A method and system for controlling operation mode of fully automatic gantry crane

Abstract

The present invention provides an operation mode control method and system for a fully automatic gantry crane, including a manual operation mode and an automatic operation mode, the method comprising: obtaining the current state of the gantry crane; dividing the current operation scene into multiple operation scenes, the multiple operation scenes including the first, second, third and fourth operation scenes, the first operation scene is grabbing a container in the yard, the second operation scene is placing a container in the yard, the third operation scene is grabbing a container by a truck, and the fourth operation scene is placing a container by a truck; decomposing the operation process of the multiple operation scenes into steps, presetting a corresponding timeout time for each step, and switching the automatic operation mode to the manual operation mode when the actual operation time of the gantry crane exceeds the preset corresponding timeout time. The operation mode control method and system for a fully automatic gantry crane provided by the present invention automatically switches between the manual operation mode and the automatic operation mode by setting the corresponding timeout time, thereby meeting the needs of emergency port operation tasks.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of container loading and unloading, and in particular to an operation mode control method and system of a fully automatic gantry crane. Background Art

[0002] The current existing technology for fully automatic or semi-automatic gantry cranes is to simply set different time limits according to different scenarios during actual operation to serve as a factor in determining whether manual intervention by the gantry crane driver is required.

[0003] However, in the actual production process of the gantry crane, firstly, depending on the different emergency situations of the task, this single non-adjustable time setting scheme cannot meet the speed-up requirements in some emergency tasks; secondly, the scheme that only uses time setting may cause unnecessary waiting time during the automated operation. For example, in the scenario of grabbing containers, continuing the automatic operation after automatically trying to grab the container twice will most likely cause a waste of time. At this time, continuing to wait for the set time to arrive obviously does not meet the operation requirements in the emergency scenario.

[0004] Therefore, it is necessary to provide an operation mode control method and system for a fully automatic gantry crane that can solve the above problems. Summary of the invention

[0005] The present invention provides an operation mode control method and system for a fully automatic gantry crane, which automatically switches between a manual operation mode and an automatic operation mode by setting a corresponding timeout time, thereby meeting the needs of emergency operation tasks in a port.

[0006] An embodiment of the present invention provides an operation mode control method for a fully automatic gantry crane, wherein the operation mode includes a manual operation mode and an automatic operation mode, and the method includes:

[0007] Acquire the current state of the gantry crane, which includes the trolley position, the opening and closing state of the spreader, and the target position;

[0008] Dividing the current operation scene into multiple operation scenes according to the current state of the gantry crane, the multiple operation scenes include a first operation scene, a second operation scene, a third operation scene and a fourth operation scene, the first operation scene is a container grabbing scene in the yard, the second operation scene is a container placing scene in the yard, the third operation scene is a container grabbing scene in the truck, and the fourth operation scene is a container placing scene in the truck;

[0009] Decomposing the operation flow of the multiple operation scenarios into steps and generating step codes, respectively presetting a corresponding timeout period for each step, and generating a predefined form according to the step code and the corresponding timeout period;

[0010] According to the predefined form, when the actual operation time of the gantry crane exceeds the preset corresponding timeout time, the automatic operation mode is switched to the manual operation mode.

[0011] Preferably, the position of the gantry crane trolley is obtained by a positioning device installed on the gantry crane, and the positioning device includes an absolute encoder or a GNSS positioning device.

[0012] Preferably, the opening and closing lock status of the spreader is obtained through the local opening and closing lock signal of the gantry crane.

[0013] Preferably, the target position is obtained by detecting the relative distance required to move by an image detection device, and the image detection device includes a laser radar or a visual camera.

[0014] Preferably, the types of storage yards in the first operation scene and the second operation scene include first-layer containers in the storage yard and stacked containers in the storage yard;

[0015] When the yard type is the first-layer container, the container needs to be aligned with the coordinate line of the yard ground;

[0016] When the yard type is stacking containers, the container needs to be aligned with the container below;

[0017] When the stacking yard type is the first-layer container in the stacking yard, the corresponding timeout time preset is shorter than the corresponding timeout time preset when the stacking yard type is the stacking container in the stacking yard.

