176 results about "Quay crane" patented technology

The invention relates to the technical field of equipment collaborative operation of the Internet of Things, in particular to a transit hub equipment collaborative operation method and system based on the Internet of Things technology. According to the method, original attitude motion data of a target ship are collected in real time through an attitude sensor network of the Internet of Things, and a real-time attitude drift vector of the target ship relative to a geodetic coordinate system is calculated; constructing a dynamic coordinate transformation matrix according to the real-time attitude drift vector; acquiring an expected operation track control instruction preset by the quay crane control system according to the geodetic coordinate system; performing coordinate transformation operation on the expected operation track control instruction through a dynamic coordinate transformation matrix to obtain a compensated cooperative control instruction; the compensated cooperative control instruction is transmitted to a quay crane control system in real time through an Internet of Things communication link, and a quay crane lifting appliance is driven by the quay crane control system to conduct lifting operation according to the compensated track instruction; and the safety and efficiency of the hoisting operation between the ship and the quay crane can be effectively improved.

The invention discloses a port container transportation full-process simulation and space planning quantification system and method under random event deduction. The system comprises a data acquisition module, a data processing module, a process simulation module, an efficiency quantification index generation module and an efficiency quantification module. The data acquisition module is used for acquiring basic data in port operation; the data processing module is used for processing the basic data; the process simulation module is used for constructing port container transportation process simulation covering the whole process of ship navigation, ship berthing, quay crane loading and unloading, storage yard storage and container truck outward transportation based on the processed basic data, and obtaining a simulation result; the efficiency quantitative index generation module is used for obtaining an efficiency quantitative index according to the container transportation characteristics and the port operation experience; and the efficiency quantification module is used for quantifying the simulation result by utilizing the efficiency quantification index. According to the invention, the current operation efficiency level of the port can be measured comprehensively and objectively.

The invention discloses a new energy access lower harbor area transformer insulation performance and service life evaluation method, which comprises the following steps: firstly, establishing a wind and light storage AC / DC hybrid micro-grid equivalent simulation model, and quantifying a composite action mechanism of new energy fluctuation and harmonic characteristics on dynamic loss and hot-spot temperature rise of a transformer; analyzing a harmonic loss mechanism of the transformer in different operation modes; secondly, constructing a quay crane and field crane operation simulation model, and analyzing the harmonic characteristics of bridge crane equipment and the influence of the harmonic characteristics on the harmonic distortion rate of the power distribution network; then, on the basis of the data, a transformer hot-spot temperature dynamic calculation model is established in combination with bidirectional power flow characteristics; and finally, calculating transient temperature distribution of the transformer through a flow field-temperature field coupling method, and constructing a multi-physical field coupled insulation aging rate model to realize evaluation of the residual life of the transformer. The method solves the problem that the traditional method cannot quantify the bidirectional power flow and harmonic wave composite aging effect.

The invention discloses a container logistics ecological chain large model system based on a joint model, and relates to the technical field of container logistics, and the system comprises real equipment, a Tos system, a real-time data concentrator, a virtual port, a database, and an LLM. The real equipment is key operation objects of a port site and comprises quay cranes, wheel cranes, inner container trucks, storage yards, ships and the like, and each object continuously outputs real-time operation state data; and the Tos system is responsible for receiving and processing real-time data from real equipment. According to the container logistics ecological chain large model system based on the joint model, a scheduling strategy with sensing, decision-making and self-adaption capabilities is formed by training an agent in a virtual port environment, and real-time deployment and application are performed in an actual port, so that multi-type equipment and multi-task concurrent scheduling can be supported; efficient, real-time response and dynamic rescheduling capability are realized, and the overall intelligent level, loading and unloading efficiency and handling capacity of port operation are improved.

The invention relates to an intelligent port cargo scheduling method based on the Internet of Things, and the method comprises the steps: collecting cargo state information, equipment position coordinates, operation progress data and environment parameters in real time through Internet of Things sensor nodes disposed on a quay crane, a container truck, a storage yard sling and a cargo carrier, and fusing a port GIS map and a berth plan based on the real-time collected data, and establishing a multi-objective optimization model with maximization of the quay crane-container truck-storage yard cooperative efficiency as an objective and minimization of equipment conflict avoidance and path overlap as constraint conditions, and dynamically activating or sleeping storage yard operation partitions and adjusting the number of container truck marshalling according to the obtained storage yard congestion prediction index and the parking space vacancy rate.

