Passenger inclined rack vehicle control system and method suitable for large water level difference inclined wharf

Abstract

The present application belongs to the technical field of wharf passenger transport, and particularly discloses a passenger transport inclined frame vehicle control system and method suitable for large water level difference inclined wharf. The system comprises a wharf ramp module, an inclined frame vehicle scheduling module, an inclined frame vehicle module, a bridge module and a control module. The method comprises: calculating the number of required inclined frame vehicle modules, controlling the control module to control multiple inclined frame vehicle modules to move from the inclined frame vehicle scheduling module to the corresponding first positioning unit on the wharf ramp module, connecting the bottom end of the lowermost inclined frame vehicle module with the ferry by the bridge module, and connecting the top end of the uppermost inclined frame vehicle module with the passenger hall to form a passenger boarding and disembarking channel. The present application can automatically adjust the number of inclined frame vehicle modules according to different water levels to realize the connection between the ferry and the passenger hall within a specified water level difference, so that passengers can conveniently pass through, and has the characteristics of good control precision, high comfort and strong adaptability.

Description

Technical Field

[0001] This invention belongs to the field of passenger transport technology at wharves, and more specifically, relates to a control system and method for passenger gantry cranes suitable for sloping wharves with large water level differences. Background Technology

[0002] Currently, with economic development, people's demand for tourism and leisure is increasing. In the upper reaches of the Yangtze River, due to its narrow width and rapid current, it is very suitable for developing water-based sightseeing tourism. The water level of the Yangtze River varies greatly at different times of the year. In the past, the method of getting from the shore to the cruise ship was basically to use a ramp and a pontoon to adapt to the large water level difference in the upper reaches of the Yangtze River. However, the ramps used to be fixed steps and steel approach bridges. As the water level rose, the steel approach bridges moved towards the shore, and as the water level fell, the steel approach bridges moved away from the shore to adapt to the rise and fall of the water level. Then, tourists walked on the steps, crossed the steel approach bridges to the pontoon, and then boarded the cruise ship. However, because it takes a long time to walk on the ramps when the water level is low, the tourist experience is very poor and it is not conducive to the promotion of water-based sightseeing tourism. To solve this problem, it is necessary to develop a passenger ramp control system that can be applied to ramp-type wharves with large water level differences. The system should coordinate and adjust the number of passenger ramps extending on the ramps according to the water level to adapt to the changes in water level. Summary of the Invention

[0003] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides a passenger gantry crane control system and method suitable for sloping wharves with large water level differences. It can automatically adjust the number of gantry crane modules according to different water levels to connect the pontoon and the passenger hall within a specified water level difference, facilitating passenger passage. It features high control precision, high comfort, and strong adaptability, effectively solving the problem in existing technologies where sloping wharves hinder sightseeing and tourism under large water level differences. It also addresses the issues of cumbersome processes, complex structures, low precision, and poor stability in scheduling multiple gantry cranes.

[0004] To achieve the above objectives, according to one aspect of the present invention, a passenger gantry crane control system suitable for sloping wharves with large water level differences is proposed, comprising a sloping wharf ramp module, a gantry crane scheduling module, a gantry crane module, an approach bridge module, and a control module, wherein,

[0005] The ramp module of the sloping wharf is located between the sloping vehicle dispatching module and the pontoon via a support module. The ramp module of the sloping wharf is equipped with a first positioning unit for fixing the sloping vehicle module.

[0006] The inclined vehicle scheduling module is located at one end of the inclined ramp module of the inclined dock near the shore, and is used to accommodate the inclined vehicle module.

[0007] The inclined car module is provided in multiple ways. The multiple inclined car modules are combined along the inclined ramp module of the inclined dock so that the lowest inclined car module moves to the designated first positioning unit. At the same time, the top of the highest inclined car module is connected to the passenger hall.

[0008] The approach bridge module is used to connect the bottom end of the lowest inclined car module and the barge after the inclined car module has moved into place;

[0009] The control module is used to identify the water level and determine the number of gantry modules for ferrying passengers based on the water level. It then controls the gantry modules to move to the corresponding positions, so that the top of the uppermost gantry module is connected to the passenger hall, and the bottom of the lowermost gantry module is connected to the pontoon via the approach bridge module, thus forming a passenger boarding and disembarking passage.

[0010] As a further preferred embodiment, the inclined vehicle module includes a local control station, a communication unit, an inclined vehicle mechanical body, and a first motion execution unit and a first fixing unit disposed on the inclined vehicle mechanical body. The local control station is connected to the control module, the first motion execution unit, and the first fixing unit respectively through the communication unit. The first fixing unit is used to identify the position of the first positioning unit and send its identification information to the control module through the local control station. The local control station controls the first motion execution unit to drive the inclined vehicle mechanical body to a designated position according to the identification information, so that the corresponding first fixing unit matches the first positioning unit. The first fixing unit operates to achieve a fixed connection with the corresponding first positioning unit.