[0018] Preferably, the types of container trucks in the third operation scene and the fourth operation scene include internal container trucks, external container trucks and automatic container trucks;

[0019] When the operation scenario is a container release scenario, the container needs to be accurately aligned with the lock on the external container truck during the container release operation. When the container truck type is an external container truck, the corresponding timeout time preset is greater than the corresponding timeout time preset when the container truck type is an internal container truck and an automatic container truck;

[0020] When the operation scenario is a container grabbing scenario, the automatic container grabbing operation process requires the gantry crane's own trolley direction adjustment and alignment. When the container truck type is an internal container truck and an external container truck, the corresponding timeout time preset is less than the corresponding timeout time preset when the container truck type is an automatic container truck.

[0021] Preferably, the automatic operation mode includes a standard mode, an efficiency mode and a super efficiency mode, the standard mode is the mode setting for normal operation, the efficiency mode is the mode setting when the current operation task is more urgent, and the super efficiency mode is the mode setting when the current operation task is most urgent.

[0022] Preferably, the corresponding timeout time preset in the standard mode is greater than the corresponding timeout time preset in the efficiency mode, and the corresponding timeout time preset in the efficiency mode is greater than the corresponding timeout time preset in the super-efficiency mode.

[0023] Preferably, when the operation mode of the gantry crane is the efficiency mode or the super-efficiency mode, if the hoist is locked for more than a preset time during the descent or ascent process, the operation mode is switched to the manual operation mode.

[0024] The embodiment of the present invention further provides an operation mode control system of a fully automatic gantry crane, wherein the operation mode includes a manual operation mode and an automatic operation mode, and the system includes:

[0025] A current state acquisition module, which is used to acquire the current state of the gantry crane, wherein the current state includes the trolley position, the opening and closing state of the spreader, and the target position;

[0026] An operation scene division module, which is used to divide the current operation scene into multiple operation scenes according to the current state of the gantry crane, and the multiple operation scenes include a first operation scene, a second operation scene, a third operation scene and a fourth operation scene, the first operation scene is a yard container grabbing scene, the second operation scene is a yard container placing scene, the third operation scene is a container truck grabbing scene, and the fourth operation scene is a container truck placing scene;

[0027] A predefined form generation module, which is used to decompose the operation process of the multiple operation scenarios into steps and generate step codes, preset a corresponding timeout time for each step, and generate a predefined form according to the step code and the corresponding timeout time;

[0028] An operation mode switching module is used to switch the automatic operation mode to the manual operation mode according to the predefined form when the actual operation time of the gantry crane exceeds the preset corresponding timeout time.

[0029] Compared with the prior art, the technical solution of the embodiment of the present invention has the following beneficial effects:

[0030] The operating mode control method and system of a fully automatic gantry crane according to an embodiment of the present invention, the operating mode includes a manual operating mode and an automatic operating mode, and the method includes: obtaining the current state of the gantry crane, the current state includes the trolley position, the opening and closing state of the spreader, and the target position; dividing the current operating scene into multiple operating scenes according to the current state of the gantry crane, the multiple operating scenes include a first operating scene, a second operating scene, a third operating scene, and a fourth operating scene, the first operating scene is a yard grabbing box scene, the second operating scene is a yard placing box scene, the third operating scene is a container truck grabbing box scene, and the fourth operating scene is a container truck placing box scene; decomposing the operating processes of the multiple operating scenes into steps and generating step codes, presetting a corresponding timeout time for each step, and generating a predefined form according to the step code and the corresponding timeout time; according to the predefined form, when the actual operating time of the gantry crane exceeds the preset corresponding timeout time, the automatic operating mode is switched to the manual operating mode, and the manual operating mode and the automatic operating mode are automatically switched by setting the corresponding timeout time, so as to meet the needs of emergency port operation tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are some embodiments of the present invention, not all embodiments. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor.

