Automatic transfer control system

Abstract

The present invention provides an automatic transfer control system, which includes a sensor unit, a transfer unit and a control unit. The transfer unit includes a transfer mechanism and a jacking mechanism. The control unit is connected to the transfer unit in communication, and the control unit is used to receive a parameter signal sent by the sensor unit to control the transfer unit according to the signal, so that the jacking mechanism performs the action of lifting and transferring goods. In the automatic transfer control system of the present invention, a transfer unit with a jacking function is used. After the container is transported to the destination, the container can be temporarily placed on a buffer support through the jacking mechanism without waiting for the rail crane or bridge crane in the yard area to grab the container, so as to effectively shorten the working time and improve the working efficiency of the automated terminal. The automatic transfer control system can be widely used in terminal operations to improve the efficiency of the entire port transportation, reduce the operating costs of the port, and increase business income.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic control systems, and in particular to an automatic rotation control system that can be applied to ports. Background Art

[0002] Autonomous driving and unmanned transport vehicles are increasingly used in industry due to their advantages of saving labor costs, reducing accident rates, and reducing fuel consumption. Autonomous driving vehicles are truly the first to be commercialized in some closed scenarios, such as ports, mining areas, and industrial parks. There are already successful cases of autonomous driving vehicles in the port field.

[0003] In actual port operations, after the autonomous vehicle transports the container from the crane area to the yard area, it needs to wait for the rail crane or bridge crane in the yard area to grab the container. Only after the cargo is grabbed can the autonomous vehicle leave and proceed to the next transportation operation. The time that the autonomous vehicle waits for the lifting equipment to grab the cargo will prolong the transportation operation time, resulting in low overall handling efficiency. Summary of the invention

[0004] The purpose of the present invention is to solve the problem of low working efficiency of the automated terminal in the prior art.

[0005] In order to solve the above technical problems, the present invention provides an automatic transfer control system, including a sensor unit, a transfer unit and a control unit, the sensor unit is used to obtain parameter signals of goods to be transported; the transfer unit includes a transfer mechanism and a lifting mechanism; the transfer mechanism is used for transferring goods, the transfer mechanism includes a transfer body and a transfer platform which can be lifted and lowered on the transfer body, the transfer platform is used to carry goods; the lifting mechanism is connected between the transfer platform and the transfer body, so that the transfer platform can be lifted and lowered relative to the transfer body, thereby transferring the goods on the transfer platform to the storage area; the control unit is communicatively connected to the transfer unit, and the control unit is used to receive the parameter signal emitted by the sensor unit, so as to control the transfer unit according to the parameter signal, so that the lifting mechanism and the transfer mechanism can respectively lift and transfer the goods.

[0006] Optionally, the sensor unit comprises a size detection sensor for detecting the size of the goods to be transported.

[0007] Optionally, the sensor unit comprises a weight sensor, and the weight sensor is used to weigh the goods to be transported to obtain a weight parameter signal of the goods.

[0008] Optionally, the sensor unit includes an ultrasonic sensor, which is disposed on the transfer platform to obtain a distance parameter signal between the transfer platform and the goods in the inventory area.

[0009] Optionally, a plurality of the transfer platforms are provided, and the plurality of transfer platforms are arranged at intervals along the length direction of the transfer body.

[0010] Optionally, there are multiple jacking mechanisms, and the multiple jacking mechanisms are arranged one-to-one on multiple transfer platforms to respectively realize the lifting and lowering of the corresponding transfer platforms relative to the transfer body.

[0011] Optionally, the sensor unit further includes an in-place limit switch, which is arranged on the transfer platform and is used to detect the position of the transfer platform relative to the lifting and lowering of the transfer body.

[0012] Optionally, the in-position limit switch includes a rising limit switch and a falling limit switch, the rising limit switch is used to detect the rising position of the transfer platform relative to the transfer body, and the falling limit switch is used to detect the falling position of the transfer platform relative to the transfer body.

