Height adaptive adjusting method and system based on shore lifting platform system

Abstract

The invention provides a height adaptive adjusting method and system based on a shore lifting platform system, the shore lifting platform system comprises a plurality of shore lifting pallets, the plurality of shore lifting pallets are provided with flat plates at intervals, the tops of the plurality of shore lifting pallets are in lap joint to form a deck surface, and the deck surface is provided with a height adaptive adjusting device. The multiple ashore lifting pallets are arranged in water. The height adaptive adjusting method based on the ashore lifting platforms comprises the steps that data of the height from a deck face to the horizontal plane are collected; obtaining a self-adaptive control strategy according to the height data; and according to the control strategy, adjusting the posture of the shore lifting stack platform so as to adapt to the current height data. By continuously measuring the height data of the deck surface and the horizontal plane and continuously adjusting the heights of a plurality of different ashore lifting stacks through a self-adaptive control strategy, the method adapts to the height data changing at any time, and the technical problem that in the prior art, no adjusting method is available to adapt to the height data changing continuously is solved.

Description

Technical field:

[0001] The invention relates to the field of height adjustment data processing, and in particular to a height adaptation adjustment method based on a shoreside lifting platform system and a system thereof. Background technology:

[0002] When port facilities are damaged, a shore lift platform for the roll-on / roll-off channel can be constructed at the vertical wharf as an emergency berthing and loading and unloading method. It can be flexibly set up and quickly erected in the damaged port to ensure the continuous landing of large quantities of materials, which plays an important role in improving the unloading capacity on the other side. The shore lift platform is used to overcome the height difference between the deck surface of the berthing platform (or civilian barge) and the wharf pavement, and to construct a channel that adapts to the turning angles of different vehicles. The unloading channel includes 6 shore lift platforms, which are cascaded through gangplanks. In order to adapt to the changes in tidal levels, the unloading channel should have the ability to adjust the height difference and the coordinated adjustment function of multiple platforms, and the unloading process should not be interrupted during the height difference adjustment, so as to improve the unloading efficiency and operational adaptability.

[0003] There is an urgent need for a height adaptation adjustment method and system based on a shore lifting platform system, which can help solve the technical problem that the prior art lacks an adjustment method to adapt to the constantly changing height data. Summary of the invention:

[0004] In one embodiment, the present invention provides a height adaptive adjustment method based on a shoreside lifting platform system. By continuously measuring the height data of the deck surface and the horizontal plane and using an adaptive control strategy, the heights of multiple different shoreside lifting platforms are continuously adjusted to adapt to the height data that changes at any time. This helps to solve the technical problem in the prior art that there is a lack of an adjustment method to adapt to the constantly changing height data.

[0005] The shore lifting platform system includes a plurality of shore lifting platforms, wherein the plurality of shore lifting platforms are provided with flat plates at intervals, and the tops of the plurality of shore lifting platforms are overlapped to form a deck surface, and the plurality of shore lifting platforms are arranged in water. The height adaptation adjustment method based on the shore lifting platform includes:

[0006] Collecting height data of the deck surface from the horizontal plane;

[0007] Obtaining an adaptive control strategy based on the height data;

[0008] The posture of the shore lifting platform is adjusted according to the control strategy to adapt to the current height data.

[0009] In one embodiment, the shore lifting platform includes a lifting frame and lifting cylinders on both sides;

[0010] The lifting frame comprises a bottom frame and a top frame, wherein the top frame is located above the bottom frame and can be lifted and lowered by a lifting mechanism;

[0011] The top frame is driven by the lifting cylinder to be lifted to different heights.

[0012] In one embodiment, the lifting mechanism is a rope pulling mechanism.

[0013] In one embodiment, before the step of collecting the height data of the deck surface from the horizontal plane, the method further comprises:

[0014] Get the location of the pier and the berth;

[0015] Positioning is performed according to the position of the wharf and the position of the mooring platform to determine the position of each shore-side lifting platform.

[0016] In one embodiment, the present invention further provides a height adaptation adjustment system based on a shore lifting platform system, based on a height adaptation adjustment method based on a shore lifting platform system, the height adaptation adjustment system based on a shore lifting platform system comprises:

[0017] An online monitoring unit is used to locate the current unloading channel position and collect the height data of the deck surface from the horizontal plane through a data platform, wherein the data platform includes a positioning module, a sea level data acquisition module, and a distance measurement module.

