Railway loading and unloading line automatic gantry crane dynamic protection system

Abstract

A kind of railway loading and unloading line automation portal crane dynamic protection system, including yard management system BMS, railway signal route control system CIS, yard crane control system ECS and yard crane active avoidance protection device, the yard crane active avoidance protection device is the subsystem of yard crane control system ECS, the yard crane active avoidance protection device is used to obtain railway vehicle gauge and railway building gauge, railway line track is divided into free operation area and non-free operation area based on railway vehicle gauge and railway building gauge, the position coordinates of yard crane machinery are measured in real time when loading and unloading operation, the operation area of yard crane machinery is judged based on the position coordinates, and loading and unloading operation is carried out in the track area with operation control right by yard crane machinery, or in the free operation area of track without operation control right.

Description

Technical Field

[0001] This invention relates to the field of railway transportation, and specifically to a dynamic protection system for automated gantry cranes on railway loading and unloading lines. Background Technology

[0002] In existing railway container yard operations, bridge cranes or gantry cranes (referred to as yard cranes or portal cranes) are commonly used for lifting operations. Rotary encoders are mostly used to measure the distance between the spreader and the trolley. Currently, the distance between the spreader and the trolley is a crucial sensor parameter for determining the container's position in intelligent container yard management. The distance between the crane trolley and the spreader is currently calculated based on the rotary encoder on the winch of the spreader, combined with the winch's diameter. However, the cable may be slack during lowering, and the winch diameter changes continuously as the cable is lowered. In this situation, calculating the distance between the spreader and the container using the rotary encoder value can easily introduce inaccuracies, causing the intelligent management system to be unable to accurately determine the container's position and affecting lifting efficiency. Summary of the Invention

[0003] In view of the technical defects and drawbacks existing in the prior art, embodiments of the present invention provide a dynamic protection system for automated gantry cranes on railway loading and unloading lines that overcomes or at least partially solves the above problems. The specific solution is as follows: A dynamic protection system for automated gantry cranes on railway loading and unloading lines is disclosed. The system includes an active avoidance protection device for the gantry crane. The active avoidance protection device is used to acquire railway vehicle clearance and railway construction clearance, and divide the railway track into free operation area and non-free operation area based on the railway vehicle clearance and railway construction clearance. During loading and unloading operations, the system measures the position coordinates of the gantry crane in real time, determines the operation area of ​​the gantry crane based on the position coordinates, and controls the gantry crane to carry out loading and unloading operations in the track area where it has operation control rights, or to carry out loading and unloading operations in the free operation area of ​​the track where it does not have operation control rights.

[0004] Furthermore, the yard crane machinery includes a yard crane trolley, a lifting device, and corresponding cargo.

[0005] Furthermore, the active avoidance and protection device for the yard bridge includes a yard bridge coordinate system establishment module, a railway track zoning module, and a yard bridge mechanical judgment module; The bridge coordinate system establishment module is used to establish the coordinate systems for railway vehicle clearance and railway construction clearance. The railway track partitioning module is used to divide the railway track into free operation areas and non-free operation areas, including: dividing the area between the gantry crane beam and the railway construction clearance into free operation area Q1, and dividing the railway vehicle clearance area and the area between the railway construction clearance and the railway vehicle clearance into non-free operation areas. The yard crane machinery judgment module is used to measure the coordinate position of the yard crane machinery during loading and unloading operations, determine the working area of ​​the yard crane machinery based on the position coordinates, and determine whether the working area is located in the free working area Q1. If the working area of ​​the yard crane machinery is in the non-free working area, an alarm is triggered and the yard crane machinery is controlled to exit the non-free working area.

[0006] Furthermore, the establishment of the railway vehicle clearance and railway construction clearance coordinate systems by the bridge and yard coordinate system establishment module specifically includes: A coordinate system for the loading and unloading area of ​​the gantry crane is set up with the center of the gantry crane track adjacent to the railway loading and unloading line as the base point. The track surface elevation and the transverse coordinate point of the center of the railway loading and unloading line of each track are marked and stored. The coordinate system for railway vehicle clearance and railway construction clearance of each track is determined by using the track surface elevation and track center as the base points.

[0007] Furthermore, the non-free operation area includes: the buffer monitoring area Q2 between the railway construction clearance and the railway vehicle clearance, and the railway vehicle clearance area, i.e., the railway vehicle loading and operation area Q3. The yard crane machinery judgment module is used to: when the yard crane machinery does not have the right to work on the corresponding track, if the yard crane machinery enters the Q2 and Q3 areas of the corresponding track, it will alarm the railway signal route control system and control the yard crane machinery to exit the Q2 and Q3 areas. When the yard crane machinery enters Q3, it will also simultaneously close the railway signal of the corresponding track through the railway signal route control system and notify the corresponding shunting locomotive to stop urgently.