[0013] Optionally, the transfer platforms are provided with two, namely the front platform and the rear platform; the rising limit switch comprises a front platform rising limit switch arranged on the front platform and a rear platform rising limit switch arranged on the rear platform, and the descending limit switch comprises a front platform descending limit switch arranged on the front platform and a rear platform descending limit switch arranged on the rear platform.

[0014] Optionally, the transport mechanism is an autonomous driving vehicle.

[0015] It can be seen from the above technical solution that the beneficial effects of the present invention are:

[0016] In the automatic transfer control system of the present invention, a transfer unit with a jacking function is used. After the container is transported to the destination, the container can be temporarily placed on the buffer support through the jacking mechanism without waiting for the rail crane or bridge crane in the yard area to grab the container, which can effectively shorten the working time and improve the working efficiency of the automated terminal. The automatic transfer control system can be widely used in terminal operations to improve the efficiency of the entire port transportation, reduce the port's operating costs, and increase overall business income. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a control flow chart of an embodiment of an automatic rotation control system of the present invention;

[0018] Figure 2 yes Figure 1 A schematic diagram of a transport mechanism in an automatic transport control system shown;

[0019] Figure 3 yes Figure 1 Another schematic diagram of the transport mechanism in the automatic transport control system shown;

[0020] Figure 4 yes Figure 1 The operation flow chart of the lifting mechanism in the automatic transfer control system shown;

[0021] Figure 5 yes Figure 1 The flowchart of the automatic transfer control system box picking operation shown;

[0022] Figure 6 yes Figure 1 The flowchart of the box delivery operation of the automatic transfer control system is shown.

[0023] The description of the accompanying drawings is as follows: 100, automatic transfer control system; 10, sensor unit; 20, transfer unit; 21, transfer mechanism; 211, transfer platform; 2111, front platform; 2112, rear platform; 22, lifting mechanism; 212, transfer body; 30, control unit; 200, container. DETAILED DESCRIPTION

[0024] Typical embodiments that embody the features and advantages of the present invention will be described in detail in the following description. It should be understood that the present invention can have various changes in different embodiments without departing from the scope of the present invention, and the descriptions and illustrations therein are essentially used for illustration purposes rather than for limiting the present invention.

[0025] In order to further illustrate the principle and structure of the present invention, preferred embodiments of the present invention are now described in detail with reference to the accompanying drawings.

[0026] See also Figure 1 In one embodiment of the present application, an automatic transport control system 100 for use in a port is provided, which can effectively improve the overall working efficiency of an automated terminal. In this embodiment, the automatic transport control system 100 includes a sensor unit 10 , a transport unit 20 , and a control unit 30 .

[0027] Specifically, the sensor unit 10 is used to obtain parameter signals of the goods to be transported. The transfer unit 20 includes a transfer mechanism 21 and a lifting mechanism 22, and the transfer mechanism 21 is used for the transfer of goods. The transfer mechanism 21 includes a transfer body 212 and a transfer platform 211 that can be lifted and lowered on the transfer body 212, and the transfer platform 211 is used to carry goods. The lifting mechanism 22 is connected between the transfer platform 211 and the transfer body 212, and is used to realize the lifting and lowering of the transfer platform 211 relative to the transfer body 212, so as to transfer the goods on the transfer platform 211 to the storage area.

[0028] The control unit 30 is in communication connection with the transfer unit 20 , and is used for receiving the parameter signal sent by the sensor unit 10 to control the transfer unit 20 according to the parameter signal, so that the lifting mechanism 22 and the transfer mechanism 21 respectively perform the actions of lifting and transferring the goods.

[0029] The automatic transfer control system 100 of this embodiment can be applied to the transportation operation of the port, and the goods transferred are mainly containers 200. In the actual operation process of the automatic transfer control system 100, after the container 200 is transported to the destination by the transfer unit 20 with a jacking function, the container 200 is placed on the buffer support in the storage area by the jacking mechanism 22 of the transfer unit 20.

[0030] By realizing the transfer of the container 200 through the automatic transfer control unit 30, the operation step of grabbing the container 200 by the rail crane or bridge crane in the yard area can be omitted, which can effectively shorten the time of the transfer operation, thereby effectively improving the operating efficiency of the automated terminal.

