Tire crane cart automatic deviation correcting method

Abstract

An embodiment of the invention relates to the field of port machinery, and discloses a tire crane cart automatic deviation correcting method. The tire crane cart automatic deviation correcting methodcomprises the steps of: calculating a current running deviation D of a tire crane cart, wherein the running deviation D is a distance between a real-time coordinate point of the current cart and a trajectory reference line; acquiring a deviation correcting quantity according to the running deviation D and a proportional coefficient k of a cart deviation correcting output quantity; and controllingdriving wheels of the cart according to the deviation correcting quantity, so that the cart can run straight. Compared with the prior art, the tire crane cart automatic deviation correcting method calculates the deviation correcting quantity by combining with the real-time running deviation of the cart, and can judge a real-time running direction and a deviation trend of the card more precisely, so as to conduct calculation of the deviation correcting quantity more precisely, and control the driving direction of the cart more precisely; meanwhile, the automatic deviation correcting method saves labor, reduces the labor intensity of related staff, and is conducive to realizing on-site unattended operation.

Description

technical field [0001] The embodiment of the present invention relates to the field of port machinery, in particular to an automatic deviation correction method for a tire crane cart. Background technique [0002] Container gantry crane is a machine specially used for stacking and loading and unloading operations in container yards. There are two types: tire-type container gantry crane and rail-type container gantry crane. Among them, rubber-tyred container gantry cranes are also called rubber-tyred gantry cranes (Rubber-Tyred Gantry Crane, RTG), tire cranes have been widely used and promoted due to their low basic investment, high mobility, simple operation and hybrid power supply. . [0003] However, the inventors of the present invention have found that all operations and driving of common tire cranes must be completed manually by the driver of the tire crane, and the tire crane requires its deviation angle to be controlled within a very small range during normal walking...

AI Technical Summary

Problems solved by technology

[0003] However, the inventors of the present invention have found that all operations and driving of common tire cranes must be completed manually by the driver of the tire crane, and the tire crane requires its deviation angle to be controlled within a very small range during normal walking. It is required that the driver must have extremely high driving skills, and must pay a lot of attention during the driving process, so as to correct the deviation of the tire crane at all times, so that the tire crane can walk in a straight line

That is to say, the driver who operates the tire crane needs to undergo strict technical training before he can officially start the operation, which will waste manpower and material resources; and manual operation is also limited by the driver's vision, making it difficult for the driver to accurately correct the tire crane

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