A remote-controlled quay crane intelligent anti-collision device

Abstract

The present invention discloses a remote-controlled quay crane intelligent anti-collision device, comprising: a gyroscopic angle measurer, which detects the deflection data of the legs of the quay crane trolley; a PLC controller, which receives the rectification data of the quay crane trolley from the rectification system of the quay crane trolley; a control unit, which is connected to the gyroscopic angle measurer and the PLC controller, receives the deflection data and the rectification data, and outputs an adjustment control signal to the anti-collision scanner according to the deflection data and the rectification data, so that the anti-collision scanner maintains a consistent detection direction and detection angle. The present invention can automatically adjust the anti-collision scanner according to the attitude change of the quay crane trolley, filter out the influence of the trolley attitude change on the anti-collision scanner, make the anti-collision scanner maintain a consistent detection direction and detection angle, and reduce the failure rate of the trolley transmission components.

Description

Technical Field

[0001] The invention relates to a field bridge, more specifically to an intelligent anti-collision device for a remote-controlled field bridge. Background Art

[0002] During the automation transformation of RTG (tyred gantry crane, yard crane), due to the complex traffic conditions in the port area and the constraints and influence of the fixed installation facilities in the port, how to achieve reliable and safe collision protection between the yard crane and adjacent equipment, trailers, and surrounding infrastructure in the yard is a key link in achieving automation. Especially for the port area with a relatively tight yard area and staggered planning of the yard crane runway and trailer walking lane, how to build a set of safe and reliable anti-collision devices has become the top priority to ensure automated operation.

[0003] At present, the domestic RTG trolley anti-collision system transformation basically adopts the method of installing anti-collision scanners on the trolley legs to achieve anti-collision, such as installing 2D laser scanners or radar scanners. Due to the different mechanical structure design, compared with the relatively stable and closed track area where the trolley of the rail-type gantry crane travels, the trolley travel process of the tire-type gantry crane is greatly affected by factors such as the offset of the whole machine and the inclination of the trolley. If the anti-collision scanner is rigidly installed on the trolley leg of the tire-type gantry crane, the scanning area will change due to the change of the trolley posture, and the anti-collision alarm will be frequently triggered by mistake, causing the automatic operation of the field bridge to frequently slow down and brake suddenly. This will cause damage to the components of the trolley transmission mechanism, such as: reduction box, chain, coupling, tire, etc. According to the statistical data analysis after the automation transformation of 36 remote-controlled field bridges in Mawan Port Area, the damage replacement rate of the above components has increased by more than 100% compared with before the transformation.

[0004] Therefore, there is an urgent need to develop an anti-collision device that can adapt to and match the posture changes of the yard crane and automatically adjust. Summary of the invention

[0005] In order to solve the technical problem that in the prior art field bridge, the scanning area changes due to the change of the vehicle posture, the anti-collision alarm is frequently triggered by mistake, resulting in frequent deceleration and sudden braking of the automated field bridge, which in turn causes damage to the components of the vehicle transmission mechanism, the present invention provides a remote-controlled field bridge intelligent anti-collision device.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is to design an intelligent anti-collision device for a remote-controlled field bridge, comprising:

[0007] Gyroscopic inclinometer, which detects the deflection data of the outriggers of the field crane trolley;

[0008] A PLC controller receives the deviation correction data of the field bridge trolley from the field bridge trolley deviation correction system;

[0009] A control unit, which is connected to the gyro angle meter and the PLC controller, receives the deflection data and the deviation correction data, and outputs an adjustment control signal to the anti-collision scanner according to the deflection data and the deviation correction data, so that the anti-collision scanner maintains a consistent detection direction and detection angle.

[0010] The gyro angle meter includes a horizontal gyroscope and a vertical gyroscope; the deflection data includes the deflection direction and deflection angle in the horizontal and vertical directions; the deviation correction data includes the deviation correction direction and deviation correction angle in the horizontal and vertical directions.

[0011] The remote-controlled quay crane intelligent anti-collision device further includes:

[0012] A bracket, on which the anti-collision scanner is provided; the bracket includes a horizontal axis bracket that can be adjusted in the horizontal direction and a vertical axis bracket that can be adjusted in the vertical direction;

[0013] A horizontal adjustment servo driver, which is connected to the control unit and drives the horizontal axis bracket to rotate in the horizontal direction according to the adjustment control signal;

[0014] A vertical adjustment servo driver, which is connected to the control unit and drives the vertical axis bracket to rotate in the vertical direction according to the adjustment control signal.