[0011] As a further preferred embodiment, the first positioning unit includes a first lifting seat and a first coded identifier disposed on the first lifting seat;

[0012] The first fixing unit includes a first lifting component and a first visual recognition component installed on the slant frame mechanical body and matched with the first lifting seat. The first visual recognition component is used to recognize the first coded mark so that the slant frame mechanical body equipped with the first visual recognition component moves to the designated first lifting seat.

[0013] As a further preferred embodiment, the first motion execution unit includes a support wheel located at the bottom of the slant frame mechanical body, a drive shaft located at the center of the support wheel, a drive pinwheel coaxially arranged with the support wheel, and a drive motor located on the drive shaft that enables the drive shaft to run in both directions. The power output shaft of the drive motor is also provided with a rotary encoder for detecting the speed of the drive motor. The local control station obtains the position of the first fixed unit corresponding to it based on the speed information.

[0014] As a further preferred embodiment, the first lifting assembly includes a first lifting drive motor, which is communicatively connected to the local control station. After the inclined frame mechanical body is aligned with the designated first lifting seat, the first lifting drive motor extends into the first lifting seat to lift the support wheels of the inclined frame mechanical body to the track surface that is detached from the inclined ramp module of the inclined dock.

[0015] As a further preferred embodiment, the aforementioned inclined frame vehicle module stops moving after traveling a specified distance, and triggers the action of the first motion execution unit of the subsequent inclined frame vehicle module. This continues until the last inclined frame vehicle module stops moving after traveling a specified distance, and a start signal is sent to the control module. The control module then controls the movement of the aforementioned inclined frame vehicle modules. This process continues until the last inclined frame vehicle module moves to the designated first positioning unit.

[0016] As a further preferred embodiment, a transition inclined frame vehicle is also included. The transition inclined frame vehicle is mounted on the inclined ramp module of the inclined wharf and moves along the inclined ramp module of the inclined wharf under the control of the control module, with one end connected to the inclined frame vehicle module and the other end connected to the approach bridge module.

[0017] The transition inclined frame vehicle includes a second local control station, a second communication unit, a transition inclined frame vehicle body, and a second motion execution unit and a second fixing unit disposed on the transition inclined frame vehicle body. The second local control station is connected to the control module, the second motion execution unit, and the second fixing unit respectively through the second communication unit. The second fixing unit is used to identify the position of the second positioning unit and send its identification information to the control module through the local control station. The second local control station controls the second motion execution unit to drive the transition inclined frame vehicle body to a designated position, so that the corresponding second fixing unit matches the second positioning unit. The second fixing unit then operates to achieve a fixed connection with the corresponding second positioning unit.

[0018] As a further preferred embodiment, the second positioning unit includes a second lifting seat and a second coded identifier disposed on the second lifting seat;

[0019] The second fixing unit includes a second lifting component and a second visual recognition component installed on the transition slant frame vehicle body and matched with the second lifting seat. The second visual recognition component is used to recognize the second coded mark so that the transition slant frame vehicle body equipped with the second visual recognition component moves to the designated second lifting seat.

[0020] The second lifting assembly includes a second lifting drive motor, which is communicatively connected to the second local control station. After the transition gantry car body is aligned with the designated second lifting seat, the second lifting drive motor extends into the second lifting seat to lift the support wheels of the transition gantry car body to the track surface that is detached from the ramp module of the ramp dock.

[0021] According to another aspect of the present invention, a method for controlling passenger gantry cranes suitable for sloping wharves with large water level differences is also proposed, comprising the following steps:

[0022] The control module identifies the Yangtze River water level information and calculates the number of inclined frame modules needed based on the height difference between the water level information and the passenger hall.

[0023] The control module controls multiple inclined car modules to move from the inclined car scheduling module to the corresponding first positioning unit on the inclined ramp module of the inclined dock. During this process, the inclined car module in front moves a distance of one inclined car module and then stops, sending a command to the inclined car module behind it. The inclined car module behind moves a distance of one inclined car module and then stops, sending a command to the inclined car module in front and the inclined car module behind it. At this time, the inclined car module in front and the inclined car module behind continue to move a distance of one inclined car module until the last inclined car module moves to the designated first positioning unit.

[0024] The bottom of the lowest inclined bridge module is connected to the pontoon by a bridge module, and the top of the highest inclined bridge module is connected to the passenger hall to form a passenger boarding and disembarking passage.

[0025] As a further preferred embodiment, the aforementioned inclined vehicle scheduling module stops moving after traveling a specified distance, and triggers the action of the first motion execution unit of the subsequent inclined vehicle scheduling module. This continues until the last inclined vehicle scheduling module stops moving after traveling a specified distance, and a start signal is sent to the control module. The control module then controls the movement of the aforementioned inclined vehicle scheduling modules. This process continues until the last inclined vehicle module moves to the designated first positioning unit.

[0026] In summary, compared with the prior art, the above-described technical solutions conceived by this invention mainly possess the following technical advantages:

[0027] 1. The system of the present invention can automatically adjust the number of inclined frame modules according to different water levels to connect the pontoon and the passenger hall within a specified water level difference, so as to facilitate the passage of passengers. It has the characteristics of good control precision, high comfort and strong adaptability.