[0031] Furthermore, the transfer unit 20 of the present embodiment is an execution unit of the entire automatic transfer control system 100 , which can realize the placement and transfer of the container 200 under the control of the control unit 30 .

[0032] In the transfer unit 20, the transfer mechanism 21 is used for the transfer of goods, and the transfer mechanism 21 can be an automatic driving vehicle. The setting of the automatic driving vehicle can save the manpower cost in the transfer operation, reduce the fuel consumption during the transportation process, and reduce the occurrence rate of accidents during the transfer of goods, thereby improving the safety of the transfer operation.

[0033] The transfer mechanism 21 of this embodiment includes a transfer body 212 and a transfer platform 211 disposed on the transfer body, and the transfer platform 211 is used to carry the container 200. The lifting mechanism 22 is connected between the transfer platform 211 and the transfer body 212, so that the transfer platform 211 can be raised and lowered relative to the transfer body 212, thereby realizing the lifting and lowering of the goods and completing the loading and unloading of the container 200.

[0034] In this embodiment, the transfer body 212 has a walking device, which can realize the movement of the transfer mechanism 21 on the ground. When the transfer platform 211 carries a container 200, the transfer body 212 runs on the ground through the walking device, and the container 200 can be moved in the horizontal direction.

[0035] Combined with the transfer platform 211 that can be raised and lowered relative to the transfer body 212, the container 200 can be moved in the horizontal direction and can also be raised and lowered in the vertical direction. The cooperation between the transfer body 212 and the transfer platform 211 can take the container 200 on the bracket in the pickup area to the transfer platform 211 to complete the container pickup operation; the container 200 on the transfer platform 211 can also be placed on the buffer bracket in the storage area to complete the container placement operation.

[0036] like Figure 2 and Figure 3 As shown, the transfer platform 211 of this embodiment is provided with two, namely the front platform 2111 and the rear platform 2112, which are arranged at intervals in the length direction of the transfer body 212. In this embodiment, the carrying capacity of the front platform 2111 and the rear platform 2112 is adapted to a 20-foot box, that is, the two can transfer a 20-foot box. The front platform 2111 and the rear platform 2112 are both connected to a jacking mechanism 22, so that the front platform 2111 and the rear platform 2112 can be raised and lowered relative to the transfer body 212.

[0037] On the racks in the pickup area and the buffer racks in the storage area, the containers 200 are arranged in a front-to-back order. Among them, the front platform 2111 is used to pick up the front 20-foot container or deliver the front 20-foot container, and the rear platform 2112 is mainly used to pick up the rear 20-foot container or deliver the rear 20-foot container. When transferring double 20-foot, 40-foot and 25-foot containers, the front platform 2111 and the rear platform 2112 are lifted at the same time, and the loading and unloading operation process of the corresponding size containers 200 can be completed.

[0038] In addition, the transfer platform 211 can also be provided in plurality, and the plurality of transfer platforms 211 are arranged at intervals on the transfer body 212. Accordingly, the jacking mechanism 22 is also provided in plurality, and the plurality of jacking mechanisms 22 are arranged one by one on the plurality of transfer platforms 211, so as to respectively realize the lifting and lowering of the corresponding transfer platform 211 relative to the transfer body 212.

[0039] The provision of multiple transfer platforms 211 can improve the carrying capacity of the transfer unit 20, so that the transfer unit 20 can be suitable for transferring containers 200 of various types. At the same time, the number of transfer containers 200 is also increased, which can effectively improve the transfer efficiency of the automatic transfer control system 100.

[0040] Further, see Figures 1 to 3The sensor unit 10 of this embodiment includes a size detection sensor. The size detection sensor is used to detect the specifications of the container 200 to be transported, so as to confirm the size of the container 200 and obtain a size parameter signal, thereby distinguishing the specifications of the container 200, such as 20 feet, 40 feet, 45 feet or other sizes.