[0018] In one embodiment, the height adaptation adjustment system based on the shoreside lifting platform system further includes a data acquisition and processing unit;

[0019] The data acquisition and processing unit is used to acquire and process the real-time status data of the shore lifting platform. The data acquisition and processing unit includes an inclination acquisition module, a lifting height acquisition module, and a hydraulic status acquisition module.

[0020] In one embodiment, the height adaptation adjustment system based on the shoreside lifting platform system further includes a communication unit;

[0021] The communication unit is used to realize data interaction among multiple shore lifting platforms and determine the online status of a single shore lifting platform.

[0022] In one embodiment, the height adaptive adjustment system based on the shoreside lifting platform system further includes a database unit;

[0023] The database unit is used to realize the collection, classification storage and data calling of the online monitoring unit and the data acquisition unit.

[0024] In one embodiment, the height adaptive adjustment system based on the shoreside lifting platform system further includes an adaptive control unit;

[0025] The adaptive control unit is used to control the actuator to complete a specified action according to the control instruction issued by the adaptive control unit.

[0026] In one embodiment, the height adaptation adjustment system based on the shoreside lifting platform system further includes an early warning unit;

[0027] The early warning unit is used to identify dangerous operations during the execution of the mechanism of the shore lifting platform and issue an alarm message. Description of the drawings:

[0028] Figure 1 It is a structural schematic diagram of a shore lifting platform in one embodiment of the present invention;

[0029] Figure 2 It is a schematic diagram of a first working state of a height adaptation adjustment system of a shore lifting platform system in another embodiment of the present invention;

[0030] Figure 3 It is a schematic diagram of a second working state of a height adaptation adjustment system of a shore lifting platform system in another embodiment of the present invention;

[0031] Figure 4 A schematic diagram of a control flow of a highly adaptive adjustment system in another embodiment of the present invention;

[0032] Figure 5 FIG. 2 is a schematic diagram of a control module unit architecture in another embodiment of the present invention.

[0033] Reference numerals:

[0034] Positioning module 1

[0035] Sea level data acquisition module 2

[0036] Distance measurement module 3

[0037] CAN communication module 4

[0038] Adaptive Motion Strategy Controller 5

[0039] Programmable controller 6

[0040] Lifting cylinder 7

[0041] Draw Wire Sensor 8

[0042] Vehicle inclination sensor 9

[0043] Springboard inclination sensor 10

[0044] Oil pressure sensor 11

[0045] Hydraulic flow sensor 12

[0046] Alarm horn 13

[0047] Warning light 14 Specific embodiment:

[0048] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0049] Various aspects and features of the present application are described herein with reference to the accompanying drawings.

[0050] These and other characteristics of the present application will become apparent from the following description of a preferred form of embodiment given as a non-limiting example with reference to the accompanying drawings.

[0051] It should also be understood that, although the present application has been described with reference to some specific examples, those skilled in the art will be able to realize many other equivalent forms of the present application that have the features described in the claims and are therefore within the scope of protection defined thereby.

[0052] The above and other aspects, features and advantages of the present application will become more apparent in view of the following detailed description when taken in conjunction with the accompanying drawings.

[0053] Specific embodiments of the present application are described hereinafter with reference to the accompanying drawings; however, it should be understood that the embodiments applied for are merely examples of the present application, which may be implemented in a variety of ways. Well-known and / or repeated functions and structures are not described in detail to determine the true intent based on the user's historical operations and to avoid unnecessary or redundant details that make the present application unclear. Therefore, the specific structural and functional details applied for herein are not intended to be limiting, but are merely used as the basis and representative basis for the claims to teach those skilled in the art to use the present application in a variety of ways with substantially any suitable detailed structure.

[0054] This specification may use the phrases "in one embodiment," "in another embodiment," "in yet another embodiment," or "in other embodiments," all of which may refer to one or more of the same or different embodiments according to the present application.

[0055] The purpose of this patent is to provide a height adaptive adjustment system and control strategy for a shore lifting platform, aiming to solve the problem in the prior art that the shore platform cannot adaptively adjust its height with tidal changes and multiple shore platforms cannot coordinately adjust their functions.

[0056] Figure 1 It is a structural schematic diagram of a shore lifting platform in one embodiment of the present invention; Figure 2 It is a schematic diagram of a first working state of a height adaptation adjustment system of a shore lifting platform system in another embodiment of the present invention; Figure 3 It is a schematic diagram of a second working state of a height adaptation adjustment system of a shore lifting platform system in another embodiment of the present invention; Figure 4 This is a schematic diagram of a control flow of a highly adaptive adjustment system in another embodiment of the present invention. Figure 5 FIG. 2 is a schematic diagram of a control module unit architecture in another embodiment of the present invention.