[0028] 2. This invention provides specific designs for the actions of each module of the system, especially the actions of the inclined frame module, which simplifies the system's cable structure, increases control precision, and makes it easier to detect and correct faults in the movement of a single inclined frame module, thereby improving the overall controllability and safety of the system.

[0029] 3. In this invention, when the inclined car reaches the designated position, the lifting device drives the lifting column into the lifting seat on the inclined ramp, and lifts the supporting wheels of the inclined car to about 5mm off the rail surface, thus fixing the inclined car and eliminating the horizontal force of the inclined car on the inclined ramp, which can effectively ensure its stability and improve passenger comfort. The inclined car scheduling module adopts a high-low rail form, which is inspired by the mode of launching and launching ships in shipyards, and can meet the function of horizontal parking of the inclined car when it is not in use.

[0030] 4. This invention can effectively reduce the walking distance of passengers and improve passenger comfort; it can use one or more inclined cars depending on the water level. When the water level changes, the inclined cars of each level can move up or down by walking along the track. It has good adaptability, is easy to operate, and has a self-climbing function. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the structure of a passenger sloping vehicle control system applicable to a sloping wharf with a large water level difference, according to the present invention.

[0032] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 1-sloping wharf ramp module, 2-sloping vehicle dispatching module, 3-sloping vehicle module, 4-approach bridge module, 5-transition sloping vehicle. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0034] like Figure 1As shown in the figure, an embodiment of the present invention provides a passenger gantry crane control system suitable for a sloping wharf with a large water level difference, including a sloping wharf ramp module 1, a gantry crane dispatching module 2, gantry crane modules 3, a ramp module 4, and a control module. The sloping wharf ramp module 1 is located between the gantry crane dispatching module 2 and the pontoon via a support module. The sloping wharf ramp module 1 is equipped with a first positioning unit for fixing the gantry crane modules 3. The gantry crane dispatching module 2 is located at the end of the sloping wharf ramp module 1 near the shore and is used to house the gantry crane modules 3. Multiple gantry crane modules 3 are provided, and the multiple gantry crane modules 3 are arranged along the ramp... The ramp module 1 of the sloping wharf allows the lowest sloping vehicle module 3 to move to the designated first positioning unit, while the top of the highest sloping vehicle module 3 is connected to the passenger hall. The approach bridge module 4 is used to connect the bottom of the lowest sloping vehicle module 3 to the pontoon after the sloping vehicle module 3 has moved into position. The control module is used to identify the water level and determine the number of sloping vehicle modules 3 used for ferrying passengers based on the water level, and control the drive sloping vehicle modules 3 to move to the corresponding positions, so that the top of the highest sloping vehicle module 3 is connected to the passenger hall, and the bottom of the lowest sloping vehicle module 3 is connected to the pontoon through the approach bridge module 4, thus forming a passenger boarding and disembarking channel.

[0035] In one embodiment of the present invention, after the aforementioned inclined vehicle scheduling module 2 moves a specified distance, it stops moving and triggers the action of the subsequent inclined vehicle scheduling module 2. This continues until the last inclined vehicle scheduling module 2 moves a specified distance and stops moving. A start signal is sent to the control module, which controls the movement of the aforementioned inclined vehicle scheduling module 2. This process continues until the last inclined vehicle module 3 moves to the designated first positioning unit.

[0036] In one embodiment of the present invention, the inclined vehicle module 3 includes a first local control station, a communication unit, an inclined vehicle mechanical body, and a first motion execution unit and a first fixing unit disposed on the inclined vehicle mechanical body. The local control station is connected to the control module, the first motion execution unit, and the first fixing unit respectively through the communication unit. The first fixing unit is used to identify the position of the first positioning unit and send its identification information to the control module through the first local control station. The first local control station controls the first motion execution unit to drive the inclined vehicle mechanical body to a designated position according to the identification information, so that the corresponding first fixing unit matches the first positioning unit. The first fixing unit operates to achieve a fixed connection with the corresponding first positioning unit.

[0037] In one embodiment of the present invention, the first positioning unit includes a first lifting seat and a first coded identifier disposed on the first lifting seat; the first fixing unit includes a first lifting component and a first visual recognition component mounted on the slant frame mechanical body and matching the first lifting seat, the first visual recognition component being used to recognize the first coded identifier so that the slant frame mechanical body equipped with the first visual recognition component moves to the designated first lifting seat.

[0038] In one embodiment of the present invention, the inclined vehicle scheduling module includes a motion track and a parking track arranged below the motion track. The motion track is connected to the track of the inclined dock ramp module 1. The vertical distance between the motion track and the parking track is the vertical distance between the upper wheel and the lower wheel of the inclined vehicle module 3. In this way, the inclined vehicle module 3 maintains its posture during the retrieval and scheduling process.

