Automatic control device for straddle carrier

Abstract

The utility model relates to an automatic control device for a straddle carrier, which comprises a laser distance measuring sensor arranged on the head of the straddle carrier and used for measuring the distance between the straddle carrier and a crown block, when the distance between the straddle carrier and the crown block reaches a set value, the crown block sends a safety interlocking command to the straddle carrier, and after the straddle carrier receives the safety interlocking command, the straddle carrier sends a control signal to the straddle carrier; the locking state is kept, and movement cannot be achieved; after receiving the locked state of the straddle carrier, the crown block places goods on the straddle carrier and sends an unlocking command to the straddle carrier, and after receiving the unlocking command, the straddle carrier is unlocked, is in the unlocked state and moves to the target position. Linkage locking of the straddle carrier and the crown block is achieved through laser ranging and safety linkage commands, the straddle carrier is prevented from moving when the crown block picks and places goods, and safety accident risks are remarkably reduced.

Description

Technical Field

[0001] This utility model relates to the field of automation control technology, and in particular to an automatic control device for a vehicle crossing a bridge. Background Technology

[0002] With the widespread application of intelligent warehousing systems, the efficiency of material handling and transshipment within warehouses has become a crucial factor in improving overall production efficiency. Straddle carts, as key equipment for material transfer between different storage areas in intelligent warehouses, undertake the important task of moving materials from one storage area to another. The continuity, safety, and stability of straddle cart operation directly affect the transshipment efficiency of intelligent warehouses, thereby impacting the overall warehouse output and production benefits.

[0003] However, in most current smart warehouses, the transfer carts are deployed in different areas and rely on manual control for operation. This is not only time-consuming and labor-intensive, but also inefficient and carries significant risks due to human error. Furthermore, the lack of effective safety interlocking control between the transfer carts and the overhead crane system means that the transfer carts may still move while the overhead crane is performing retrieval operations, posing a risk of collisions and other safety accidents, seriously affecting warehouse safety and the stable operation of equipment. Utility Model Content

[0004] To address the aforementioned problems, the purpose of this utility model embodiment is to provide an automatic control device for vehicles crossing over obstacles.

[0005] An automatic control device for a vehicle crossing a bridge, comprising:

[0006] A laser rangefinder sensor is installed on the cab of the gantry crane to measure the distance between the gantry crane and the overhead crane. When the distance between the gantry crane and the overhead crane reaches a set value, the overhead crane sends a safety interlock command to the gantry crane. After receiving the safety interlock command, the gantry crane remains locked and cannot move. After receiving the locked status of the gantry crane, the overhead crane lowers the goods onto the gantry crane and simultaneously sends an unlock command to the gantry crane. After receiving the unlock command, the gantry crane unlocks and moves to the target location.

[0007] Preferably, the laser ranging sensor includes:

[0008] Laser emitter, used to project lasers at the overhead crane;

[0009] A laser receiver is used to receive laser echo signals reflected back from the overhead crane.

[0010] The ranging unit is used to determine the distance between the overhead crane and the cross-traffic vehicle based on the laser echo signal.

[0011] Preferably, the overhead crane sends safety interlock and unlock commands to the crossing vehicle via a wireless communication module.

[0012] According to the specific embodiments provided by this utility model, the following technical effects are disclosed:

[0013] This utility model relates to an automatic control device for a cross-pass vehicle. Compared with the prior art, this utility model achieves linkage locking between the cross-pass vehicle and the overhead crane through laser ranging and safety interlock commands, preventing the cross-pass vehicle from moving when the overhead crane picks up or puts down goods, and significantly reducing the risk of safety accidents.

[0014] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 A schematic diagram of an automatic control device for a vehicle crossing a bridge, provided by this utility model;

[0017] Figure 2 A diagram illustrating the process of the overhead crane approaching and locking the cross-pass vehicle during the winding process provided by this utility model.