The invention relates to the field of automatic container wharf operation optimization, in particular to a container wharf automatic remote control quay crane one-control-two operation control system and a quay crane operation control method, and the system comprises a remote console which is used for receiving an operator instruction and displaying real-time operation data; at least two quay crane devices, wherein each quay crane device comprises a crane and a container spreader; the automatic remote control system is used for analyzing the operation instruction and controlling the quay crane to execute automatic loading and unloading operation; the dynamic switching module is in communication connection with the automatic remote control system, so that the control rights of the two quay crane devices are alternately switched under the monitoring of a single operator; and the safety monitoring module is used for monitoring the operation state of the double-shore bridge in real time and ensuring the safety of the system when the control right is switched. According to the one-control-two operation control system for the automatic remote control quay cranes of the container wharf, the operation of managing and switching the two quay cranes at the same time by a single operator through the remote control console, and the problem that manpower resources of the wharf are insufficient is effectively solved.

The invention relates to the field of deep learning, and provides a container ship loading and unloading operation time prediction method and system for solving the problems that an existing container ship operation time estimation method is rough, and operation data has noise in a real loading and unloading operation scene. On the basis of a deep residual shrinkage network DRSN-CW (Deep Residual Shrinkage Net) model with feature extraction and denoising capabilities under a ResNet-18 architecture, a fixed soft threshold function is changed into a more flexible adaptive threshold function, so that the noise reduction capability is more flexible while the feature learning capability is kept. According to the scheme of the application, the request of real-time prediction of the quay crane operation duration in the berth planning process can be well met with relatively high average detection precision and robustness.

The invention discloses an electric energy feedback collection and load peak suppression system for a wharf crane, and relates to the technical field of wharf power supply and distribution and energy management. Wherein the wharf crane comprises a quayside container crane (quay crane), a rail or rubber-tyred container portal crane (gantry crane) and the like, which are called cranes for short hereinafter. According to the system, instantaneous power, average power, peak duration and power increasing rate of a wharf power station, feedback power and feedback electric energy of a crane, capacity and charging and discharging parameters of an energy storage device, and electric energy quality indexes of a power grid are collected in real time; respectively calculating a peak impact index, a feedback absorption coefficient, a peak valley switching coefficient and a harmonic suppression coefficient, and comparing and analyzing with a preset threshold to generate a corresponding strategy; and integrating the results of the modules, carrying out unified scheduling on the energy storage device, and realizing power fluctuation compensation and stable output through a smooth scheduling strategy, thereby constructing an operation mechanism. According to the method, the instantaneous peak power of the wharf power station can be effectively inhibited, the feedback energy consumption capability is improved, the peak-valley scheduling economy is optimized, the electric energy quality is improved, and the safety, stability and energy efficiency of system operation are improved.

The invention discloses a port operation scheduling method, device and equipment, a storage medium and a program product, and the method comprises the steps: determining the state information of a to-be-scheduled port, and the state information comprises a ship unloading operation task table, real-time traffic flow data, container truck operation information, shore bridge operation information and field bridge operation information; and inputting the state information into a container truck-quay crane-field crane collaborative scheduling model, determining scheduling information of the port to be scheduled through the collaborative scheduling model, and performing collaborative operation scheduling of the container truck, the quay crane and the field crane according to the scheduling information. Therefore, due to the fact that the operation information of the container trucks, the quay cranes, the field cranes and the like is considered at the same time, the operation efficiency of the container trucks, the quay cranes and the field cranes can be maximized through the scheduling information obtained through the collaborative scheduling model, and then the transportation cost of port operation is reduced.

The invention relates to the field of radiation scanning, in particular to a radiation scanning inspection system and a control method. The radiation scanning inspection system includes: a quay crane including a gantry structure and a cargo handling mechanism disposed on the gantry structure, where the gantry structure includes a sea side gantry and a land side gantry, the cargo handling mechanism configured to perform cargo handling between a first position on the sea side and a second position on the land side; the first radiation scanning inspection device is arranged on the sea side door frame and is configured to carry out radiation scanning inspection on the goods in the process that the goods carrying mechanism carries out goods carrying from the first position to the second position; the cargo carrying mechanism is further configured to adjust the length direction of the cargo before the first radiation scanning inspection device conducts radiation scanning inspection on the cargo. According to the embodiment of the invention, the loading, unloading and checking efficiency of goods can be improved, and the occupation of the internal space of the frame of the quay crane can be reduced.