[0039] More specifically, in this invention, the control system obtains water level information through a water level identification device, calculates the water level difference between the passenger hall and the pontoon, and calculates the number of inclined car modules that need to operate based on this water level difference, while simultaneously activating the corresponding inclined car modules that need to operate. In this embodiment, generally, five inclined car modules are sufficient to meet the needs of Yangtze River water level changes. That is, five inclined car modules are arranged and stored sequentially in the inclined car scheduling module. The control module includes a host computer that integrates a human-machine interface and a data processing module. The host computer also integrates a host computer CAN communication module and a host computer Ethernet communication module. To reduce the amount of fiber optic cables and electrical wires carried by the inclined plane vehicle, in a preferred embodiment of the invention, the local control stations between adjacent inclined plane vehicle bodies are connected via communication components. That is, instructions sent by the control module are sequentially transmitted from the last inclined plane vehicle body to the first. Correspondingly, the local control station of the last inclined plane vehicle body is connected to the power system via a control cable, and the power system is connected to the actuator via a motor. The local control stations of the intermediate inclined plane vehicle bodies are connected to the preceding and following local control stations via optical fibers and cables, respectively. In this way, the information from the main control module is transmitted layer by layer, from the last local control station to the last local control station. Similarly, the power system transmits information from the last local control station to the last local control station. Each local control station then executes actions according to the corresponding instructions. Of course, in one embodiment of the present invention, the main control module can also be connected to each local control station via multiple optical fibers and cables. Regardless of the method, the preferred movement mode in the present invention includes: according to the required number of inclined frame vehicles, first drive the first inclined frame vehicle to a designated position and stop, then drive the second inclined frame vehicle to the end of the first inclined frame vehicle, and so on, until all inclined frame vehicles have moved to the designated positions. To ensure the stability of the inclined frame vehicles on the inclined track, the first inclined frame vehicle stops when it reaches the first positioning unit, and the next inclined frame vehicle moves. After all the designated inclined frame vehicles have moved, the previous inclined frame vehicle moves forward one more inclined frame vehicle distance, i.e., stops when it aligns with the previous first positioning unit. This ensures that each inclined frame vehicle is connected to a positioning unit after entering the inclined track, thus guaranteeing the stability of the overall system operation.

[0040] In one embodiment of the present invention, the control module labels both the inclined frame vehicle module and the coded identifier. During operation, the visual recognition component identifies the code and position of the coded identifier and transmits the above information to the local control station carrying it. The local control station then drives its motor to rotate according to the distance between the first fixed unit and the first positioning unit.

[0041] In one embodiment of the present invention, a transition inclined frame vehicle 5 is further included. The transition inclined frame vehicle 5 is disposed on the inclined ramp module 1 of the inclined wharf and moves along the inclined ramp module 1 under the control of the control module, with one end connected to the inclined frame vehicle module 3 and the other end connected to the approach bridge module 4. The transition inclined frame vehicle 5 includes a second local control station, a second communication unit, a transition inclined frame vehicle body, and a second motion execution unit and a second fixing unit disposed on the transition inclined frame vehicle body. The second local control station is connected to the control module, the second motion execution unit, and the second fixing unit respectively through the second communication unit. The second fixing unit is used to identify the position of the second positioning unit and send its identification information to the control module through the local control station. The second local control station controls the second motion execution unit to drive the transition inclined frame vehicle body to a designated position according to the identification information, so that the corresponding second fixing unit matches the second positioning unit. The second fixing unit operates to achieve a fixed connection with the corresponding second positioning unit. The second positioning unit includes a second lifting seat and a second coded mark disposed on the second lifting seat; the second fixing unit includes a second lifting component and a second visual recognition component installed on the transition sloping frame vehicle body and matching the second lifting seat. The second visual recognition component is used to identify the second coded mark so that the transition sloping frame vehicle body equipped with the second visual recognition component moves to the designated second lifting seat; the second lifting component includes a second lifting drive motor, which is communicatively connected to the second local control station, and after the transition sloping frame vehicle body is aligned with the designated second lifting seat, it extends into the second lifting seat to lift the support wheels of the transition sloping frame vehicle body to the rail surface that is detached from the ramp module 1 of the ramp dock.

[0042] Of course, in the above embodiment, the second local control station is connected to the local control station of its adjacent slant car via optical fiber and cable. Furthermore, during each dispatch, the transition slant car first travels the distance of one slant car before stopping.

[0043] In one embodiment of the present invention, the inclined car module further includes an escalator mounted on the inclined car mechanical body. The first motion execution unit includes a support wheel mounted at the bottom of the inclined car mechanical body, a drive shaft mounted at the center of the support wheel, a drive pinwheel coaxially mounted with the support wheel, and a drive motor mounted on the drive shaft to enable forward and reverse operation of the drive shaft. A rotary encoder for detecting the speed of the drive motor is also mounted on the power output shaft of the drive motor. The first local control station obtains the position of the corresponding first fixed unit based on the speed information. Further, a track is provided on the inclined ramp module of the inclined dock, and pins are provided on the track to mesh with the drive pinwheel. In the above embodiment, each inclined car module is configured with at least two sets of first motion execution units. The support wheel and drive shaft are connected by rolling bearings, and the drive pinwheel and drive shaft are connected by a key; the support wheel is a driven wheel, and the drive pinwheel is a driving wheel.

[0044] In one embodiment of the present invention, when the multi-stage inclined car mechanical bodies are used in combination, the beginning and end parts of adjacent two stages of inclined car mechanical bodies are respectively equipped with matching connecting devices, so that each stage of inclined car mechanical bodies can be connected end to end to form a continuous channel.