[0041] By confirming the size of the container 200 to be transported through the size detection sensor, the type of the container 200 to be transported can be understood before the transfer operation begins, so that the container can be accurately taken and placed during the transfer operation to ensure the smooth progress of the transfer operation.

[0042] In this embodiment, the sensor unit 10 further includes a weight sensor, which is used to weigh the container 200 to be transported to obtain a weight parameter signal of the container 200 .

[0043] After obtaining the weight parameter signal of the container 200, the weight of the container 200 to be transported can be predicted accordingly before the transshipment operation, so that the operating speed of the transshipment body 212 in the transshipment unit 20 can be adaptively adjusted according to the weight of the container 200 to be transshipped, ensuring smooth transshipment of the container 200.

[0044] The sensor unit 10 of this embodiment also includes an in-place limit switch, which is arranged on the transfer platform 211 to detect the lifting and lowering position of the transfer platform 211 relative to the transfer body 212.

[0045] Among them, the in-place limit switch includes an ascending limit switch and a descending limit switch. The ascending limit switch is used to detect the rising position of the transfer platform 211 relative to the transfer body 212, and the descending limit switch is used to detect the descending position of the transfer platform 211 relative to the transfer body 212.

[0046] In this embodiment, the rise position limit switch is divided into a front platform rise position limit switch set on the front platform 2111 and a rear platform rise position limit switch set on the rear platform 2112. The descent position limit switch is divided into a front platform descent position limit switch set on the front platform 2111 and a rear platform descent position limit switch set on the rear platform 2112.

[0047] Specifically, the front platform rise position limit switch and the front platform fall position limit switch respectively detect whether the front platform 2111 is lifted or lowered to the position, thereby determining whether the box picking and box placing actions of the front platform 2111 are completed. The rear platform rise position limit switch and the rear platform fall position limit switch respectively detect whether the rear platform 2112 is lifted or lowered to the position, thereby determining whether the box picking and box placing actions of the rear platform 2112 are completed.

[0048] In addition, the sensor unit 10 of this embodiment also includes an ultrasonic sensor. The ultrasonic sensor is arranged on the transfer platform 211 to obtain the distance parameter signal between the transfer platform 211 and the container 200 on the support. Through the distance information, the transfer unit 20 can make a safety response in advance to avoid the occurrence of collision accidents during the lifting and transfer process, thereby ensuring the safety of the transportation process.

[0049] Furthermore, in the automatic transfer control system 100 of the present embodiment, the control unit 30 is a logic unit that determines and controls whether and how the transfer unit 20 performs lifting and transfer operations according to the parameter signal transmitted by the sensor unit 10 .

[0050] See also Figure 1 and Figure 4 The autonomous driving vehicle is provided with an industrial computer having a remote dispatching system. The control unit 30 receives control commands from the remote dispatching system, and then integrates the parameter signals detected by the sensor unit 10 to make a reasonable decision in accordance with the business logic and functional safety, and sends the final decision result to the transfer unit 20, and acts on the lifting mechanism 22.

[0051] The control unit 30 is communicatively connected to the transfer unit 20, and is used to receive the size parameter signal and weight parameter signal sent by the sensor unit 10, determine the model and weight of the container 200 to be transferred, and control the rotating unit according to the signal information so that the lifting mechanism 22 can lift and transfer the goods.

[0052] The automatic transfer control system 100 of this embodiment is mainly used in the interaction area between the automatic driving vehicle and the yard. In the interaction area of ​​the yard, the operation of transporting the container 200 is divided into a container picking process and a container delivery process.

[0053] like Figure 5 As shown, the operation process of the automatic driving vehicle as the transfer mechanism 21 going to the yard to pick up the container 200 includes:

[0054] In the first step, the control unit 30 obtains the type of container 200 of the yard support and the placement position of the container 200 on the support from the remote scheduling system;

[0055] In the second step, the control unit 30 obtains the running direction of the autonomous driving vehicle when entering the yard support;

[0056] In the third step, according to the placement position of the container 200 on the bracket and the running direction of the autonomous driving vehicle, the control unit 30 determines the transfer platform 211 where the vehicle needs to move;

[0057] Step 4: After the transfer platform 211 completes the lifting action, the automatic driving vehicle drives away from the support area;

[0058] Step 5: The transfer platform 211 descends to a suitable position, and the automatic driving vehicle completes the entire lifting and box retrieval control process.