The invention relates to the technical field of port container loading and unloading, in particular to a system and method for container lock disassembly and assembly operation scheduling, and the system comprises a quay crane terminal subsystem which is arranged in a quay crane cab and is used for transmitting locking instruction information to a server through a wireless network; the server is used as an information center for receiving and processing the locking instruction information sent by the quay crane terminal subsystem and pushing the locking instruction information to the corresponding container truck terminal subsystem for transporting the container; the container truck terminal subsystem is arranged in a container truck cab and used for receiving and displaying the locking instruction issued by the server, and a terminal screen can indicate whether the currently transported container needs to be locked or not; and the LED indication screen is connected with the container truck terminal subsystem through a network cable and communicates with the container truck terminal subsystem through a binary code, and the problems that in the prior art, efficiency is low, the error rate is high, and the process is not traceable are solved.

The utility model provides a hanging bracket which comprises a connecting beam, a hanging bracket body and a hanging bracket body. The length direction of the connecting beam is consistent with the first direction. The two ends, in the first direction, of the connecting beam are each connected with one supporting frame, the length direction of each supporting frame is consistent with the second direction, the second direction is perpendicular to the first direction, and the first direction and the second direction are both perpendicular to the vertical direction; each lifting lug is respectively arranged on the corresponding support frame; and each positioning plate is detachably connected with the end, deviating from the connecting beam, of the corresponding supporting frame, the two positioning plates are oppositely arranged so that the quay crane heightening section can be located between the two positioning plates, and each positioning plate is used for being connected with the quay crane heightening section. According to the lifting frame, the collision between the lifting hook and the heightened section of the quay crane can be avoided, and the stability during lifting is improved.

The invention relates to the technical field of freight shipment, in particular to a shipment method based on a dynamic stowage mode, which comprises the following steps: analyzing ship shipment data and storage yard equipment distribution conditions to obtain shipment operation sequences under different shipment operation lines, and determining the shipment data under the same shore bridge as shipment single-group data; analyzing the shipment single group of data to obtain an operation sequence of the containers with the same container attribute; solving container truck requirements of different operation lines of the whole ship by using a recursive algorithm, and solving container discharging at a storage yard side by using a Monte Carlo tree search algorithm according to attribute operation requirements of a shore side container; the storage yard position suitable for container discharging is dynamically planned based on the distribution condition of storage yard side equipment and the storage yard sequence set by wharf operators, an adaptive shipping strategy is selected based on an algorithm result for shipping, and the problems that in the prior art, shipping efficiency is low, flexibility is poor, and safety cannot be guaranteed are solved.

The present invention provides a cascade PID control method for cylinders used in quay cranes. The quay crane has multiple cylinders and a spreader. The pistons of the multiple cylinders are linked to piston rods to drive the spreader. Each cylinder is subjected to cascade PID control. The cascade PID control method includes: outer-loop control of the piston position based on its actual position and its desired position; and inner-loop control of the piston speed based on its desired speed and its feedback speed. This cascade PID control method for cylinders in a quay crane can achieve stable tilting motion of the spreader.

The application discloses a direct unloading and direct loading type container wharf and a working method thereof, adopts high-low two-layer longitudinal and transverse track line body structures and R-AGVs running thereon to connect a quay crane and a yard, and a buffer platform and a shuttle channel in the yard, so that containers are directly unloaded into the yard and accurately stacked or directly loaded into a ship cabin, whether unloading or loading is carried out by multiple top-opening type container three-dimensional yards and multiple mode conveying equipment resources cooperative operation, meanwhile, the quay crane double-lifting-gear empty container unloading on double R-AGVs and the quay crane single-lifting-gear heavy container unloading and loading on high-low two-layer R-AGVs bidirectional unloading and loading operation can be realized, the requirements of high efficiency, accuracy, smoothness and low consumption of digital technology are met, and the technical problems of low overall efficiency of the wharf and a large number of overturned containers caused by the difficulty of matching the high efficiency of the quay crane loading and unloading ship with the existing automatic wharf resources are solved.