[0045] In one embodiment of the invention, a pinwheel drive device is provided at the bottom of the inclined escalator module. By adopting the pinwheel and pin-pin process, the self-propelled function of the escalator equipment can be achieved, and all inclined escalator modules share a set of tracks (two pairs), greatly reducing the required supporting equipment and simplifying operation. Considering the problems of water corrosion and foreign object blockage when operating on a sloping wharf, the pinwheel and pin-pin process has a high fault tolerance rate, is easy to clean, and can effectively extend its service life. A safety protection unit is provided at the bottom of the inclined escalator module. Using a lifting device, when the inclined escalator module runs to the designated position, the lifting column is inserted into the lifting seat on the sloping ramp by the lifting device drive mechanism, and the supporting wheels of the inclined escalator module are lifted to about 5mm off the rail surface, completing the fixation of the inclined escalator and eliminating the horizontal force of the inclined escalator module on the sloping ramp, which can effectively ensure its stability and improve passenger comfort. The use of a high-low rail system, drawing on the model of launching and launching ships in shipyards, can meet the horizontal parking function of the inclined escalator when not in use.

[0046] The system of the present invention also includes an alarm module, which is used to sound an alarm when the lifting drive motor cannot extend into the second lifting seat. At this time, the control module will control the lifting drive motor to retract, and the vision recognition component will re-identify the position of the corresponding coded mark, and use image recognition positioning technology to calculate the distance between the lifting drive motor and the second lifting seat, and drive the inclined frame mechanical body to move again according to the distance.

[0047] In one embodiment of the invention, the uppermost inclined car module located on the ramp is connected to a fixed escalator on the ramp via a transfer bridge. One end of the fixed escalator is the passenger hall, and the other end is the transfer bridge. Specifically, the transfer bridge is fixed below the fixed escalator on the ramp, with one end connected to the fixed escalator and the other end connected to either the inclined car module (when n≥1) or a transition inclined car module (when n=0). More specifically, the control module calculates the need to schedule n inclined car modules. When n≥1, the transfer bridge connects to the last inclined car module to move; when n=0, the transfer bridge connects to the transition inclined car module.

[0048] According to another aspect of the present invention, a method for controlling passenger gantry cranes suitable for sloping wharves with large water level differences is also provided, comprising the following steps:

[0049] The S1 control module identifies the Yangtze River water level information and calculates the number of inclined frame modules 3 required based on the height difference between the water level information and the passenger hall.

[0050] The S2 control module controls multiple inclined car modules 3 to move from the inclined car scheduling module 2 to the corresponding first positioning unit on the inclined ramp module 1 of the inclined dock. During this process, the inclined car module 3 in front moves a distance of one inclined car module 3 length and then stops, sending a command to the inclined car module 3 behind it. The inclined car module 3 behind moves a distance of one inclined car module 3 length and then stops, simultaneously sending commands to the inclined car modules in front and behind it. At this time, the inclined car modules in front and behind continue to move a distance of one inclined car module 3 length until the last inclined car module 3 moves to the designated corresponding first positioning unit.

[0051] S3 uses approach bridge module 4 to connect the bottom of the lowest inclined car module 3 to the pontoon, and the top of the highest inclined car module 3 to the passenger hall, so as to form a passenger boarding and disembarking passage.

[0052] In the above method, the inclined frame vehicle module stops moving after moving a specified distance, and triggers the action of the first motion execution unit of the subsequent inclined frame vehicle module. This continues until the last inclined frame vehicle module stops moving after moving a specified distance, and a start signal is sent to the control module. The control module controls the movement of the previously mentioned inclined frame vehicle module. This process continues until the last inclined frame vehicle module 3 moves to the designated first positioning unit.

[0053] Furthermore, the specified distance is the horizontal distance length of the inclined vehicle module. That is, when the inclined vehicle module moves to the inclined ramp module of the inclined wharf, each inclined vehicle module can be fixed with the first positioning unit set on the inclined vehicle module to ensure the stability of the overall system.

[0054] Furthermore, in this invention, after the inclined frame module 3 receives the motion command, the first lifting drive motor retracts, causing the support wheel to contact the track. At the same time, the pin is inserted into the transmission pin wheel. Correspondingly, when the inclined frame module 3 moves to the designated first positioning unit, the pin is withdrawn from the transmission pin wheel, and the first lifting drive motor extends into the lifting seat, causing the inclined frame module 3 to be raised to a designated distance (generally 5mm).

[0055] In this invention, the inclined frame vehicle module 3 and the transition inclined frame vehicle are identical except for their mechanical body structure; the other components, such as the local control station, communication unit, motion execution unit, and fixing unit, are the same. More specifically, since their horizontal lengths differ, this invention employs a specific design for the positioning unit. A first positioning unit and a second positioning unit are arranged adjacent to each other, and the horizontal distance between the first and second positioning units is equal to the horizontal distance of the transition inclined frame vehicle. This distance also ensures that adjacent inclined frame vehicle modules 3 can be docked end-to-end.