[0032] Figure 1 A flow chart of an operation mode control method of a fully automatic gantry crane provided by one embodiment of the present invention;

[0033] Figure 2 A schematic diagram of a module of an operating mode control system of a fully automatic gantry crane provided in accordance with an embodiment of the present invention. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0036] Based on the problems existing in the prior art, an embodiment of the present invention provides an operation mode control method and system for a fully automatic gantry crane, which automatically switches between manual operation mode and automatic operation mode by setting corresponding timeout times, thereby meeting the needs of emergency operation tasks in ports.

[0037] Figure 1 A flowchart of an operation mode control method of a fully automatic gantry crane is provided for one embodiment of the present invention. Figure 1 The embodiment of the present invention provides an operation mode control method of a fully automatic gantry crane, wherein the operation mode includes a manual operation mode and an automatic operation mode, and the method includes:

[0038] Step S101: obtaining the current state of the gantry crane, wherein the current state includes the trolley position, the opening and closing state of the spreader, and the target position;

[0039] Step S102: Divide the current operation scene into multiple operation scenes according to the current state of the gantry crane, the multiple operation scenes include a first operation scene, a second operation scene, a third operation scene and a fourth operation scene, the first operation scene is a container grabbing scene in the yard, the second operation scene is a container placing scene in the yard, the third operation scene is a container grabbing scene in the truck, and the fourth operation scene is a container placing scene in the truck;

[0040] Step S103: Decomposing the operation flow of the plurality of operation scenarios into steps and generating step codes, respectively presetting a corresponding timeout period for each step, and generating a predefined form according to the step code and the corresponding timeout period;

[0041] According to the predefined form, when the actual operation time of the gantry crane exceeds the preset corresponding timeout time, the automatic operation mode is switched to the manual operation mode.

[0042] Specifically, for example, for the first operation scenario, the yard container grabbing scenario, the entire operation process is decomposed into N steps according to the operation characteristics and process of the yard container grabbing scenario, and each step will have a corresponding step code corresponding to it. For example, the step code can be 301, 302, etc. For example, the following operation process can be set to step code 301: according to the current target trolley position for grabbing the container, the spreader is moved to the detection position above the corresponding target container; then the following operation process can be set to step code 302: according to the preliminary positioning results, the trolley position of the gantry crane and the target container and the spreader angle are adjusted. By analogy, the operation of the yard container grabbing scenario is decomposed into N steps, and a corresponding timeout time is preset for each step.

[0043] In a specific implementation, the position of the gantry crane trolley is obtained by a positioning device installed on the gantry crane, and the positioning device includes an absolute encoder or a GNSS positioning device.

[0044] In a specific implementation, the opening and closing states of the spreader are obtained through the local opening and closing signals of the gantry crane.

[0045] In a specific implementation, the target position is detected by an image detection device, and the image detection device includes a laser radar or a visual camera.

[0046] In a specific implementation, the types of the yard in the first operation scene and the second operation scene include the first layer of boxes in the yard and stacked boxes in the yard;

[0047] When the yard type is the first-layer container, the container needs to be aligned with the coordinate line of the yard ground;

[0048] When the yard type is stacking containers, the container needs to be aligned with the container below;

[0049] When the stacking yard type is the first-layer container in the stacking yard, the corresponding timeout time preset is shorter than the corresponding timeout time preset when the stacking yard type is the stacking container in the stacking yard.

[0050] In a specific implementation, the types of container trucks in the third operation scene and the fourth operation scene include internal container trucks, external container trucks and automatic container trucks;

[0051] When the operation scenario is a container release scenario, the container needs to be accurately aligned with the lock on the external container truck during the container release operation. When the container truck type is an external container truck, the corresponding timeout time preset is greater than the corresponding timeout time preset when the container truck type is an internal container truck and an automatic container truck;

[0052] When the operation scenario is a container grabbing scenario, the automatic container grabbing operation process requires the gantry crane's own trolley direction adjustment and alignment. When the container truck type is an internal container truck and an external container truck, the corresponding timeout time preset is less than the corresponding timeout time preset when the container truck type is an automatic container truck.

[0053] In a specific implementation, the automatic operation mode includes a standard mode, an efficiency mode and a super efficiency mode. The standard mode is the mode setting for normal operation, the efficiency mode is the mode setting when the current operation task is more urgent, and the super efficiency mode is the mode setting when the current operation task is most urgent.

