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A semi-automatic loading and unloading bridge with path planning algorithm and its control method

A technology for path planning and loading and unloading bridges, applied in the field of control, can solve problems such as ship hidden cabins and difficult loading and unloading of compartments, and achieve the effects of high operating efficiency, reducing the probability of collision accidents, and improving labor efficiency.

Active Publication Date: 2022-02-22
SHANGHAI MEISHAN IRON & STEEL CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The present invention is aimed at the problems existing in the prior art, and provides a semi-automatic loading and unloading bridge with a path planning algorithm. This technical solution improves operating efficiency, reduces operating personnel, and solves the problem of difficult loading and unloading of hidden cabins and compartments of ships.

Method used

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  • A semi-automatic loading and unloading bridge with path planning algorithm and its control method
  • A semi-automatic loading and unloading bridge with path planning algorithm and its control method
  • A semi-automatic loading and unloading bridge with path planning algorithm and its control method

Examples

Experimental program
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Effect test

Embodiment 1

[0031] Embodiment 1: see Figure 1-Figure 3 , a semi-automatic loading and unloading bridge with a path planning algorithm, which includes an outdoor UWB ultra-wideband cart wireless positioning device 1, which is used to measure the Y-axis coordinates of the cart defined in the system software; a position encoder installed on the motor shaft of the cart 6. It is used to measure the X coordinate of the car from the boarding position defined in the system software, and a set of laser ranging encoder is used as the position correction when the wheel slips; the encoder installed on the wire rope drum of the hoisting mechanism 7. It is used to measure the Z-axis coordinate of the lifting hook head starting from the ground. The loading and unloading bridge includes a support frame 12, a remote control device 2, an on-shore laser radar visual recognition device 3, an electronic anti-sway device 10, a ground control server 4, and an on-board PLC motion control system. The shaking de...

Embodiment 2

[0032] Example 2: see Figure 1-Figure 3 , a semi-automatic loading and unloading bridge control method with path planning algorithm, the method comprises the following steps:

[0033] ①Path planning curve "boarding point" setting, A, cart initial position setting: the production operator sends the coordinates measured by the wireless positioning device to the ground control server in the transportation information system according to the position where the ship stops, and then the ground control The server sends it to the PLC motion control system on the machine to drive the cart to the designated position. B. The initial position setting of the trolley: the cab is parked at the position of the boarding platform, and there is a stop limit and position encoder detection of the trolley at this position. C. Lifting initial position setting: The lifting mechanism is at the upper stop limit position, which is detected by the lifting position encoder at the same time. The point whe...

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Abstract

The invention relates to a semi-automatic loading and unloading bridge with a path planning algorithm. The loading and unloading bridge includes a support frame, a remote control device, a shore laser radar visual recognition device, an electronic anti-sway device, a cart wireless positioning device, a ground control server and an on-board PLC. Motion control system, the cart wireless positioning device and electronic anti-sway device are arranged on the support frame, the shore laser radar visual recognition device is arranged below the support frame, the loading and unloading bridge also includes electric clamps, trolley position coding The electric clamp is arranged below the balance beam hook, and the trolley position encoder and the lifting height encoder are arranged above the support frame. The solution has the functions of path memory, automatic identification of car models and coil coordinates, and automatic clamping of coils.

Description

technical field [0001] The invention relates to a loading and unloading bridge, in particular to a semi-automatic loading and unloading bridge with a path planning algorithm, which belongs to the technical field of control. Background technique [0002] Most of the freight ships at the wharf of Meishan Iron and Steel Co., Ltd. have compartments and hidden compartments in the middle. Loading efficiency and safety, two or one cableman will command the driver of the loading and unloading bridge to roll the cargo into the hidden cabin. The driver cannot see the cargo. He operates the loading and unloading bridge according to the command gesture, and then uses the inertia of the crane trolley to move the board. The volume rolled into the hidden cabin. The loading and unloading of steel coils at domestic ports are all manually loaded and unloaded, with low labor efficiency and no guarantee of safety. Therefore, it is necessary to develop a semi-automatic loading and unloading br...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B66C13/06B66C13/40B66C13/48B66C13/16B66C15/00
CPCB66C13/063B66C13/40B66C13/48B66C13/16B66C15/00
Inventor 王林詹红
Owner SHANGHAI MEISHAN IRON & STEEL CO LTD
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