[0056] In one embodiment of the present invention, a passenger sloping vehicle control system suitable for a sloping wharf with a large water level difference includes sloping vehicle module 5, sloping vehicle module 4, sloping vehicle module 3, sloping vehicle module 2, sloping vehicle module 1, sloping vehicle dispatching module, approach bridge module, local control station of sloping vehicle module 5, local control station of sloping vehicle module 4, local control station of sloping vehicle module 3, local control station of sloping vehicle module 2, local control station of sloping vehicle module 1, centralized control console computer monitoring system (control module), and water level sensing device (or water level identification device).

[0057] The inclined frame module 5 comprises an escalator inclined frame mechanical body, a power system, and an actuator. The local control station of the inclined frame module 5 is connected to the power system via a control cable, and the power system is connected to the actuator via a motor. (Inclined frame module description: The self-propelled inclined frame consists of an escalator, a steel body structure, a pinwheel drive device, driven wheels, a hydraulic jacking device, and hydraulic auxiliary equipment. The escalator, pinwheel drive device, and hydraulic pin device are all mounted on the steel body, which is a truss structure. Two sets of escalators are installed above the steel structure of the inclined frame, and four sets of jacking devices and two sets of pinwheel drive devices are installed at the bottom: two sets of jacking devices are located at the head of the inclined frame, and two sets are located at the rear. When the inclined frame reaches the designated position, the jacking device drive mechanism inserts the jacking column into the jacking seat on the ramp, and the inclined frame support wheels are then...) The escalator is lifted to approximately 5mm off the rail surface, completing the fixation of the inclined car and eliminating the horizontal force exerted by the inclined car on the ramp. Two sets of pinwheel drive devices are installed at the front support wheels and the rear driven wheels. The support wheels run inside the track, and the support wheels and drive pinwheels are arranged coaxially. The drive pinwheels mesh with pins on the outer side of the track, allowing the inclined car to run along the ramp track and complete its self-propelled movement on the ramp. The inclined car module 4 includes the mechanical body of the escalator inclined car, a power system, and an actuator. The local control station of the inclined car module 4 is connected to the power system via a control cable, and the power system is connected to the actuator via a motor. The inclined car module 3 includes the mechanical body of the escalator inclined car, a power system, and an actuator. The local control station of the inclined car module 3 is connected to the power system via a control cable, and the power system is connected to the actuator via a motor. The inclined car module 2 includes the mechanical body of the escalator inclined car, a power system, and an actuator. The local control station of the inclined car module 2 is connected to the power system via a control cable, and the power system is connected to the actuator via a motor. The inclined escalator module 1 comprises an escalator inclined escalator mechanical body, a power system, and an actuator. The local control station of the inclined escalator module 1 is connected to the power system via a control cable, and the power system is connected to the actuator via a motor. The transition inclined escalator includes a transition inclined escalator mechanical body, which is fixed together with the inclined escalator module 1 and is towed by the inclined escalator module 1. The steel approach bridge, a structural component, connects the transition inclined escalator and the pontoon, forming a passenger boarding and disembarking passage.

[0058] The local control station for slant-beam vehicle module 5 consists of a PLC controller and is connected via fiber optic cables to the local control station for slant-beam vehicle module 4 and the centralized control console process control station. The local control station for slant-beam vehicle module 4 consists of a PLC controller and is connected via fiber optic cables to the local control stations for slant-beam vehicle module 5 and slant-beam vehicle module 3. The local control station for slant-beam vehicle module 3 consists of a PLC controller and is connected via fiber optic cables to the local control stations for slant-beam vehicle module 4 and slant-beam vehicle module 2. The local control station for slant-beam vehicle module 2 consists of a PLC controller and is connected via fiber optic cables to the local control stations for slant-beam vehicle module 3 and slant-beam vehicle module 1. The local control station for slant-beam vehicle module 1 consists of a PLC controller and is connected via fiber optic cables to the local control stations for slant-beam vehicle module 2 and the transition slant-beam vehicle. The transition slant-beam vehicle local control station consists of a PLC controller and is connected via fiber optic cables to the local control station for slant-beam vehicle module 1. The centralized control console's process control station consists of a PLC controller, connected via fiber optic cables to the local control station of the inclined ramp module 5, and via a network cable to the centralized control console's computer monitoring system. The centralized control console's computer monitoring system consists of a computer host and a monitor, connected to the centralized control console's process control station via a network cable. The water level sensing device, including a water level sensor and a water level detection controller, is installed at the dock location and extends into the water. Inclined ramp modules 5, 4, 3, 2, and 1, the transition inclined ramp, the approach bridge module, and the pontoon are assembled to form a passageway connecting the passenger hall and the cruise ship. Based on the water level provided by the water level sensing device, the passenger inclined ramp control system controls the inclined ramp modules 5, 4, 3, 2, and 1, and the transition inclined ramp to move along the ramp, forming a pedestrian passageway from the passenger hall to the cruise ship adapted to the current water level, meeting the control requirements of a straight inclined ramp dock with a large water level difference.