[0059] For the automatic transfer control system 100 of this embodiment, in the first three steps of the box retrieval process, when the container 200 is placed in the front of the bracket and the front of the autonomous driving vehicle enters the bracket facing forward, the control unit 30 determines and confirms that the front platform 2111 of the transfer unit 20 is lifted; if the container 200 is located in the front of the bracket, but the front of the autonomous driving vehicle enters the bracket in other directions, the control unit 30 determines and confirms that the rear platform 2112 of the transfer unit 20 is lifted.

[0060] If the control unit 30 obtains from the remote dispatch system information that the container 200 is placed at the rear of the bracket and the front of the autonomous driving vehicle enters the bracket facing forward, the control unit 30 determines and confirms that the rear platform 2112 of the transfer unit 20 is lifted; if the control unit 30 obtains from the remote dispatch system information that the container 200 is placed at the rear of the bracket and the front of the autonomous driving vehicle enters the bracket facing other directions, the control unit 30 determines and confirms that the front platform 2111 of the transfer unit 20 is lifted; if the control unit 30 obtains from the remote dispatch system information that the container 200 is placed in the middle of the bracket, then regardless of the direction in which the autonomous driving vehicle enters the frame, the control unit 30 determines and confirms that the front platform 2111 and the rear platform 2112, that is, the double platforms are lifted.

[0061] In the fourth and fifth steps of the box-taking process, after the control unit 30 controls the corresponding front platform 2111 and / or rear platform 2112 to be lifted in conjunction with the lifting mechanism 22, the lifting limit switch can be used to determine whether the corresponding transfer platform 211 is lifted in place. When the autonomous driving vehicle leaves the frame and the transfer platform 211 is lowered accordingly, the lowering limit switch can be used to determine whether the transfer platform 211 is lowered in place.

[0062] Further, see Figure 6 After the container retrieval operation is completed, the autonomous driving vehicle carries the container 200 and transfers the container 200 to the yard support in the storage area. The container delivery process includes:

[0063] In the first step, the control unit 30 obtains the model of the container 200 carried by the autonomous driving vehicle from the sensor unit 10;

[0064] In the second step, according to the model of the container 200, the control unit 30 determines the transfer platform 211 where the autonomous driving vehicle needs to move;

[0065] Step 3: After the lifting action is completed, the control unit 30 receives the signal and controls the automatic driving vehicle to drive into the support area;

[0066] In the fourth step, the control unit 30 controls the corresponding transfer platform 211 to fall down, so that the container 200 is placed on the bracket, completing the entire container delivery control process.

[0067] For the automatic transfer control system 100 of this embodiment, in the first and second steps of the box delivery process, when the sensor unit 10 determines that the carrying container 200 is the front 20 feet, the control unit 30 controls the front platform 2111 to lift; when the sensor unit 10 determines that the carrying container 200 is the rear 20 feet, the control unit 30 controls the rear platform 2112 to lift; when the sensor unit 10 determines that the carrying container 200 is double 20 feet, 40 feet or 45 feet, the control unit 30 controls the front platform 2111 and the rear platform 2112, that is, the double platform is lifted.

[0068] In the third and fourth steps of the box delivery process, after the control unit 30 controls the corresponding front platform 2111 and / or rear platform 2112 to be lifted in conjunction with the lifting mechanism 22, the lifting limit switch can be used to determine whether the corresponding transfer platform 211 is lifted in place. When the transfer platform 211 of the autonomous driving vehicle is lowered to place the box, the lowering limit switch can be used to determine whether the transfer platform 211 is lowered in place.