[0057] like Figures 1 to 5 As shown, in one embodiment, the present invention provides a height adaptive adjustment method based on a shore lifting platform system, which continuously measures the height data of the deck surface and the horizontal plane and continuously adjusts the heights of multiple shore lifting platforms through an adaptive control strategy to adapt to the height data that changes at any time, thereby helping to solve the technical problem in the prior art that there is a lack of an adjustment method to adapt to the constantly changing height data.

[0058] The shore lifting platform system includes a plurality of shore lifting platforms, wherein the plurality of shore lifting platforms are provided with flat plates at intervals, and the tops of the plurality of shore lifting platforms are overlapped to form a deck surface, and the plurality of shore lifting platforms are arranged in water. The height adaptation adjustment method based on the shore lifting platform includes:

[0059] S101, collecting height data of the deck surface from the horizontal plane.

[0060] In this step a specific step of providing height data is provided.

[0061] S102: Obtaining an adaptive control strategy according to the height data.

[0062] Since the height data is constantly changing due to the tide, the deck surface at the top will also be adjusted adaptively according to its specific situation. The strategy of this adjustment is the control strategy, which issues the control instruction of the optimal solution. The actuator control unit mainly controls the actuator to complete the specified action according to the control instruction issued by the adaptive control unit, including the controller and the operation box.

[0063] S103, adjusting the posture of the shore lifting platform according to the control strategy to adapt to the current height data.

[0064] In this embodiment, a specific implementation method of a height adaptive adjustment method based on a shoreside lifting platform is provided.

[0065] In one embodiment, the shore lifting platform includes a lifting frame and lifting cylinders on both sides;

[0066] The lifting frame comprises a bottom frame and a top frame, wherein the top frame is located above the bottom frame and can be lifted and lowered by a lifting mechanism;

[0067] The top frame is driven by the lifting cylinder to be lifted to different heights.

[0068] In one embodiment, the lifting mechanism is a rope pulling mechanism.

[0069] In one embodiment, before the step of collecting the height data of the deck surface from the horizontal plane, the method further comprises:

[0070] Get the location of the pier and the berth;

[0071] Positioning is performed according to the position of the wharf and the position of the mooring platform to determine the position of each shore-side lifting platform.

[0072] In one embodiment, the present invention further provides a height adaptation adjustment system based on a shore lifting platform system, based on a height adaptation adjustment method based on a shore lifting platform system, the height adaptation adjustment system based on a shore lifting platform system comprises:

[0073] An online monitoring unit is used to locate the current unloading channel position and collect the height data of the deck surface from the horizontal plane through a data platform, wherein the data platform includes a positioning module, a sea level data acquisition module, and a distance measurement module.

[0074] In one embodiment, the height adaptation adjustment system based on the shoreside lifting platform system further includes a data acquisition and processing unit;

[0075] The data acquisition and processing unit is used to acquire and process the real-time status data of the shore lifting platform. The data acquisition and processing unit includes an inclination acquisition module, a lifting height acquisition module, and a hydraulic status acquisition module.

[0076] In one embodiment, the height adaptation adjustment system based on the shoreside lifting platform system further includes a communication unit;

[0077] The communication unit is used to realize data interaction among multiple shore lifting platforms and determine the online status of a single shore lifting platform, that is, each posture, which includes position, height, angle, etc.

[0078] In one embodiment, the height adaptive adjustment system based on the shoreside lifting platform system further includes a database unit;

[0079] The database unit is used to realize the collection, classification storage and data calling of the online monitoring unit and the data acquisition unit.

[0080] In one embodiment, the height adaptive adjustment system based on the shoreside lifting platform system further includes an adaptive control unit;

[0081] The adaptive control unit is used to control the actuator to complete a specified action according to the control instruction issued by the adaptive control unit.

[0082] In one embodiment, the height adaptation adjustment system based on the shoreside lifting platform system further includes an early warning unit;

[0083] The early warning unit is used to identify dangerous operations during the execution of the mechanism of the shore lifting platform and issue an alarm message.

[0084] Based on the above method and system, the overall description is further described as follows:

[0085] A highly adaptive regulation control strategy includes a manual control strategy, a semi-automatic control strategy, and a fully automatic control strategy.

[0086] The manual control strategy is that the operator directly operates the actuator through the operation box, and completely relies on the operator's experience to gradually complete the height adjustment of each shore lifting platform, and finally realizes the height adjustment of the unloading channel. When a dangerous situation occurs, the early warning unit sends an alarm signal.