[0015] The remote-controlled quay crane intelligent anti-collision device further includes:

[0016] Horizontal direction travel switches, which are provided on both sides of the horizontal axis bracket and are used to limit the rotation angle of the horizontal axis bracket;

[0017] Vertical direction travel switches, which are provided on both sides of the vertical axis bracket and are used to limit the rotation angle of the vertical axis bracket.

[0018] Both the horizontal direction travel switches and the vertical direction travel switches are connected to the PLC controller.

[0019] The remote-controlled quay crane intelligent anti-collision device further includes:

[0020] A horizontal rotary encoder, which is provided on the horizontal adjustment servo driver and is used to detect the horizontal rotation angle and transmit the horizontal rotation angle to the control unit;

[0021] A vertical rotary encoder, which is provided on the vertical adjustment servo driver and is used to detect the vertical rotation angle and transmit the vertical rotation angle to the control unit.

[0022] The outputting the adjustment control signal to the anti-collision scanner according to the deflection data and the deviation correction data includes:

[0023] When the deflection direction of the deflection data is the same as the rectification direction of the rectification data, if the rectification angle is greater than the deflection angle, the control unit generates the adjustment control signal based on the rectification angle; if the rectification angle is less than the deflection angle, the control unit generates the adjustment control signal based on the deflection angle;

[0024] When the deflection direction of the deflection data is different from the rectification direction of the rectification data, the control unit generates the adjustment control signal based on the rectification angle.

[0025] When the deflection direction of the deflection data is different from the rectification direction of the rectification data, the control unit generates a warning signal for warning.

[0026] By providing a gyroscopic angle transducer, a PLC controller, and a control unit, the present invention uses the gyroscopic angle transducer to detect the deflection data of the legs of the trolley of the gantry crane; uses the PLC controller to receive the rectification data of the trolley of the gantry crane from the rectification system of the trolley of the gantry crane; uses the control unit to receive the deflection data and the rectification data, and outputs an adjustment control signal to the anti-collision scanner according to the deflection data and the rectification data, so that the anti-collision scanner maintains a consistent detection direction and detection angle. Therefore, the anti-collision scanner can be automatically adjusted according to the attitude change of the trolley of the gantry crane, filtering out the influence of the trolley attitude change on the anti-collision scanner, making the anti-collision scanner maintain a consistent detection direction and detection angle, reducing the false detection caused by the change of the detection direction and angle, reducing the failure rate of the transmission components of the trolley, and improving the equipment problems caused by the false triggering of the anti-collision system of the trolley. Description of the Drawings

[0027] The present invention will be described in detail below in conjunction with the embodiments and the drawings, where:

[0028] Figure 1 is the principle block diagram of the intelligent anti-collision device for the remotely controlled gantry crane of the present invention;

[0029] Figure 2 is the principle structure diagram of the intelligent anti-collision device for the remotely controlled gantry crane of the present invention. Detailed Embodiments

[0030] The following further elaborates on the detailed embodiments of the present invention in conjunction with the drawings:

[0031] Please refer to Figure 1 、 Figure 2 . The intelligent anti-collision device for the remotely controlled gantry crane of the present invention includes a gyroscopic angle transducer 1, a PLC controller 2, a control unit 3, and an anti-collision scanner 4. Among them:

[0032] The gyroscopic angle indicator 1 is used to detect the deflection data of the legs of the trolley of the yard crane. In this specific embodiment, the gyroscopic angle indicator includes a horizontal gyroscope and a vertical gyroscope. The deflection data includes the deflection direction and deflection angle in the horizontal and vertical directions dynamically.

[0033] The PLC controller 2 is used to receive the rectification data of the yard crane trolley of the yard crane rectification system. In this specific embodiment, the rectification data includes the rectification direction and rectification angle in the horizontal and vertical directions. The yard crane rectification system can adopt an existing yard crane rectification system.

[0034] The control unit 3 is connected to the gyroscopic angle indicator and the PLC controller, receives the deflection data and the rectification data, and outputs an adjustment control signal to the anti-collision scanner according to the deflection data and the rectification data, so that the anti-collision scanner maintains a consistent detection direction and detection angle.