[0069] In summary, the automatic transfer control system of this embodiment is applied to a transfer unit with a jacking function. After the container is transported to the destination, the container can be temporarily placed on the buffer support through the jacking mechanism without waiting for the rail crane or bridge crane in the yard area to grab the container, which can effectively shorten the working time and improve the working efficiency of the automated terminal. The automatic transfer control system can be widely used in terminal operations to improve the efficiency of the entire port transportation, reduce the port's operating costs, and increase overall business income.

[0070] Although the present invention has been described with reference to several typical embodiments, it should be understood that the terms used are illustrative and exemplary, rather than restrictive. Since the present invention can be embodied in a variety of forms without departing from the spirit or essence of the invention, it should be understood that the above embodiments are not limited to any of the foregoing details, but should be interpreted broadly within the spirit and scope defined by the appended claims, so all changes and modifications falling within the scope of the claims or their equivalents should be covered by the appended claims.

Claims

1. An automatic transport control system, characterized in that: include: A sensor unit, used to obtain parameter signals of the goods to be transported; The transfer unit comprises a transfer mechanism and a lifting mechanism; the transfer mechanism is used for transferring goods, and comprises a transfer body and a transfer platform which is escalably arranged on the transfer body, and the transfer platform is used to carry goods; the lifting mechanism is connected between the transfer platform and the transfer body, so that the transfer platform can be raised and lowered relative to the transfer body, thereby transferring the goods on the transfer platform to the storage area; a control unit, which is in communication with the transfer unit, and is used to receive the parameter signal sent by the sensor unit, so as to control the transfer unit according to the parameter signal, so that the lifting mechanism and the transfer mechanism can respectively lift and transfer the goods; There are a plurality of transfer platforms, which are arranged at intervals along the length direction of the transfer body; the sensor unit includes a size detection sensor, which is used to detect the size of the goods to be transported and obtain a size parameter signal; When the transfer mechanism performs a container-retrieving operation, the control unit can obtain the container type of the yard support, the placement position signal of the container on the support, and the running direction signal of the transfer mechanism entering the yard support, and can control the corresponding number and corresponding orientation of the transfer platforms to rise and fall relative to the transfer body according to the running direction signal and the placement position signal to perform the container-retrieving operation; When the transfer mechanism performs a box delivery operation, the control unit can obtain the type of the vehicle-mounted container, and control the corresponding number and orientation of the transfer platforms to rise and fall relative to the transfer body according to the type of the vehicle-mounted container to perform the box delivery operation.

2. The automatic transport control system according to claim 1, characterized in that: The sensor unit comprises a weight sensor, and the weight sensor is used to weigh the goods to be transported to obtain a weight parameter signal of the goods.

3. The automatic transport control system according to claim 1, characterized in that: The sensor unit comprises an ultrasonic sensor, which is arranged on the transfer platform to obtain a distance parameter signal between the transfer platform and the goods in the storage area.

4. The automatic transport control system according to claim 1, characterized in that: There are multiple jacking mechanisms, and the multiple jacking mechanisms are arranged one by one on the multiple transfer platforms to respectively realize the lifting and lowering of the corresponding transfer platforms relative to the transfer body.

5. The automatic transport control system according to claim 1, characterized in that: The sensor unit also includes an in-place limit switch, which is arranged on the transfer platform and is used to detect the position of the transfer platform relative to the lifting and lowering of the transfer body.

6. The automatic transport control system according to claim 5, characterized in that: The in-place limit switch includes an ascending limit switch and a descending limit switch. The ascending limit switch is used to detect the rising position of the transfer platform relative to the transfer body, and the descending limit switch is used to detect the descending position of the transfer platform relative to the transfer body.

7. The automatic transport control system according to claim 6, characterized in that: The transfer platforms are provided with two, namely the front platform and the rear platform; the rising limit switch comprises a front platform rising limit switch arranged on the front platform and a rear platform rising limit switch arranged on the rear platform; the descending limit switch comprises a front platform descending limit switch arranged on the front platform and a rear platform descending limit switch arranged on the rear platform.

8. The automatic transport control system according to claim 1, characterized in that: The transfer mechanism is an autonomous driving vehicle.

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