[0008] Furthermore, the active avoidance protection device for the yard crane also includes a hoisting position monitoring device, which includes a three-dimensional radar camera to measure the coordinate position of the yard crane machinery during loading and unloading operations.

[0009] Furthermore, the hoisting position monitoring device includes multiple sets of three-dimensional radar cameras. These multiple sets of three-dimensional radar cameras capture and measure the coordinate position of the exiting bridge machinery from different angles. The hoisting position monitoring device is also used to synthesize the images captured by the multiple sets of three-dimensional radar cameras to form a three-dimensional composite image, so as to avoid false alarms caused by a single three-dimensional radar camera being blocked by a vehicle or hoist.

[0010] Furthermore, multiple sets of the aforementioned three-dimensional radar cameras are respectively mounted on the columns on both sides of the gantry crane and on the cantilever transverse main beam.

[0011] Furthermore, the system also includes a railway signal route control system (CIS) and a yard crane control system (ECS), and the yard crane active avoidance protection device is a subsystem of the yard crane control system (ECS). The railway signal route control system (CIS) is used to apply for operation control rights from the yard crane control system (ECS) when planning to arrange shunting routes to the corresponding tracks of the loading and unloading line. After the shunting operation on the corresponding tracks of the loading and unloading line is completed, it exits the railway operation mode and hands over the operation control rights of the corresponding tracks of the loading and unloading line to the yard crane control system (ECS). The ECS (Electronic Control System) is used to stop loading and unloading operations on the corresponding track after receiving a request for operation control from the CIS (Cyber ​​Railway Signal and Route Control System), hand over the operation control of the corresponding track to the CIS, lose the operation control of the corresponding track, and carry out loading and unloading operations in the adjacent track area with operation control according to the operation plan.

[0012] Furthermore, the ECS (Electronic Control System for Yards) is used to move the yard crane machinery out of the non-free operation area of ​​the corresponding track through the yard crane active avoidance protection device after the railway signal route control system (CIS) requests the operation control right, and to lock the area so that it cannot be intruded.

[0013] The present invention has the following beneficial effects: (1) The present invention adopts the yard crane system with the main control of loading and unloading line operation. The railway route control system needs to apply for and obtain the railway loading and unloading line operation right. Only after the railway route control system obtains the operation right can it carry out the operation of picking up and delivering cars on the railway loading and unloading line. At this time, the yard crane lifting equipment and goods are not allowed to enter the railway operation area. After the railway picking and delivering car operation is completed, the operation right is automatically returned to the yard crane system. After the yard crane recovers the operation right, it can carry out loading and unloading operations in the railway loading and unloading line area. The railway route control system cannot process the picking and delivering car route (transfer of operation right) to enter the track.

[0014] (2) The present invention has a cantilever scheme, which uses rectangular three-dimensional laser radars installed horizontally downward on both sides of the gantry crane and the cantilever transverse main beam to measure data and calculate the position of the gantry crane spreader and the goods. The three-dimensional laser radar beam can cover any working position of the gantry crane spreader. (3) The cantilever-free solution of the present invention is designed for field crane machinery without cantilever by installing multiple three-dimensional laser radars in the horizontal direction of the gantry crane beam and the horizontal direction of the two side columns to measure data and calculate the position of the gantry crane lifting equipment and goods. There may be multiple tracks under the gantry crane and vehicles blocking the radar measurement at the same time. The three-dimensional laser radar in the horizontal direction of the beam can only monitor one side. Therefore, the detection radar is installed opposite to each other on the two side columns to improve the monitoring range. (4) The present invention divides the space between each track surface of the railway loading and unloading line and the gantry crane beam into three zones. Zone 1 is basically a free space, which is used only by the gantry crane lifting equipment and goods and is basically unrestricted. Zone 3 is a zone where the gantry crane lifting equipment and goods are used interchangeably with railway trains and only one party is allowed to use it. Zone 2 is a safety interval and buffer zone (with the function of a warning line). (5) When the present invention uses radar or laser rangefinder or camera image recognition scheme, area 3 is also within the dynamic monitoring range. If the railway train operation area 3 is set as a prohibited area, the dynamic data and images of the railway train entering and leaving will interfere with the calculation results of the anti-collision device, causing false alarms or confusion. In this project, area 2 between area 1 and area 3 is used as a warning zone or buffer zone to surround area 2. When the monitoring equipment is prohibited from entering area 3, it only monitors that the lifting equipment and goods must not intrude into the outer boundary of area 2 as a protective measure. The dynamic operation of the train in area 3 will not interfere with the calculation results of the anti-collision device. (6) Each area of ​​the present invention is set with two settings: allowed entry and prohibited entry for the lifting equipment and the cargo. During operation, the lifting equipment and the cargo are monitored to prevent them from entering the prohibited area. Once they approach the prohibited area, an alarm will be automatically triggered or the lifting equipment will be automatically stopped. The lifting equipment that has entered the prohibited area can be set to exit the area. The automated gantry crane will automatically avoid the prohibited area. Attached Figure Description