The invention belongs to the technical field of anti-leakage systems for hydraulic stations of rear girders of quay cranes, and particularly relates to an anti-leakage system and method for a hydraulic station of a quay crane. Comprising a data acquisition module used for acquiring an oil tank liquid level signal of a shore bridge hydraulic station and at least one real-time working condition signal of a shore bridge in real time; and the data processing and control module is electrically connected with the data acquisition module. Liquid level fluctuation and real leakage caused by normal actions (such as cart movement and oil cylinder action) of equipment are effectively distinguished, and the problems that a traditional low-liquid-level alarm device is high in false alarm rate and lags in alarm are fundamentally solved.

This invention relates to the field of loading and unloading equipment technology, and discloses a quay crane loading and unloading system, comprising: a container quay crane having a main beam and a quay crane trolley, with a spreader on the quay crane trolley; and a transfer mechanism located below the main beam, the transfer mechanism including a cargo basket, a counterweight, and a circulating drive device. The cargo basket and the counterweight are respectively connected to the circulating drive device and are respectively arranged symmetrically on both sides of the circulating drive device along the vertical direction. The cargo basket is suitable for carrying containers, and the circulating drive device is suitable for driving the cargo basket and the counterweight to reciprocate between a first height position and a second height position. This invention, by setting up a transfer mechanism, utilizes transferred containers, reduces the lifting distance of the spreader, and reduces the energy and time consumption of container lifting operations on the container quay crane; by using the counterweight symmetrically arranged with the cargo basket to offset part of the container's weight, the driving power of the circulating drive device is reduced, further reducing the energy consumption of transferring containers on the transfer mechanism.

According to the quay crane and the lifting heavy hammer limiting device, the quay crane lifting heavy hammer limiting device is arranged on a girder, the girder is provided with a trolley frame, the heavy hammer limiting device comprises a heavy hammer, a limiting rod, an elastic piece and a swing rod, and the heavy hammer is arranged on the trolley frame; the limiting rod is located below the trolley frame and hinged to the trolley frame. Two ends of the elastic piece are respectively connected with the trolley frame and the limiting rod; the swing rod is hinged to the lower portion of the limiting rod, is perpendicular to the extending direction of the limiting rod and is connected with the heavy hammer through a connecting piece. According to the quay crane lifting counter weight limiting device, a traditional rigid connection structure is improved, when the lifting appliance deflects in any direction and collides with the limiting rod, the limiting rod can freely rotate around the hinge, the collision force of deflection of the lifting appliance to the support is released, the elastic piece enables the limiting rod to reset in time through the elastic force, and the lifting appliance is prevented from being damaged. The problems that the support is prone to being collided to generate permanent inclination deformation and lose positioning accuracy are solved.

The invention belongs to the technical field of port equipment, and discloses a quay crane sling end vehicle accurate alignment auxiliary system and method.The quay crane sling end vehicle accurate alignment auxiliary system comprises an end corner light source projection unit, a center light source projection unit and a distance measurement recognition unit which are arranged at the bottom of a quay crane sling; wherein the end corner light source projection unit is used for projecting four end corner marks identified by the unmanned vehicle on the ground, and the four end corner marks are used as four corners to form a rectangular parking space; the central light source projection unit is used for projecting a cross-shaped reference mark for unmanned vehicle identification on the ground, and the center of the cross-shaped reference mark coincides with the center of the rectangular parking space; the distance measurement recognition unit is used for detecting and obtaining deviation information of the unmanned vehicle relative to the center reference of the quay crane lifting appliance in the process that the unmanned vehicle gets close to the end corner mark and stops, and sending the deviation information to the unmanned vehicle. The alignment precision and the alignment efficiency of the unmanned vehicle and the quay crane lifting appliance can be improved.

The invention relates to the field of automatic container wharf operation optimization, in particular to a container wharf quay crane operation planning and optimizing method introducing tidal factors, and planning and information updating are carried out through a wharf production operation system and a data management system. According to the method, the tidal factor system is introduced into the quay crane operation plan compilation process, and dynamic optimization of the operation plan is realized in combination with the tidal height prediction data and the ship parameters. Compared with a traditional manual planning mode, the method can determine the safety operation height range of each time period in advance, accurately arrange the number, layer number and time of the plastering box operation, reduce the blindness of planning, and remarkably improve the fineness and scientificity of the ship operation plan.