[0087] The semi-automatic control strategy is that the operator controls the actuator through the operation box to complete the height adjustment of a single shore lifting platform. When the angle of the springboard of an adjacent shore lifting platform exceeds the control range, the adaptive control unit will adjust the height of the adjacent shore lifting platform until the control requirements are met.

[0088] The fully automatic control strategy is to obtain the current sea level through the online monitoring unit, the data acquisition and processing unit obtains the status data of the current shore lifting platform, the database unit saves and classifies the data and transmits it to the adaptive control unit, the adaptive control unit analyzes the optimal control algorithm based on the data, and transmits it to the six shore lifting platforms synchronously through the communication unit, and the actuator control unit responds to the control command to complete the control of the actuator. The fully automatic control strategy can realize the unmanned unloading channel, and can synchronously adjust the height of the six shore lifting platforms after the sea level changes, reducing the time for adjusting the height of the unloading channel.

[0089] Specifically, the online monitoring unit includes a positioning module, a sea level data acquisition module, and a distance measurement module. The positioning module specifically refers to the Beidou positioning module, which can obtain the location information of the docked lifting platform. The sea level data acquisition module specifically refers to a publishing platform that can obtain sea level data. At the same time, combined with the location information obtained by the Beidou positioning module, real-time sea level data can be obtained. The distance measurement module specifically refers to an ultrasonic distance measurement module, which can locally measure the height data of the deck surface from the sea level. The local collected data and the sea level data obtained by the publishing platform are weighted averaged as the current actual sea level height.

[0090] Specifically, the data acquisition and processing unit includes an inclination acquisition module, a lifting height acquisition module, and a hydraulic status acquisition module. The inclination acquisition module includes a vehicle body inclination sensor and a springboard inclination sensor, which can monitor the inclination data of the vehicle body and the springboard in real time. The lifting height acquisition module specifically refers to a pull rope sensor for measuring the lifting cylinder, which can measure the lifting height of the shore lifting platform. The hydraulic status acquisition module includes an oil pressure sensor and a hydraulic flow sensor, which can monitor the oil pressure and inlet and outlet flow of the lifting cylinder. At the same time, the data acquisition and processing unit performs standardized processing and data transmission on the data according to different types of data.

[0091] Specifically, the communication unit mainly realizes data interaction of multiple shore lifting platforms through CAN communication and determines the online status of a single shore lifting platform.

[0092] Specifically, the database unit uses MariaDB database, which can classify and store the collected data to meet the function of data call.

[0093] Specifically, the core component of the adaptive control unit is the adaptive motion strategy controller, which takes the real-time data obtained by the online monitoring unit and the data acquisition and processing unit as input, makes a control strategy for the movement of the actuator through the motion strategy controller, sends the execution command through CAN communication, and controls the shore lifting platform that needs to be adjusted in height to perform the lifting action.

[0094] Specifically, the actuator control unit includes a programmable controller (PLC) and an operation box, which can realize manual operation and respond to the control strategy initiated by the adaptive control unit.

[0095] Specifically, the early warning unit includes an alarm horn and an alarm light, which can remind the operator to check the dangerous point and remind the surrounding people to pay attention to the danger when danger occurs.

[0096] Based on the above highly adaptive regulation system, a control strategy is proposed, including manual control strategy, semi-automatic control strategy and fully automatic control strategy.

[0097] The manual control strategy is that according to the change of sea level, the operator turns the switch corresponding to the lifting cylinder on the operation box, and the operation box sends an operation instruction to the programmable controller. The programmable controller responds to the operation instruction and sends a lifting cylinder control instruction, and the lifting cylinder executes the command. During the above operation, the operator observes the change of the value of the ramp inclination sensor of the current shore lifting platform and the change of the value of the ramp inclination sensor of the adjacent shore lifting platform. If the ramp angle is outside the range of ±7°, the lifting cylinder of the current shore lifting platform and the adjacent shore lifting platform needs to be manually adjusted until the control requirements are met. When a dangerous point appears, the alarm horn and alarm light will work.