[0015] Figure 1 This is a structural diagram of a dynamic protection system for an automated gantry crane on a railway loading and unloading line, provided as an embodiment of the present invention. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] like Figure 1 As shown, an automated gantry crane dynamic protection system for railway loading and unloading lines includes a yard management system (BMS), a railway signal route control system (CIS), a yard crane control system (ECS), and a yard crane active avoidance protection device, wherein the yard crane active avoidance protection device is a subsystem of the yard crane control system (ECS). The yard management system (BMS) is used to formulate work plans and issue corresponding work plans to the yard crane control system (ECS) and the railway signaling route control system (CIS), and to receive work progress and equipment status from the yard crane control system (ECS) and the railway signaling route control system (CIS). The railway signal route control system (CIS) is used to apply for operation control rights from the yard crane control system (ECS) when planning to arrange shunting routes to the corresponding tracks of the loading and unloading line. After the shunting operation on the corresponding tracks of the loading and unloading line is completed, it exits the railway operation mode and hands over the operation control rights of the corresponding tracks of the loading and unloading line to the yard crane control system (ECS). The ECS (Electronic Control System) is used to stop loading and unloading operations on the corresponding track after receiving a request for operation control from the CIS (Cyber ​​Railway Signal and Route Control System), hand over the operation control of the corresponding track to the CIS, lose the operation control of the corresponding track, and carry out loading and unloading operations in the adjacent track area with operation control according to the operation plan. The system includes an active obstacle avoidance protection device for yard cranes. This device is used to acquire railway vehicle clearance and railway construction clearance, and divide the railway track into free operation areas and non-free operation areas based on the railway vehicle clearance and railway construction clearance. During loading and unloading operations, the device measures the position coordinates of the yard crane machinery in real time, determines the operation area of ​​the yard crane machinery based on the position coordinates, and controls the yard crane machinery to carry out loading and unloading operations in the track area where it has operation control rights, or to carry out loading and unloading operations in the free operation area of ​​the track where it does not have operation control rights.

[0018] The yard crane machinery includes a yard crane trolley, lifting equipment, and corresponding cargo.

[0019] The active avoidance and protection device for the yard bridge includes a yard bridge coordinate system establishment module, a railway track zoning module, and a yard bridge mechanical judgment module. The bridge coordinate system establishment module is specifically used for: A coordinate system for the loading and unloading area of ​​the gantry crane is set up with the center of the gantry crane track adjacent to the railway loading and unloading line as the base point. The track surface elevation and the transverse coordinate point of the center of the railway loading and unloading line of each track are marked and stored. The coordinate system for railway vehicle clearance and railway construction clearance of each track is determined by using the track surface elevation and track center as the base points.

[0020] The railway track zoning module is specifically used for: The area between the gantry crane beam and the railway construction clearance is designated as the free operation area Q1, and the area between the railway vehicle clearance and the railway construction clearance is designated as the non-free operation area. The non-free operation area includes: the buffer monitoring area Q2 between the railway construction clearance and the railway vehicle clearance, and the railway vehicle clearance area, i.e., the railway vehicle loading and operation area Q3.

[0021] The yard bridge machinery judgment module is specifically used for: During loading and unloading operations, the coordinate position of the yard crane is measured, and the working area of ​​the yard crane is determined based on the position coordinates. It is then determined whether the working area is located in the free working area Q1. If the working area of ​​the yard crane is in the non-free working area, an alarm is triggered, and the yard crane is controlled to exit the non-free working area.

[0022] The active avoidance and protection device for the yard bridge also includes a hoisting position monitoring device, which includes a three-dimensional radar camera that measures the coordinate position of the yard bridge machinery during loading and unloading operations.

[0023] Among them, multiple 3D radar cameras are installed in the gantry crane operation area, specifically including: ① Multiple 3D radar cameras are installed on the main beams on both sides of the gantry crane, facing the railway loading and unloading line below, to cross and cover the entire working area of ​​the gantry crane spreader. The 3D combined image formed by the measurement data of multiple 3D radar cameras can detect the image data and coordinates of fixed objects, non-fixed objects, and moving objects. ② Based on the measured three-dimensional composite image, calibrate and store the external coordinates of fixed objects such as gantry crane supports, gantry frames, and railway lines.