[0054] In a specific implementation, the corresponding timeout time preset in the standard mode is greater than the corresponding timeout time preset in the efficiency mode, and the corresponding timeout time preset in the efficiency mode is greater than the corresponding timeout time preset in the super-efficiency mode.

[0055] In a specific implementation, when the operation mode of the gantry crane is the efficiency mode or the super efficiency mode, if the hoist is locked for more than a preset time during the descent or ascent process, the operation mode is switched to the manual operation mode.

[0056] Specifically, interlocking means that the spreader stops moving because of some protective measures that limit the spreader's safety in the direction of movement.

[0057] The embodiment of the present invention further provides an operation mode control system of a fully automatic gantry crane, wherein the operation mode includes a manual operation mode and an automatic operation mode, and the system includes:

[0058] A current state acquisition module 21 is used to acquire the current state of the gantry crane, wherein the current state includes the trolley position, the opening and closing state of the spreader, and the target position;

[0059] An operation scene division module 22 is used to divide the current operation scene into multiple operation scenes according to the current state of the gantry crane, wherein the multiple operation scenes include a first operation scene, a second operation scene, a third operation scene and a fourth operation scene, wherein the first operation scene is a container grabbing scene in a yard, the second operation scene is a container placing scene in a yard, the third operation scene is a container grabbing scene in a container truck, and the fourth operation scene is a container placing scene in a container truck;

[0060] A predefined form generation module 23, which is used to decompose the operation process of the multiple operation scenarios into steps and generate step codes, preset a corresponding timeout time for each step, and generate a predefined form according to the step code and the corresponding timeout time;

[0061] The operation mode switching module 24 is used to switch the automatic operation mode to the manual operation mode according to the predefined form when the actual operation time of the gantry crane exceeds the preset corresponding timeout time.

[0062] In summary, the operation mode control method and system of the fully automatic gantry crane of the embodiment of the present invention, the operation mode includes a manual operation mode and an automatic operation mode, and the method includes: obtaining the current state of the gantry crane, the current state includes the trolley position, the opening and closing state of the spreader, and the target position; dividing the current operation scene into multiple operation scenes according to the current state of the gantry crane, the multiple operation scenes include a first operation scene, a second operation scene, a third operation scene and a fourth operation scene, the first operation scene is a yard grabbing box scene, the second operation scene is a yard placing box scene, the third operation scene is a container truck grabbing box scene, and the fourth operation scene is a container truck placing box scene; decomposing the operation process of the multiple operation scenes into steps and generating step codes, presetting a corresponding timeout time for each step, and when the actual operation time of the gantry crane exceeds the preset corresponding timeout time, generating a predefined form according to the step code and the corresponding timeout time; according to the predefined form, switching the automatic operation mode to the manual operation mode, and automatically switching the manual operation mode and the automatic operation mode by setting the corresponding timeout time, thereby meeting the needs of emergency port operation tasks.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling the operation mode of a fully automatic gantry crane, wherein the operation mode includes a manual operation mode and an automatic operation mode, and is characterized in that: The method comprises: Acquire the current state of the gantry crane, which includes the trolley position, the opening and closing state of the spreader, and the target position; Dividing the current operation scene into multiple operation scenes according to the current state of the gantry crane, the multiple operation scenes include a first operation scene, a second operation scene, a third operation scene and a fourth operation scene, the first operation scene is a container grabbing scene in the yard, the second operation scene is a container placing scene in the yard, the third operation scene is a container grabbing scene in the truck, and the fourth operation scene is a container placing scene in the truck; Decomposing the operation flow of the multiple operation scenarios into steps and generating step codes, respectively presetting a corresponding timeout period for each step, and generating a predefined form according to the step code and the corresponding timeout period; According to the predefined form, when the actual operation time of the gantry crane exceeds the preset corresponding timeout time, the automatic operation mode is switched to the manual operation mode; The types of storage yards in the first operation scene and the second operation scene include first-layer containers in the storage yard and stacked containers in the storage yard; When the yard type is the first-layer container, the container needs to be aligned with the coordinate line of the yard ground; When the yard type is stacking containers, the container needs to be aligned with the container below; When the stacking yard type is the first-layer container in the stacking yard, the corresponding timeout time preset is shorter than the corresponding timeout time preset when the stacking yard type is the stacking container in the stacking yard.