The embodiment of the invention provides a quayside container crane transfer platform, an impact resistance verification method thereof and a readable storage medium, and relates to quayside container crane transfer platforms. The problem that a quay crane transfer platform based on static elastic design is insufficient in high-energy instantaneous impact resistance and light weight can be solved. According to the verification method, the platform structure enters a controllable plastic deformation stage through finite element calculation. When the total strain energy T is larger than or equal to the impact potential energy E, it is indicated that the structure converts impact kinetic energy into internal energy of materials through deformation modes such as reinforcing rib buckling and panel plastic upheaval, and effective dissipation of the energy is completed. And when the maximum strain value epsilon is smaller than or equal to the limit strain epsilon max of the material, it is ensured that the plastic deformation of the bearing component is always within the ductility capacity range of the material. Impact energy is actively dissipated through structural deformation, and the platform can be lighter and the cost can be reduced in combination with a manufacturing process.

This invention provides a variable torque braking anti-slip system, comprising: a push-rod disc brake, mounted close to the drive source on the trolley assembly to brake the brake disc on the coupling of the drive source; an electro-hydraulic push-rod brake, mounted on the wheel frame of the trolley assembly to brake the wheels; and a control system, configured to send commands to the push-rod disc brake and the electro-hydraulic push-rod brake according to the real-time operating conditions of the quay crane, wherein the push-rod disc brake and the electro-hydraulic push-rod brake determine corresponding braking torque values ​​based on the received commands. According to the embodiments of the present invention, the variable torque braking anti-slip system can set the braking torque according to different operating conditions of the quay crane to achieve braking and prevent wheel slippage under emergency stopping conditions.

This invention discloses a collaborative optimization method for quay crane and yard crane operations under a dual-circulation mode. By constructing an objective function and constraints based on a collaborative optimization model of quay crane and yard crane operations under the dual-circulation mode, and employing a greedy stochastic adaptive search algorithm that integrates path reconnection, the objective function of the collaborative optimization model under the dual-circulation mode is solved to obtain the final quay crane loading / unloading sequence and the final export container space allocation result, thus achieving collaborative optimization of quay crane and yard crane operations under the dual-circulation mode. This invention, based on the dual-circulation operation mode, constructs an objective function that significantly reduces the number of container handling operations by yard cranes, improves resource utilization, and enhances overall operational efficiency. The solution method of this invention is less prone to getting trapped in local optima and achieves an effective balance between solution quality and efficiency, playing a positive role in the intelligent upgrading of current container terminals.

This invention belongs to the field of terminal automation management technology, and relates to a method and device for controlling the size of spreader in a dual-trolley quay crane loading operation. The method includes the following steps: Step S1, operation application and lane allocation; Step S2, target AGV screening and locking; Step S3, spreader pre-matching and preparation; Step S4, operation execution and AGV release. The technical solution of this application optimizes the triggering timing and control logic of spreader size change, enabling the gantry trolley to complete the matching and change of spreader size in advance before the AGV arrives at the target operation lane, thereby improving the efficiency of quay crane loading operations and reducing the cycle time of a single operation.

The invention provides a quay crane tilting adjustment control system and quay crane equipment, and relates to the technical field of quay cranes. The quay crane tilting adjustment control system is provided with a far-end host, a position detection piece and a tilting controller, the far-end host is used for transmitting a target position to the tilting controller, and then the tilting controller is used for controlling a driving hydraulic cylinder to move towards the target position according to the target position and position information detected by the position detection piece. As the remote host only adjusts the target position before tilting adjustment, the control process is performed through the tilting controller, and the tilting controller can be directly arranged and mounted on the quay crane; therefore, the technical problems of low control precision and long adjustment time caused by network delay in the control instruction transmission process in the control process are effectively avoided.