[0024] ③ Based on the three-dimensional combined images measured by the three-dimensional radar camera, the coordinates of the three fixed areas of each track of the railway line, namely the safe operation area for lifting equipment and goods, the railway construction clearance area (warning area), and the railway vehicle clearance area (yard bridge operation area), are determined and stored in the lifting position monitoring device. The hoisting position monitoring device records the position coordinates of loading and unloading vehicles based on the dynamic images and contour coordinates of dynamic objects, such as combined images and dimensional data, obtained by measurement, and the position of railway vehicles on the loading and unloading line measured by the device. This is used for container alignment during yard crane loading and unloading. During yard crane operations, the device measures the contour coordinates, dimensions, and coordinates of the lifting equipment and cargo based on three-dimensional lidar images. These coordinates are then compared with the data of the three areas of the track pre-stored in the device to determine the location of the lifting equipment and cargo.

[0025] Specifically, the transfer of operational control between the yard crane control system (ECS) and the railway signaling route control system (CIS) includes: ① The yard crane control system (ECS) has primary control. During the initialization phase, the yard crane has operational control over the loading and unloading line tracks, and the spreader and cargo can move within three areas.

[0026] ② When the railway route control system (CIS) plans to enter the loading and unloading track for operation, it applies for railway operation rights from the yard crane control system. Upon receiving the application, the yard crane control system (ECS) moves the yard crane spreaders and goods out of the safe area (Q2, Q3) of the applied track and locks the area to prevent intrusion. At the same time, it transfers the operation control of the loading and unloading track to the railway route control system (CIS). ③ After receiving track operation control rights, the railway route control system (CIS) will process train or shunting operation routes, open the receiving or departure signals, and control train and shunting operations. ④ After the railway train or shunting operation is completed, the route is unlocked, the signal is closed, and the control system (CIS) detects that there are no shunting locomotives or track power machinery on the loading / unloading track, it automatically relinquishes control of the loading / unloading track and prohibits train or shunting operations on the loading / unloading track to ensure the safety of yard bridge operations.

[0027] ⑤ The yard crane regains control of the track operation and can carry out loading and unloading operations in three areas of the track.

[0028] The safety requirements for bridge operations include: ① The yard crane control system actively avoids the building clearance area and vehicle clearance area of ​​the tracks where the yard crane does not have operating rights, based on the operating rights requirements set with the interlocking system (CIS).

[0029] ② The construction clearance zone is a buffer zone (warning zone) for yard cranes and container cargo during operation. If the yard crane does not have the right of way to operate on this track, the device will sound an alarm once it touches the clearance zone, and then control the yard crane machinery to leave the warning zone.

[0030] ③ The railway vehicle clearance zone is a safety boundary. If the yard crane does not have the right to operate on that track, once the lifting equipment and cargo touch the clearance zone, the device will alarm, immediately control the yard crane machinery to withdraw from the warning area, alarm the railway route control system, shut down the railway signal, and notify the shunting locomotive to stop urgently.

[0031] Among them, the safety requirements for railway operation areas include: ① The yard crane control system, based on the operating rights requirements set with the interlocking system (CIS), allows loading and unloading operations in the construction clearance area and vehicle clearance area of ​​the track with operating rights. Railway shunting locomotives and track power machinery are not allowed to enter the track with operating rights of the yard crane.

[0032] ② When the railway signaling route control system (CIS) detects that a shunting locomotive or other track-powered machinery has entered the track where the yard crane has the right of way, it immediately reports to the yard crane control system and notifies the yard crane machinery to urgently avoid and exit the locomotive and rolling stock clearance area and the railway construction clearance area.

[0033] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A dynamic protection system for automated gantry cranes on railway loading and unloading lines, characterized in that, The system includes an active obstacle avoidance protection device for yard cranes. The active obstacle avoidance protection device is used to acquire railway vehicle clearance and railway construction clearance, divide the railway track into free operation area and non-free operation area based on the railway vehicle clearance and railway construction clearance, measure the position coordinates of the yard crane machinery in real time during loading and unloading operations, determine the operation area of ​​the yard crane machinery based on the position coordinates, and control the yard crane machinery to carry out loading and unloading operations in the track area with operation control rights, or to carry out loading and unloading operations in the free operation area of ​​the track without operation control rights. The active avoidance and protection device for the yard bridge includes a yard bridge coordinate system establishment module, a railway track zoning module, and a yard bridge mechanical judgment module. The bridge coordinate system establishment module is used to establish the coordinate systems for railway vehicle clearance and railway construction clearance. The railway track partitioning module is used to divide the railway track into free operation areas and non-free operation areas, including: dividing the area between the gantry crane beam and the railway construction clearance into free operation area Q1, and dividing the railway vehicle clearance area and the area between the railway construction clearance and the railway vehicle clearance into non-free operation areas. The yard crane machinery judgment module is used to measure the coordinate position of the yard crane machinery during loading and unloading operations, determine the working area of ​​the yard crane machinery based on the position coordinates, and determine whether the working area is located in the free working area Q1. If the working area of ​​the yard crane machinery is in the non-free working area, an alarm is triggered and the yard crane machinery is controlled to exit the non-free working area.

