101 results about "Quay crane" patented technology

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 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 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 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 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.

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 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 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.

This invention discloses a fault-tolerant method for quay crane pose estimation based on multi-sensor fusion, belonging to the technical field of port automation equipment. When a quay crane loses connection due to a network failure, the system automatically detects the pose loss by comparing and analyzing pre-registered quay crane IDs and placement order information with real-time received data. Upon detecting a missing quay crane position, the system immediately reports an error and records the disconnection information. Different intelligent inference strategies are employed based on the quay crane's position order within the area: for quay cranes in the middle position, the median value of the adjacent quay cranes is used as the initial pose; for quay cranes at the edge position, the approximate pose is inferred based on the positions of adjacent quay cranes and the overall trend. This invention employs a point cloud matching-based pose estimation algorithm, achieving high-precision relative pose estimation through multi-sensor fusion of LiDAR and visual cameras, significantly improving the fault tolerance and operational continuity of the port automation system.

The invention provides a wharf multi-information processing and equipment collaborative scheduling system, and belongs to the technical field of intelligent port automation control, and the system comprises an equipment communication layer which is configured to receive heterogeneous data through a multi-protocol port; the middle layer is used for converting the heterogeneous data into a unified message format and dynamically routing through message middleware; the business processing layer adopts a distributed micro-service architecture and is used for calculating the position of the container and generating an equipment scheduling instruction; the data stream service cluster is used for realizing real-time data circulation by adopting a timestamp-driven streaming processing framework; the equipment control layer adopts an OPC service deployed in a main and standby mode and is directly connected with a quay crane, an AGV and a yard crane controller; the service registration and discovery module is used for managing micro-service node addresses and supporting dynamic capacity expansion of the micro-service node addresses; the service processing layer is in data synchronization with the equipment control layer through a distributed cache, and the equipment control layer is deployed independent of the service processing layer.

The invention provides an anti-hanging and tilting system and method for a cyclic continuous operation quay crane, the system comprises a plurality of pairs of lifting assemblies and hydraulic oil cylinders, the lifting assemblies are arranged on a trolley frame, each lifting assembly comprises a winding drum, and the winding drums of a pair of lifting assemblies are opposite; the hydraulic oil cylinder is connected with the trolley frame through a ball bearing and comprises a piston rod; wherein one end of the steel wire rope is connected with the piston rod, and the other end is connected with the winding drum after bypassing the pulley on the lifting appliance. According to the anti-hanging cabin and tilting system, the main hydraulic oil cylinder is arranged on the trolley frame instead of a main structure, so that the anti-hanging cabin and tilting system can follow the trolley to achieve the anti-hanging cabin effect at different positions, meanwhile, the ball bearing is used for being connected with the cylinder barrel end, and the oil cylinder can rotate in all directions through the ball bearing; and the swinging requirements of the steel wire rope and the lifting appliance in all directions are met.