[0035] In this specific embodiment, the outputting the adjustment control signal to the anti-collision scanner according to the deflection data and the rectification data includes:

[0036] When the deflection direction of the deflection data is the same as the rectification direction of the rectification data, if the rectification angle is greater than the deflection angle, the control unit generates the adjustment control signal based on the rectification angle; if the rectification angle is less than the deflection angle, the control unit generates the adjustment control signal based on the deflection angle;

[0037] When the deflection direction of the deflection data is not the same as the rectification direction of the rectification data, the control unit generates the adjustment control signal based on the rectification angle.

[0038] For example, when the deflection direction detected by the gyroscopic angle indicator is the same as the rectification direction of the PLC controller, if the rectification angle is 5 degrees to the left in the horizontal direction and the deflection direction is 4 degrees to the left in the horizontal direction, the control unit generates an adjustment control signal based on 5 degrees to control the anti-collision scanner to rotate 5 degrees to the right in the horizontal direction. If the rectification angle is 4 degrees to the left in the horizontal direction and the deflection direction is 5 degrees to the left in the horizontal direction, the control unit still generates an adjustment control signal based on 5 degrees to control the anti-collision scanner to rotate 5 degrees to the right in the horizontal direction.

[0039] In order to give an early warning in time when the deflection direction of the gyroscopic angle indicator is not the same as the rectification direction of the PLC controller, when the deflection direction of the deflection data is not the same as the rectification direction of the rectification data, the control unit generates a warning signal for warning.

[0040] In order to realize the adjustment of the anti-collision scanner, the remote control yard crane intelligent anti-collision device further includes a bracket, a horizontal adjustment servo driver 91, and a vertical adjustment servo driver 92. Among them:

[0041] The anti-collision scanner is provided on the bracket. The bracket includes a horizontal axis bracket 81 that can be adjusted in the horizontal direction and a vertical axis bracket 82 that can be adjusted in the vertical direction. Thus, the anti-collision scanner can be adjusted in both the horizontal and vertical directions.

[0042] A horizontal adjustment servo driver, which is connected to the control unit and drives the horizontal axis bracket to rotate in the horizontal direction according to the adjustment control signal.

[0043] A vertical adjustment servo driver, which is connected to the control unit and drives the vertical axis bracket to rotate in the vertical direction according to the adjustment control signal. The horizontal adjustment servo driver and the vertical adjustment servo driver are driving motors, which are used to drive the horizontal axis bracket to rotate in the horizontal direction and the vertical axis bracket to rotate in the vertical direction respectively.

[0044] In order to facilitate the detection of the rotation angles of the horizontal axis bracket and the vertical axis bracket, the remote-controlled yard crane intelligent anti-collision device further includes a horizontal rotary encoder 71 and a vertical rotary encoder 72. Among them:

[0045] The horizontal rotary encoder 71 is provided on the horizontal adjustment servo driver, and is used to detect the horizontal rotation angle and transmit the horizontal rotation angle to the control unit.

[0046] The vertical rotary encoder 72 is provided on the vertical adjustment servo driver, and is used to detect the vertical rotation angle and transmit the vertical rotation angle to the control unit.

[0047] By obtaining the rotation angles of the brackets, the rotation angles of the anti-collision scanner can be known, thereby realizing closed-loop control.

[0048] In this specific embodiment, both the horizontal rotary encoder 71 and the vertical rotary encoder 72 are provided at the tail of the driving motor.

[0049] In order to limit the maximum rotation range of the anti-collision scanner and ensure that the limit scanning interval is not exceeded, the remote-controlled yard crane intelligent anti-collision device further includes a horizontal direction travel switch 61 and a vertical direction travel switch 62. Among them:

[0050] The horizontal direction travel switch 61 is provided on both sides of the horizontal axis bracket and is used to limit the rotation angle of the horizontal axis bracket.

[0051] The vertical direction travel switch 62 is provided on both sides of the vertical axis bracket and is used to limit the rotation angle of the vertical axis bracket.

[0052] In this specific embodiment, both the horizontal direction travel switch and the vertical direction travel switch are connected to the PLC controller.