[0098] The semi-automatic control strategy is specifically that according to the change of sea level, the operator turns the switch corresponding to the lifting of the unloading channel on the operation box, obtains the current geographical location through the positioning module, obtains the sea level data on the publishing platform, and the local data collected by the ranging module and the sea level data obtained by the publishing platform are weighted averaged as the current actual sea level height, and the sea level height data is sent to the adaptive motion strategy controller. At the same time, the data acquisition and processing unit on each shore lifting platform sends the collected current state data to the adaptive motion strategy controller and the database through the CAN communication module. The data sent by the CAN communication module can determine the number of shore lifting platforms currently involved in the work. The adaptive motion strategy controller generates the motion strategy of each shore lifting platform based on the collected data. The motion strategy includes the control information such as the motion stroke, motion speed, and motion time of the lifting cylinder. The programmable controller that receives the control strategy controls the lifting cylinder to work so that all the springboard angles are within the range of ±7°, and the system height control of multiple shore lifting platforms can be realized. When the alarm horn and alarm light work at the dangerous point, the operator needs to eliminate the danger before they can work normally.

[0099] The fully automatic control strategy specifically refers to unattended operation. When the springboard angle is outside the range of ±7°, the adaptive motion strategy controller issues control instructions without operator participation. The programmable controller that receives the control strategy controls the lifting cylinder to make all springboard angles within the range of ±7°.

[0100] The above embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention. The protection scope of the present invention is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the essence and protection scope of the present invention, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present invention.

Claims

1. A method for adjusting the height of a shore-side lifting platform system, characterized in that: The shore lifting platform system includes a plurality of shore lifting platforms, wherein the plurality of shore lifting platforms are provided with flat plates at intervals, and the tops of the plurality of shore lifting platforms are overlapped to form a deck surface, and the plurality of shore lifting platforms are arranged in water. The height adaptation adjustment method based on the shore lifting platform includes: Collecting height data of the deck surface from the horizontal plane; Obtaining an adaptive control strategy based on the height data; The attitude of the shore lifting platform is adjusted according to the control strategy to adapt to the current height data.

2. The height adaptation adjustment method based on the shore lifting platform system according to claim 1 is characterized in that: The shore lifting platform comprises: A lifting frame, comprising a bottom frame and a top frame, wherein the top frame is located above the bottom frame and can be lifted and lowered by a lifting mechanism; There are lifting cylinders on both sides, and the top frame is driven by the lifting cylinders to be lifted to different heights.

3. The height adaptation adjustment method based on the shore lifting platform system according to claim 2 is characterized in that: The lifting mechanism is a rope pulling mechanism.

4. The height adaptation adjustment method based on the shore lifting platform system according to claim 3 is characterized in that: Before the step of collecting the height data of the deck surface from the horizontal plane, the method further comprises: Get the location of the pier and the berth; Positioning is performed according to the position of the wharf and the position of the mooring platform to determine the position of each shore-side lifting platform.

5. A height adaptation adjustment system based on a shore lifting platform system, characterized in that: Based on the height adaptation adjustment method based on the shore lifting platform system according to any one of claims 1 to 4, the height adaptation adjustment system based on the shore lifting platform system comprises: An online monitoring unit is used to locate the current unloading channel position and collect the height data of the deck surface from the horizontal plane through a data platform, wherein the data platform includes a positioning module, a sea level data acquisition module, and a distance measurement module.

6. The height adaptation adjustment system based on the shore lifting platform system according to claim 5 is characterized in that: The height adaptation and adjustment system based on the shore lifting platform system also includes a data acquisition and processing unit; The data acquisition and processing unit is used to acquire and process the real-time status data of the shore lifting platform. The data acquisition and processing unit includes an inclination acquisition module, a lifting height acquisition module, and a hydraulic status acquisition module.

7. The height adaptation adjustment system based on the shore lifting platform system according to claim 6 is characterized in that: The height adaptation adjustment system based on the shore lifting platform system also includes a communication unit; The communication unit is used to realize data interaction among multiple shore lifting platforms and determine the online status of a single shore lifting platform.

8. The height adaptation adjustment system based on the shore lifting platform system according to claim 7 is characterized in that: The height adaptation adjustment system based on the shore lifting platform system also includes a database unit; The database unit is used to realize the collection, classification storage and data calling of the online monitoring unit and the data acquisition unit.

9. The height adaptation adjustment system based on the shore lifting platform system according to claim 8 is characterized in that: The height adaptation adjustment system based on the shore lifting platform system also includes an adaptive control unit; The adaptive control unit is used to control the actuator to complete a specified action according to the control instruction issued by the adaptive control unit.

10. The height adaptation adjustment system based on the shore lifting platform system according to claim 9, characterized in that: The height adaptation adjustment system based on the shore lifting platform system also includes an early warning unit; The early warning unit is used to identify dangerous operations during the execution of the mechanism of the shore lifting platform and issue an alarm message.

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