[0059] The intelligent centralized control system for the inclined car system features intelligent control capabilities, enabling one-button start-up of the inclined car system equipment (inclined car module 5, inclined car module 4, inclined car module 3, inclined car module 2, and inclined car module 1). Specifically, based on the current water level, inclined car modules 5, 4, 3, 2, and 1 are sequentially moved to their designated positions. The escalator inclined car section utilizes one or more of the escalator inclined car modules depending on the water level.

[0060] (I) When the water level is between 158.0m and 161.5m, the transition inclined car moves to 165.0m, inclined car module 1 moves to 170.6m, inclined car module 2 moves to 176.2m, inclined car module 3 moves to 181.8m, inclined car module 4 moves to 187.4m, and inclined car module 5 moves to 193.0m. The transition inclined car module connects to inclined car module 1. Passengers come out from the approach bridge module corresponding to the transition inclined car module, pass through the transition inclined car module and inclined car modules 1 to 5 to reach the transfer bridge connected to inclined car module 5 (193m), and then reach the passenger hall through the escalator and other passages fixed by the inclined ramp.

[0061] (II) When the water level is between 161.5m and 167.1m, the transition inclined car moves to 170.6m, inclined car module 1 moves to 176.2m, inclined car module 2 moves to 181.8m, inclined car module 3 moves to 187.4m, inclined car module 4 moves to 193.0m, and inclined car module 5 remains stationary. The transition inclined car module connects to inclined car module 1. Passengers exit from the approach bridge module corresponding to the transition inclined car module, pass through the transition inclined car module and inclined car modules 1 to 4 to reach the transfer bridge connected to inclined car module 4 (193m), and then reach the passenger hall through the escalator and other passages fixed by the inclined ramp.

[0062] (III) When the water level is between 167.1m and 172.7m, the transition inclined car moves to 176.2m, inclined car module 1 moves to 181.8m, inclined car module 2 moves to 187.4m, and inclined car module 3 moves to 193.0m. Inclined car modules 5 and 4 remain stationary. The transition inclined car module connects to inclined car module 1. Passengers exit from the approach bridge module corresponding to the transition inclined car module, pass through the transition inclined car module and inclined car modules 1-3 to reach the transfer bridge connected to inclined car module 3 (193m), and then reach the passenger hall through the escalator and other passages fixed by the inclined ramp.

[0063] (iv) When the water level is between 172.7m and 178.3m, the transition inclined car moves to 181.8m, inclined car module 1 moves to 187.4m, and inclined car module 2 moves to 193.0m. Inclined car modules 3, 4, and 5 are not needed at this time. The transition inclined car module is connected to the inclined car module 1. Passengers come out from the approach bridge module corresponding to the transition inclined car module, and reach the transfer bridge connected to the inclined car module 2 (193m) through the transition inclined car module, inclined car modules 1 and 2. Then they reach the passenger hall through the escalator and other passages fixed by the inclined ramp.

[0064] (V) When the water level is between 178.3m and 183.9m, the transition inclined car moves to 187.4m and the inclined car module 1 moves to 193.0m. Inclined car modules 2, 3, 4, and 5 are not needed at this time. The transition inclined car module is connected to the inclined car module 1. Passengers come out from the approach bridge module corresponding to the transition inclined car module, pass through the transition inclined car module and the inclined car module 1 to reach the transfer bridge connected to the inclined car module 1 (193m), and then reach the passenger hall through the escalator and other passages fixed by the inclined ramp.

[0065] (vi) When the water level is between 183.9m and 185.0m, the transition inclined car moves to 193.0m. Passengers exit from the transfer bridge (193.0m) corresponding to the transition inclined car module (inclined car module 1, inclined car module 2, inclined car module 3, inclined car module 4, and inclined car module 5 are not needed at this time). Passengers exit from the approach bridge module corresponding to the transition inclined car module, pass through the transition inclined car module, the transfer bridge connected to the transition inclined car module, and then through the escalator and other passages fixed by the inclined ramp to reach the passenger hall.