The invention relates to the technical field of computers, in particular to a port transport vehicle scheduling method, system and device, a medium and a product. The method comprises the following steps: generating a corresponding event queue according to transport vehicle parameters, operation point group parameters and ship planned operation data, and processing each event in the event queue in sequence based on a preset time priority strategy and the event type of each event, thereby responding to each event processing operation. And determining the emergency degree value of each transport vehicle and the required number of the transport vehicles. And according to a preset two-stage scheduling strategy, a scheduling distribution scheme of each transport vehicle is generated in combination with the emergency degree value and the required number of transport vehicles, so that the operation point group and the quay crane to which each transport vehicle should be distributed are indicated, and the scheduling efficiency of the port transport vehicles is improved.

The invention relates to the technical field of automation, in particular to a quay crane lifting equipment path control method and device, and lifting equipment comprises a trolley and a lifting appliance connected with the trolley. The control method comprises the following steps: acquiring multiple types of obstacle information; global obstacle contour information is constructed based on the obstacle information of multiple types; obtaining an operation task and current position information of the lifting equipment; planning a moving path of the trolley based on the operation task and the current position information; planning a lifting path of the lifting appliance based on the operation task, the moving path, the current position information and the global obstacle contour information; controlling the lifting appliance to lift based on the lifting path, and controlling the trolley to move based on the moving path. According to the quay crane lifting equipment path control method, the lifting equipment can effectively avoid obstacles, and meanwhile efficient and reliable automatic operation is achieved.

This invention provides a method and system for preventing falling objects from under quay crane lifting equipment, relating to the fields of vision and deep learning technologies. It aims to accurately identify and locate the position of an obstructed object before it falls or is obstructed. The method includes: detecting video frames using a YOLOv5x visual detection network to obtain detection results; performing tracking prediction based on the detection results using the DeepSort algorithm and a re-identification algorithm to obtain tracking prediction results; labeling the tracking prediction results based on the similarity between the detection results and the tracking prediction results; projecting the tracking prediction results onto the plane of the image captured by a trolley-mounted camera to obtain the projected tracking prediction results from the trolley-mounted camera's perspective; calculating the ground projection area of ​​the lifting equipment from the trolley-mounted camera's perspective based on the lifting equipment size, determining whether there is a risk of falling objects, and sending an alarm message to the quay crane. This system is applied to the method of preventing falling objects from under quay crane lifting equipment.

The present invention discloses a reduction gearbox counterweight energy-saving system for a crossing quay crane, comprising an upper trolley energy-saving system and a lower trolley energy-saving system, wherein the lifting mechanisms in the upper trolley energy-saving system and the lower trolley energy-saving system are connected to the energy-saving mechanism in a transmission manner. One end of the lifting wire rope is led out of the lifting mechanism, and the other end of the lifting wire rope is connected to the trolley hoist. One end of the counterweight wire rope is led out of the energy-saving mechanism, and the other end of the counterweight wire rope is fixed to the quay crane structure after passing through the counterweight movable pulley. The counterweight movable pulley is fixed to the counterweight. The present invention saves 25% of the energy consumption of the quay crane without reducing the performance of the quay crane. The counterweight is controlled by the energy-saving mechanism, and the length of the lifting drum does not need to be extended, thereby ensuring the strength of the lifting drum. The winding of the counterweight wire rope in the present invention is simple, does not interfere with other wire ropes in the operation of the quay crane, and has a stable structure. The present invention also provides vibration reduction measures to further improve the stability of the quay crane structure.

The present invention provides a method for detecting out-of-tolerance (OTO) of a quay crane cantilever track based on strain measurement. The method constructs a unified coordinate system for two cantilever beams, divides each cantilever beam into multiple monitoring units, and constructs an analysis unit within each monitoring unit. After monitoring and acquiring strain information from each analysis unit, the deformation information of each cantilever beam is calculated and acquired. The deformation information of the two cantilever beams is compared to analyze and acquire out-of-tolerance information of the cantilever track. The method divides each cantilever beam into multiple monitoring units and constructs analysis units for each unit. A strain mapping relationship associated with the actual deformation is constructed for each analysis unit. After monitoring and analyzing each analysis unit, the strain information of each analysis unit can be acquired. After assembling and analyzing the units, the deformation information of each cantilever beam can be acquired. Furthermore, by comparing and analyzing the deformation information of the two cantilever beams with standard data, it can be determined whether the cantilever track has an OTO problem. The method has the advantages of saving time and effort, and being stable and reliable.