2. The dynamic protection system for automated gantry cranes on railway loading and unloading lines according to claim 1, characterized in that, The yard crane machinery includes yard crane trolleys, lifting equipment, and corresponding cargo.

3. The dynamic protection system for automated gantry cranes on railway loading and unloading lines according to claim 1, characterized in that, The establishment of the railway vehicle clearance and railway construction clearance coordinate systems by the bridge coordinate system module specifically includes: A coordinate system for the loading and unloading area of ​​the gantry crane is set up with the center of the gantry crane track adjacent to the railway loading and unloading line as the base point. The track surface elevation and the transverse coordinate point of the center of the railway loading and unloading line of each track are marked and stored. The coordinate system for railway vehicle clearance and railway construction clearance of each track is determined by using the track surface elevation and track center as the base points.

4. The dynamic protection system for automated gantry cranes on railway loading and unloading lines according to claim 1, characterized in that, The non-free operation area includes: the buffer monitoring area Q2 between the railway construction clearance and the railway vehicle clearance, and the railway vehicle clearance area, i.e., the railway vehicle loading and operation area Q3. The yard crane machinery judgment module is used to: when the yard crane machinery does not have the right to work on the corresponding track, if the yard crane machinery enters the Q2 and Q3 areas of the corresponding track, it will alarm the railway signal route control system and control the yard crane machinery to exit the Q2 and Q3 areas. When the yard crane machinery enters Q3, it will also simultaneously close the railway signal of the corresponding track through the railway signal route control system and notify the corresponding shunting locomotive to stop urgently.

5. The dynamic protection system for automated gantry cranes on railway loading and unloading lines according to claim 1, characterized in that, The active avoidance and protection device for the yard bridge also includes a hoisting position monitoring device, which includes a three-dimensional radar camera. The three-dimensional radar camera measures the coordinate position of the yard bridge machinery during loading and unloading operations.

6. The dynamic protection system for automated gantry cranes on railway loading and unloading lines according to claim 5, characterized in that, The hoisting position monitoring device includes multiple sets of three-dimensional radar cameras. These cameras capture and measure the coordinate position of the crane machinery from different angles. The hoisting position monitoring device is also used to synthesize the images captured by the multiple sets of three-dimensional radar cameras to form a three-dimensional composite image.

7. The dynamic protection system for automated gantry cranes on railway loading and unloading lines according to claim 6, characterized in that, Multiple sets of the aforementioned three-dimensional radar cameras are respectively mounted on the columns on both sides of the gantry crane and on the cantilever transverse main beam.

8. The dynamic protection system for automated gantry cranes on railway loading and unloading lines according to claim 1, characterized in that, The system also includes a railway signal route control system (CIS) and a yard bridge control system (ECS), and the yard bridge active avoidance protection device is a subsystem of the yard bridge control system (ECS). The railway signal route control system (CIS) is used to apply for operation control rights from the yard crane control system (ECS) when planning to arrange shunting routes to the corresponding tracks of the loading and unloading line. After the shunting operation on the corresponding tracks of the loading and unloading line is completed, it exits the railway operation mode and hands over the operation control rights of the corresponding tracks of the loading and unloading line to the yard crane control system (ECS). The ECS (Electronic Control System) is used to stop loading and unloading operations on the corresponding track after receiving a request for operation control from the CIS (Cyber ​​Railway Signal and Route Control System), hand over the operation control of the corresponding track to the CIS, lose the operation control of the corresponding track, and carry out loading and unloading operations in the adjacent track area with operation control according to the operation plan.

9. The dynamic protection system for automated gantry cranes on railway loading and unloading lines according to claim 8, characterized in that, The ECS (Electronic Control System) is used to move the yard crane machinery out of the non-free operation area of ​​the corresponding track through the yard crane active avoidance protection device after the railway signal route control system (CIS) requests the operation control right, and to lock the area so that it cannot be invaded.

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