2. The operation mode control method of the fully automatic gantry crane according to claim 1 is characterized in that: The position of the gantry crane trolley is obtained by a positioning device installed on the gantry crane, and the positioning device includes an absolute encoder or a GNSS positioning device.

3. The operation mode control method of the fully automatic gantry crane according to claim 1 is characterized in that: The opening and closing states of the spreader are obtained through the local opening and closing signals of the gantry crane.

4. The operation mode control method of the fully automatic gantry crane according to claim 1 is characterized in that: The target position is obtained by detecting the relative distance required to move by an image detection device, and the image detection device includes a laser radar or a visual camera.

5. The operation mode control method of the fully automatic gantry crane according to claim 1 is characterized in that: The types of container trucks in the third operation scene and the fourth operation scene include internal container trucks, external container trucks and automatic container trucks; When the operation scenario is a container release scenario, the container needs to be accurately aligned with the lock on the external container truck during the container release operation. When the container truck type is an external container truck, the corresponding timeout time preset is greater than the corresponding timeout time preset when the container truck type is an internal container truck and an automatic container truck; When the operation scenario is a container grabbing scenario, the automatic container grabbing operation process requires the gantry crane's own trolley direction adjustment and alignment. When the container truck type is an internal container truck and an external container truck, the corresponding timeout time preset is less than the corresponding timeout time preset when the container truck type is an automatic container truck.

6. The operation mode control method of the fully automatic gantry crane according to claim 1, characterized in that: The automatic operation mode includes a standard mode, an efficiency mode and a super efficiency mode. The standard mode is the mode setting for normal operation, the efficiency mode is the mode setting when the current operation task is more urgent, and the super efficiency mode is the mode setting when the current operation task is most urgent.

7. The operation mode control method of the fully automatic gantry crane according to claim 6, characterized in that: The corresponding timeout time preset in the standard mode is greater than the corresponding timeout time preset in the efficiency mode, and the corresponding timeout time preset in the efficiency mode is greater than the corresponding timeout time preset in the super-efficiency mode.

8. The operation mode control method of the fully automatic gantry crane according to claim 6, characterized in that: When the operation mode of the gantry crane is the efficiency mode or the super efficiency mode, if the spreader is locked for more than a preset time during the descent or ascent process, the operation mode is switched to the manual operation mode.

9. An operation mode control system for a fully automatic gantry crane, the operation mode comprising a manual operation mode and an automatic operation mode, characterized in that: The system comprises: A current state acquisition module, which is used to acquire the current state of the gantry crane, wherein the current state includes the trolley position, the opening and closing state of the spreader, and the target position; An operation scene division module, which is used to divide the current operation scene into multiple operation scenes according to the current state of the gantry crane, and the multiple operation scenes include a first operation scene, a second operation scene, a third operation scene and a fourth operation scene, the first operation scene is a yard container grabbing scene, the second operation scene is a yard container placing scene, the third operation scene is a container truck grabbing scene, and the fourth operation scene is a container truck placing scene; A predefined form generation module, which is used to decompose the operation process of the multiple operation scenarios into steps and generate step codes, preset a corresponding timeout time for each step, and generate a predefined form according to the step code and the corresponding timeout time; An operation mode switching module, which is used to switch the automatic operation mode to the manual operation mode according to the predefined form when the actual operation time of the gantry crane exceeds the preset corresponding timeout time; The types of storage yards in the first operation scene and the second operation scene include first-layer containers in the storage yard and stacked containers in the storage yard; When the yard type is the first-layer container, the container needs to be aligned with the coordinate line of the yard ground; When the yard type is stacking containers, the container needs to be aligned with the container below; When the stacking yard type is the first-layer container in the stacking yard, the corresponding timeout time preset is shorter than the corresponding timeout time preset when the stacking yard type is the stacking container in the stacking yard.

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