RMG cart accurate container location parking and cart synchronization control method

Abstract

The invention relates to the technical field of crane control and positioning, and discloses an RMG cart accurate container location parking and cart synchronization control method. The method comprises the steps: 1) dividing a storage yard according to stowage locations, and storing in a database; 2) encoding paired bar code bands, and correspondingly storing the paired bar code bands in the database in a manner of corresponding to the stowage locations; 3) sending an instruction that a cart arrives at a specified container location, and converting the stowage locations into bar code band codes; 4) sending the bar code band codes to a central processing module by a system processing module; 5) enabling the central processing module to control a cart driver to control a cart to run on a track and scan the paired bar code bands in real time; 6) comparing codes of the paired bar code bands by the central processing module, calculating the deviation values of the left side and the right side, and adjusting the cart direction in real time; and 7) when the cart arrives at the designated location, placing a container in the designated stowage location in the storage yard. Compared with the prior art, actions for adjusting the location of the cart are reduced, the running distance is shortened, the running efficiency is improved, cart synchronization is adopted, rail gnawing of cart wheels is eliminated, and the mechanical loss of the cart is reduced.

Description

technical field [0001] The invention relates to the technical field of precise container parking and cart synchronization control for cranes and carts, and in particular to a control method for precise container parking and cart synchronization of RMG carts. Background technique [0002] With the continuous update and iteration of port technology and technological innovation, the construction of automated terminals is the current development trend of ports, and the most basic and first problem to be solved in realizing automation is the precise container parking of large vehicles. Currently, various terminals aim at RMG in large The research on the precise car parking control system mainly includes encoder + magnetic nail calibration and positioning system, differential GPS positioning system, encoder + FLAG board calibration and positioning system, and Gray bus positioning system. There are very few applied researches related to the synchronous aspect of the cart, especiall...

AI Technical Summary

Problems solved by technology

[0003] The encoder + magnetic nail calibration and positioning system adopts the method of connecting the encoder to the driving wheel through a coupling, and detects the number of rotations of the driving wheel to calculate the position of the cart. Calibration greatly reduces the influence of inaccurate positioning caused by slide rails, but damage to the encoder caused by mechanical vibration or stress is inevitable. At the same time, due to the settlement of the site and scattered metal objects, the magnetic nail calibration system will fail to measure. , resulting in a decrease in the accuracy of the overall positioning system

[0004] Differential GPS positioning system, by establishing a base station in the site, establishing sub-stations on the equipment, and using differential GPS to determine the specific location of the equipment, the positioning accuracy often fails to meet the requirements, and at the same time, due to signal occlusion and signal interference in the yard It will also cause the instability of the system signal, thereby affecting the positioning accuracy; at the same time, the system needs to set up a site base station, the system is complex, the project volume is large, and the cost is high

[0005] Encoder + FLAG board calibration system, this system is improved on the basis of encoder + magnetic nail calibration system, and the magnetic nail calibration system is improved to FLAG board calibration system, which eliminates the positioning of the magnetic nail calibration system in terms of yard settlement The influence of precision, even if enough FLAG boards are used, the influence of the cumulative error generated by the slide rail on the precise positioning cannot be completely eliminated

[0006] The gray bus positioning system has a lot of equipment, a large amount of engineering, and high cost. At present, it only stays in the experimental stage or the application of special occasions, and it still cannot be widely promoted and applied in the special environment of the wharf.

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