[0018] Figure 3 This diagram illustrates the unlocking of the vehicle after the roll is retrieved, as provided by this utility model. Detailed Implementation

[0019] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0020] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0021] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0022] Please see Figure 1-3 An automatic control device for a vehicle crossing a bridge, comprising:

[0023] A laser rangefinder sensor 2 is installed on the cab of the gantry crane 3 to measure the distance between the gantry crane 3 and the overhead crane 1. When the distance between the gantry crane 3 and the overhead crane 1 reaches a set value, the overhead crane 1 sends a safety interlock command to the gantry crane 3. Upon receiving the safety interlock command, the gantry crane 3 remains locked and cannot move. After receiving the locked status of the gantry crane 3, the overhead crane 1 lowers the goods onto the gantry crane 3 and simultaneously sends an unlock command to the gantry crane 3. Upon receiving the unlock command, the gantry crane 3 unlocks, entering an unlocked state, and moves to the target location. The overhead crane 1 sends the safety interlock command and the unlock command to the gantry crane 3 via a wireless communication module.

[0024] Furthermore, the laser rangefinder 2 includes:

[0025] Laser emitter, used to project lasers at the overhead crane;

[0026] A laser receiver is used to receive laser echo signals reflected back from the overhead crane.

[0027] The ranging unit is used to determine the distance between the overhead crane and the cross-traffic vehicle based on the laser echo signal.

[0028] The control process of the overpass vehicle will be further explained below with reference to specific embodiments:

[0029] Step 1: After manually driving the vehicle to a safe position in the storage area, record the laser distance of the vehicle at this moment.

[0030] Step 2: Manually move the overhead crane to the middle position of the front of the crane closest to the laser on the overpass side. Record the X, Y, and Z addresses of the overhead crane.

[0031] Step 3: Measure the distance from each spanned parking space to the center of the front of the car.

[0032] Step 4: Record the angle (0-360°) between the projection of the vehicle's travel direction onto the coordinate plane and the clockwise direction of the x-axis of the current span's coordinate system, the angle (0-360°) between the projection of the vehicle's travel direction onto the coordinate plane and the clockwise direction of the y-axis of the current span's coordinate system, and the angle (0-360°) between the vehicle's travel direction and the clockwise direction of the z-axis of the current span's coordinate system.

[0033] Step 5: Calculate the offset value:

[0034] X direction = (Crane X address – Laser distance across the span * Cos(X-axis angle))

[0035] Y-direction = (Crane Y-address – Laser distance across the span * Cos(Y-axis angle))

[0036] Z-direction = (Crane Z-address – Laser distance across the span * Cos(Z-axis angle))

[0037] Automatic calculation process for warehouse location coordinates:

[0038] Step 1: Obtain the current laser distance across the vehicle.

[0039] Step 2: Calculate the coordinates of the storage location:

[0040] Storage location X coordinate = Offset value X direction + (Distance of laser across vehicle + Distance from storage location to vehicle front) * Cos(X-axis angle)

[0041] Y-coordinate of storage location = Offset value in Y direction + (Distance of laser across vehicle + Distance from storage location to vehicle front) * Cos(Y-axis angle)

[0042] The Z-coordinate of the storage location = offset value in the Z direction + (distance of laser beam across the vehicle + distance from the storage location to the front of the vehicle) * Cos(Z-axis angle)

[0043] Ticket collection process:

[0044] Step 1: The warehouse stacking plan automatically generates a roll retrieval work order for the cross-cart, and the cross-cart automatically moves to the roll retrieval target location.

[0045] Step 2: When the cross-traffic vehicle arrives at the target location for retrieving the roll, a crane work order is triggered so that the crane can retrieve the roll and place it in the corresponding storage location of the cross-traffic vehicle. The coordinates of the storage location of the cross-traffic vehicle are automatically calculated.

[0046] Step 3: When the crane coil approaches the overpass vehicle, send a safety interlock command to the overpass vehicle.

[0047] Step 4: The overpass car receives the safety interlock command, locks the overpass car to prevent it from moving, and sends the overpass car locked status to the overhead crane.

[0048] Step 5: After the overhead crane receives the locked status of the cross-pass vehicle, it lowers the coil to the cross-pass vehicle's storage position and sends the coil number and storage position information to the cross-pass vehicle's tracking module.

[0049] Step 6: The transfer vehicle receives the coil number and storage location information from the overhead crane and updates the coil number to the storage location on the transfer vehicle.