[0053] By setting the travel switches in the horizontal direction and the vertical direction, the anti-collision scanner can always be kept within a reasonable adjustment range, further avoiding the occurrence of false scanning and false alarms. In the present invention, a gyro angle meter, a PLC controller and a control unit are set. The gyro angle meter is used to detect the deflection data of the legs of the trolley of the gantry crane; the PLC controller is used to receive the rectification data of the trolley of the gantry crane from the rectification system of the trolley of the gantry crane; the control unit is used to receive the deflection data and the rectification data, and output an adjustment control signal to the anti-collision scanner according to the deflection data and the rectification data, so that the anti-collision scanner maintains a consistent detection direction and detection angle. Thus, the anti-collision scanner can be automatically adjusted according to the attitude change of the trolley of the gantry crane, filtering out the influence of the trolley attitude change on the anti-collision scanner, keeping the anti-collision scanner with a consistent detection direction and detection angle, reducing the false detection caused by the change of the detection direction and angle, reducing the failure rate of the transmission components of the trolley, and improving the equipment problems caused by the false triggering of the anti-collision system of the trolley.

[0054] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A remote-controlled quay crane intelligent anti-collision device, characterized in that Comprising: A gyroscopic angle indicator that detects the deflection data of the legs of the trolley of the yard crane; A PLC controller that receives the rectification data of the yard crane trolley from the yard crane trolley rectification system; A control unit that is connected to the gyroscopic angle indicator and the PLC controller, receives the deflection data and the rectification data, and outputs an adjustment control signal to the anti-collision scanner according to the deflection data and the rectification data, so that the anti-collision scanner maintains a consistent detection direction and detection angle; The gyroscopic angle indicator includes a horizontal gyroscope and a vertical gyroscope; the deflection data includes the deflection direction and deflection angle in the horizontal and vertical directions dynamically; the rectification data includes the rectification direction and rectification angle in the horizontal and vertical directions; Outputting the adjustment control signal to the anti-collision scanner according to the deflection data and the rectification data includes: When the deflection direction of the deflection data is the same as the rectification direction of the rectification data, if the rectification angle is greater than the deflection angle, the control unit generates the adjustment control signal based on the rectification angle; if the rectification angle is less than the deflection angle, the control unit generates the adjustment control signal based on the deflection angle; When the deflection direction of the deflection data is not the same as the rectification direction of the rectification data, the control unit generates the adjustment control signal based on the rectification angle.

2. The remote-controlled quay crane intelligent anti-collision device according to claim 1, characterized in that: The remote-controlled yard crane intelligent anti-collision device further includes: A bracket, on which the anti-collision scanner is arranged; the bracket includes a horizontal axis bracket that can be adjusted in the horizontal direction and a vertical axis bracket that can be adjusted in the vertical direction; A horizontal adjustment servo driver that is connected to the control unit and drives the horizontal axis bracket to rotate in the horizontal direction according to the adjustment control signal; A vertical adjustment servo driver that is connected to the control unit and drives the vertical axis bracket to rotate in the vertical direction according to the adjustment control signal.

3. The remote-controlled quay crane intelligent anti-collision device according to claim 2, wherein: The remote-controlled yard crane intelligent anti-collision device further includes: Horizontal direction travel switches that are arranged on both sides of the horizontal axis bracket and are used to limit the rotation angle of the horizontal axis bracket; Vertical direction travel switches that are arranged on both sides of the vertical axis bracket and are used to limit the rotation angle of the vertical axis bracket.

4. The remote-controlled quay crane intelligent anti-collision device according to claim 3, characterized in that: Both the horizontal direction travel switch and the vertical direction travel switch are connected to the PLC controller.

5. The remote-controlled quay crane intelligent anti-collision device according to claim 4, characterized in that: The remote-controlled yard crane intelligent anti-collision device further includes: A horizontal rotary encoder that is arranged on the horizontal adjustment servo driver and is used to detect the horizontal rotation angle and transmit the horizontal rotation angle to the control unit; A vertical rotary encoder that is arranged on the vertical adjustment servo driver and is used to detect the vertical rotation angle and transmit the vertical rotation angle to the control unit.

6. The remote-controlled quay crane intelligent anti-collision device according to claim 5, characterized in that: When the deflection direction of the deflection data is not the same as the rectification direction of the rectification data, the control unit generates a warning signal for warning.

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