[0066] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A passenger gantry crane control system suitable for sloping wharves with large water level differences, characterized in that, It includes a ramp module for the sloping wharf (1), a gantry crane scheduling module (2), a gantry crane module (3), an approach bridge module (4), and a control module, among which, The ramp module (1) of the sloping wharf is located between the sloping vehicle dispatching module (2) and the pontoon via a support module. The ramp module (1) of the sloping wharf is provided with a first positioning unit for fixing the sloping vehicle module (3). The inclined vehicle scheduling module (2) is located at one end of the inclined ramp module (1) near the shore and is used to house the inclined vehicle module (3). The inclined car module (3) is provided in multiple ways. The multiple inclined car modules (3) are combined along the inclined ramp module (1) of the inclined wharf so that the lowest inclined car module (3) moves to the designated first positioning unit. At the same time, the top of the highest inclined car module (3) is connected to the passenger hall. It also includes a transition inclined frame vehicle (5), one end of which is connected to the inclined frame vehicle module (3) and the other end is connected to the approach bridge module (4). The transition inclined frame vehicle (5) includes a transition inclined frame vehicle body and a second motion execution unit and a second fixing unit disposed on the transition inclined frame vehicle body. The second fixing unit is used to identify the position of the second positioning unit. The second positioning unit includes a second lifting seat and a second coding mark disposed on the second lifting seat. The second fixing unit includes a second lifting component and a second visual recognition component installed on the transition inclined frame vehicle body and matched with the second lifting seat. The second lifting component includes a second lifting drive motor. The control module is used to identify the water level and determine the number of sloping car modules (3) used for ferrying passengers based on the water level, and control the sloping car modules (3) to move to the corresponding positions, so that the top of the uppermost sloping car module (3) is connected to the passenger hall, and the bottom of the lowermost sloping car module (3) is connected to the pontoon through the approach bridge module (4) to form a passenger boarding and disembarking channel. The control module controls multiple inclined car modules (3) to move from the inclined car scheduling module (2) to the corresponding first positioning unit on the inclined ramp module (1) of the inclined wharf. During this process, the inclined car module (3) in front moves a distance of one inclined car module (3) and then stops, and sends a command to the inclined car module (3) behind it. The inclined car module (3) behind moves a distance of one inclined car module (3) and then stops, and sends a command to the inclined car module (3) in front and behind it. At this time, the inclined car module (3) in front and the inclined car module (3) behind continue to move a distance of one inclined car module (3) until the last inclined car module (3) moves to the designated first positioning unit. It also includes an alarm module, which is used to sound an alarm when the second lifting drive motor cannot extend into the second lifting seat. At this time, the control module will control the second lifting drive motor to retract, and the second vision recognition component will re-identify the position of the second coded mark, and use image recognition positioning technology to calculate the distance between the second lifting drive motor and the second lifting seat, and re-drive the transition inclined frame body to move according to the distance.

2. The passenger gantry crane control system for a sloping wharf with a large water level difference according to claim 1, characterized in that, The inclined frame vehicle module (3) includes a first local control station, a communication unit, an inclined frame vehicle mechanical body, and a first motion execution unit and a first fixing unit disposed on the inclined frame vehicle mechanical body. The first local control station is connected to the control module, the first motion execution unit, and the first fixing unit through the communication unit. The first fixing unit is used to identify the position of the first positioning unit and send its identification information to the control module through the first local control station. The first local control station controls the first motion execution unit to drive the inclined frame vehicle mechanical body to the designated position, so that the corresponding first fixing unit matches the first positioning unit. The first fixing unit operates to achieve a fixed connection with the corresponding first positioning unit.

3. A passenger gantry crane control system for a sloping wharf with a large water level difference, as described in claim 2, is characterized in that... The first positioning unit includes a first lifting seat and a first coded identifier disposed on the first lifting seat; The first fixing unit includes a first lifting component and a first visual recognition component installed on the slant frame mechanical body and matched with the first lifting seat. The first visual recognition component is used to recognize the first coded mark so that the slant frame mechanical body equipped with the first visual recognition component moves to the designated first lifting seat.

4. A passenger gantry crane control system for a sloping wharf with a large water level difference, as described in claim 3, is characterized in that... The first motion execution unit includes a support wheel located at the bottom of the slant frame mechanical body, a transmission shaft located at the center of the support wheel, a transmission pinwheel coaxially arranged with the support wheel, and a drive motor located on the transmission shaft that enables the transmission shaft to run in both directions. The power output shaft of the drive motor is also provided with a rotary encoder for detecting the speed of the drive motor. The first local control station obtains the position of the first fixed unit corresponding to it based on the speed information.

5. A passenger gantry crane control system for a sloping wharf with a large water level difference, as described in claim 4, is characterized in that... The first lifting assembly includes a first lifting drive motor, which is communicatively connected to the first local control station. After the inclined frame mechanical body is aligned with the designated first lifting seat, the first lifting drive motor extends into the first lifting seat to lift the support wheels of the inclined frame mechanical body to the track surface that is detached from the inclined ramp module (1) of the inclined dock.

6. A passenger gantry crane control system for a sloping wharf with a large water level difference, as described in claim 5, is characterized in that... The transition inclined frame vehicle (5) is mounted on the inclined ramp module (1) of the inclined wharf and moves along the inclined ramp module (1) under the control of the control module; The transition inclined frame vehicle (5) further includes a second local control station and a second communication unit. The second local control station is connected to the control module, the second motion execution unit, and the second fixed unit through the second communication unit. The second fixed unit sends its identification information to the control module through the local control station. The second local control station controls the second motion execution unit to drive the transition inclined frame vehicle body to a designated position based on the identification information, so that the corresponding second fixed unit matches the second positioning unit. The second fixed unit then operates to achieve a fixed connection with the corresponding second positioning unit.

7. A passenger gantry crane control system for a sloping wharf with a large water level difference, as described in claim 6, is characterized in that... The second visual recognition component is used to recognize the second coded identifier so that the transition slant car body equipped with the second visual recognition component moves to the designated second lifting seat; The second lifting drive motor is communicatively connected to the second local control station, and after the transition sloping frame body is aligned with the designated second lifting seat, it extends into the second lifting seat to lift the support wheels of the transition sloping frame body to the rail surface that is detached from the sloping wharf ramp module (1).

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