[0050] Step 7: After the overhead crane has unloaded the roll and risen to a safe height, it sends an unlock command to the passing crane.

[0051] Step 8: After receiving the unlock command, the crossing vehicle unlocks itself, putting it in an unlocked state so it can move.

[0052] Unwinding process:

[0053] Step 1: The unwinding work order for the crossover vehicle is automatically generated through the warehouse stacking plan, and the crossover vehicle automatically moves to the unloading target position.

[0054] Step 2: When the cross-traffic vehicle reaches the target unloading position, the overhead crane work order is triggered so that the overhead crane can pick up the roll from the cross-traffic garage position and put it into the warehouse area. The coordinates of the cross-traffic garage position are automatically calculated.

[0055] Step 3: When the crane coil approaches the overpass vehicle, send a safety interlock command to the overpass vehicle.

[0056] Step 4: The overpass car receives the safety interlock command, locks the overpass car to prevent it from moving, and sends the overpass car locked status to the overhead crane.

[0057] Step 5: After receiving the locked status of the cross-car, the overhead crane retrieves the roll from the cross-car's parking space and ascends, while simultaneously sending a delete parking space tracking command to the cross-car's tracking module.

[0058] Step 6: The vehicle receiving the deletion location tracking command deletes the steel coil number on the corresponding storage location of the vehicle.

[0059] Step 7: After the overhead crane hoist reaches the safe height, send an unlock command to the overpass crane.

[0060] Step 8: After receiving the unlock command, the crossing vehicle unlocks itself, putting it in an unlocked state so it can move.

[0061] In practical applications, when the crossover vehicle reaches the target position of 284mm, a crane work order is triggered, and the crane retrieves the roll and places it in the corresponding storage location of the crossover vehicle. The coordinates of the storage location of the crossover vehicle are automatically calculated.

[0062] On the same day, the overhead crane KO2 work order was executed by the overhead crane taking roll 24C1032031 from storage location D1-G-43-21-1 and placing it into the cross-gate storage location FLAT-5-1.

[0063] When the overhead crane's coil approaches the crossover trolley, a safety interlock command is sent to the crossover trolley, and the crossover trolley enters a locked state. Upon receiving the safety interlock command, the crossover trolley locks itself, preventing movement, and sends a message to the overhead crane indicating that the crossover trolley is locked.

[0064] After the overhead crane receives the locked status of the cross-pass vehicle, the unwinding coil 24C1032031 descends to the cross-pass vehicle's parking space, and at the same time sends the coil number and parking space information to the cross-pass vehicle's tracking module.

[0065] After receiving the unlock command, the crossing vehicle unlocks itself, putting it in an unlocked state so it can move.

[0066] According to the specific embodiments provided by this utility model, the following technical effects are disclosed:

[0067] This invention uses laser ranging and safety interlock commands to achieve linkage locking between the overhead crane and the gantry crane, preventing the gantry crane from moving when the crane is picking up or placing goods, and significantly reducing the risk of safety accidents.

[0068] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. An automatic control device for crossing a vehicle, characterized by comprising: include: A laser rangefinder sensor is installed on the cab of the gantry crane to measure the distance between the gantry crane and the overhead crane. When the distance between the gantry crane and the overhead crane reaches a set value, the overhead crane sends a safety interlock command to the gantry crane. After receiving the safety interlock command, the gantry crane remains locked and cannot move. After receiving the locked status of the gantry crane, the overhead crane lowers the goods onto the gantry crane and simultaneously sends an unlock command to the gantry crane. After receiving the unlock command, the gantry crane unlocks and moves to the target location.

2. An automatic control device for crossing a vehicle according to claim 1, wherein The laser ranging sensor includes: Laser emitter, used to project lasers at the overhead crane; A laser receiver is used to receive laser echo signals reflected back from the overhead crane. The ranging unit is used to determine the distance between the overhead crane and the cross-traffic vehicle based on the laser echo signal.

3. An automatic crossing control device according to claim 2, wherein The overhead crane sends safety interlock and unlock commands to the crossing vehicle via a wireless communication module.

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