state information and the working data of the gantry crane are sent back to the monitoring center through a wireless network, the state monitoring function of all gantry cranes can be realized in the monitoring center, all the working data can be stored in a database, and various data reports and query functions can be realized according to the requirements of port management.

Meanwhile, the system can support the access of a database for port information management, and integrate various data of the gantry crane into the whole port information management system.

The working principle of the port portal crane group unmanned system provided by the invention is as follows:

when the crane main body 1 works, firstly, the spatial position of the arm support is measured through the arm support tilt angle sensor 3, when the arm support exceeds a specified range, other gantry cranes are forbidden to enter the area, when the crane main body 1 is unloaded, the ground clearance of the grab bucket is measured through the hoisting multi-turn encoder, whether the grab bucket contacts the ground or not is measured through the hoisting steel wire rope tension sensor, when a plurality of crane main bodies 1 work simultaneously, whether obstacles exist on two sides of the arm support or not is measured through the laser radar 2, when the obstacles exist on two sides of the arm support, the gantry cranes are reminded or forbidden to do rotary motion in the collision direction, a high-definition camera is arranged on the crane main body 1 to carry out remote video monitoring, and the high-definition camera is used for collecting sensor signals, carrying out local calculation, communicating with other nodes, outputting control instructions and carrying out video display screen through the onboard controller, used for displaying pictures of the cameras.

the invention provides a port gantry crane cluster unmanned system.A laser radar 2 is arranged on a gantry crane, when obstacles are detected on two sides of an arm support, the gantry crane is reminded or prohibited to rotate towards a collision direction, an arm support inclination angle sensor 3 is arranged on the gantry crane, the position of the arm support in a space is calculated in real time, meanwhile, the space area is divided into a collision-capable area and a collision-free area, and when one gantry crane enters the collision-capable area, other gantry cranes are prohibited from entering the area.

Second embodiment

Referring to fig. 6, 7, 8 and 9, a second embodiment of the present application provides another unmanned system for a group of port gantry cranes based on the unmanned system for a group of port gantry cranes provided in the first embodiment of the present application. The second embodiment is only the preferred mode of the first embodiment, and the implementation of the second embodiment does not affect the implementation of the first embodiment alone.

Specifically, the difference between the port gantry crane cluster unmanned system that the second embodiment of this application provided lies in, a port gantry crane cluster unmanned system, one side of hoist main part 1 is provided with couple 4, the surface of couple 4 is provided with protection casing 5.

The inside of protection casing 5 is provided with buffering subassembly 6, buffering subassembly 6 includes spout 61, the inside slip of spout 61 has slider 62.

One side of the sliding block 62 is rotatably connected with a connecting rod 63 through a rotating shaft, one side of the connecting rod 63 is rotatably connected with the surface of the hook 4 through the rotating shaft, and a spring 64 is arranged on one side of the sliding block 62 and positioned in the sliding groove 61.

Both ends of the spring 64 are fixedly connected with one side of the inner wall of the sliding groove 61 and one side of the sliding block 62 respectively.

Be provided with fixed subassembly 7 in the inside of protection casing 5, fixed subassembly 7 includes sliding chamber 71, and the inside of sliding chamber 71 is provided with connecting rod 72, the one end fixedly connected with sliding block 73 of connecting rod, all set up the sliding tray 74 with sliding block 73 looks adaptation in the top and the bottom of sliding chamber 71 inner wall, at the solid fixed ring 75 of the one end fixedly connected with of connecting rod 72.

A fixing bolt is arranged on one side of the fixing ring 75, and the hook 4 can be limited by the matching between the connecting rod 72 and the fixing ring 75.

when lifting goods, firstly, the connecting rod 72 with the fixing ring 75 is pulled to move towards the outer side of the sliding cavity 71, when the connecting rod 72 moves, the sliding blocks 73 on the two sides are driven to move inside the sliding grooves 74 at the top and the bottom of the inner wall of the sliding cavity 71, when the connecting rod 72 with the fixing ring 75 moves out of the outer side of the sliding cavity 71, the fixing ring 75 and a steel wire rope connected with the goods are fixed for lifting, when the hook 4 collides in use, the protective cover 5 pushes the connecting rod 63 to extrude towards the two sides, when the connecting rod 63 is extruded, the two sliding blocks 62 are driven to move inside the sliding groove 61 through the rotating shaft, and when the sliding blocks 62 move inside the sliding groove 61, the springs 64 inside the sliding groove 61 are extruded, so that the springs 64 are in a compressed state.

the invention provides a port portal crane cluster unmanned system, when a hook 4 is used for fixing goods, the cooperation between a protective cover 5 arranged on the surface of the hook 4 and a buffer component 6 is beneficial to protecting the hook 4, the hook 4 can be prevented from being impacted on the body of an operator when swinging, so that the body is damaged, the fixing component 7 arranged in the protective cover 5 can share the weight of an object borne by the hook 4, the object can be stabilized when falling, and the swinging during lifting is reduced.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. An unmanned system of a port gate seat crane cluster is characterized by comprising:

2. The port portal crane fleet unmanned system according to claim 1, wherein said port portal crane fleet unmanned system further comprises a control cabinet, wherein a controller is disposed inside said control cabinet, and a hoisting wire rope tension sensor is disposed at one end of said controller.

3. The port gantry crane fleet unmanned system of claim 2, wherein one side of said hoisting wire rope tension sensor is provided with a hoisting winch encoder, one side of said hoisting winch encoder is connected to one side of said boom tilt sensor 3, and one side of said boom tilt sensor 3 is provided with a rotation angle sensor.

4. The port gate seat crane fleet unmanned system according to claim 2, wherein a first radar module is disposed at one side of said controller, such that a second radar module is disposed at one side of said first radar module, and a connection module is disposed at one side of said first radar module and said second radar module and below said controller.

5. The port gate seat crane cluster unmanned system of claim 4, wherein a switch is disposed on one side of the connection module, a video capture card is disposed on one side of the switch, a plurality of high definition cameras are disposed on one side of the video capture card, and an MP is disposed on one side of the switch.

6. The port gate seat crane fleet unmanned system according to claim 2, wherein one side of said controller is connected to one side of said connection module, such that one side of said controller is provided with an operator console, one side of said connection module is provided with a wireless access controller, and one side of said wireless access controller is provided with MPP.

7. The port gate seat crane cluster unmanned system of claim 6, wherein an industrial personal computer is disposed on one side of the wireless access controller, and a plurality of display screens are disposed on one side of the industrial personal computer.

8. The port gate seat crane cluster unmanned system of claim 1, wherein a hook is disposed on one side of the crane body, and a protective cover is disposed on a surface of the hook.

9. The port gate seat crane cluster unmanned system of claim 8, wherein the protection hood is provided with a buffer component inside, the buffer component comprises a sliding groove, and a sliding block slides inside the sliding groove.

10. The port portal crane fleet unmanned system according to claim 9, wherein a connecting rod is rotatably connected to one side of said sliding block via a rotating shaft, one side of said connecting rod is rotatably connected to a surface of said hook via a rotating shaft, and a spring is disposed inside said sliding groove and on one side of said sliding block.