阅读说明：本技术 一种铁路龙门吊吊具定位控制系统和方法 (Positioning control system and method for lifting appliance of railway gantry crane ) 是由 吴迪 高爱辉 杜海涛 于传合 李国伟 刘森 陆荣国 于 2019-11-28 设计创作，主要内容包括：本发明一种铁路龙门吊吊具定位控制系统和方法,通过起重机小车上安装激光扫描仪,激光扫描仪对吊具下方横向和竖向堆放的集装箱和火车、集装箱卡车进行扫描,实时获取起重机所在位置下方堆场和相邻堆场的车辆和集装箱堆放情况,测量小车位置、吊具起升高度、堆场上集装箱和龙门吊下火车、重载集装箱卡车的分布位置及堆放高度。根据激光扫描仪技术测量的数据,经过控制器计算,发送给PLC,控制吊运过程防止吊运过程中吊具或吊运的集装箱与堆场上的集装箱发生碰撞,实现吊运防撞、火车位置定位、堆放集装箱定位、集装箱卡车定位、自动软着箱等功能。吊起集装箱时,吊具上的激光传感器对火车车板进行精确测量,防止吊运过程中锁头未解锁将火车车板带起。(The invention discloses a positioning control system and a method for a lifting appliance of a railway gantry crane. According to the data measured by the laser scanner technology, the data is calculated by the controller and sent to the PLC, the lifting process is controlled to prevent a lifting appliance or a lifted container from colliding with the container on a storage yard in the lifting process, and the functions of lifting collision prevention, train position positioning, stacked container positioning, container truck positioning, automatic soft container positioning and the like are realized. When the container is hoisted, the laser sensor on the hoisting tool accurately measures the train plate, and the train plate is prevented from being lifted without unlocking the lock head in the hoisting process.)

1. A positioning control system and method for a lifting appliance of a railway gantry crane are characterized by comprising the following steps: laser scanners, laser sensors, cranes, spreaders, trains, containers, container trucks, PLCs, controllers;

the laser scanner is arranged on the crane trolley; the laser scanner is connected with the controller, and the controller is connected with the PLC.

2. The system and the method for controlling the positioning of the lifting appliance of the railway gantry crane according to claim 1, wherein the number of the laser scanners is multiple, one or more of the laser scanners are arranged in the front and back directions of the trolley, the scanning direction is parallel to the transverse stacking direction of the containers, and the laser scanning is used for measuring the position of the trolley, the lifting height of the lifting appliance, the distribution positions of the containers loaded on a storage yard, the trains off the gantry crane and the heavy-load container trucks and the stacking height in real time; another or a plurality of laser scanners are installed in the left and right directions of the trolley, the scanning direction is perpendicular to the transverse stacking direction of the containers, the positioning measurement is carried out on the containers in the adjacent rows, and the collision between the lifting process and the adjacent containers is prevented.

3. The system and the method for controlling the positioning of the lifting appliance of the railway gantry crane according to claim 1, wherein the controller integrates data measured by the laser scanner to calculate the position of the trolley, the lifting height of the lifting appliance, the positions of the train and the truck of the container and the contour position of the container on the yard, and feeds the calculation back to the PLC to control the lifting process of the crane.

4. The system and the method for controlling the positioning of the spreader of the railway gantry crane according to claim 1, wherein the laser sensors are installed at two ends of the spreader to accurately measure the container and the flat car below the spreader; the laser sensor comprises a laser scanner, a laser range finder and the like.

5. The system and the method for controlling the positioning of the spreader of the gantry crane for the railway according to claim 1, wherein for the operation condition from the train container to the container yard, when the train is stably parked, the gantry crane positions the position of the train container, so that the spreader is aligned with the position of the train container to accurately suspend the container; and if the gantry crane is not aligned with the position of the container stacked in the storage yard at the moment, adjusting the position of the cart to align the lifting appliance with the stacked container, and accurately placing the container.

6. The system and method for controlling the positioning of a railway gantry crane spreader according to claim 1, wherein for the operation from the container yard to the train, the gantry crane position is first adjusted to align the spreader with the stacked containers to accurately lift the containers; and if the gantry crane is not aligned with the position of the flat plate of the train target carriage at the moment, the gantry crane positions the position of the train container, adjusts the position of the cart, aligns the lifting appliance with the flat plate of the train, and accurately places the container.

7. The system and the method for controlling the positioning of the lifting appliance of the railway gantry crane according to claim 1, wherein the lifting appliance is controlled to slowly rise when a box is lifted, and a laser sensor on the lifting appliance accurately measures a car plate when the lifting height of the lifting appliance is about 8cm, so that the car plate is prevented from being lifted without unlocking a lock head in the lifting process; after the system confirms that the lock is correct, the lifting appliance continues to slowly rise, the laser sensor detects the car plate in real time, and if the lock is not unlocked in the lifting process, the system immediately stops lifting and gives an alarm; meanwhile, wireless remote control is arranged, if the abnormal hoisting process is found manually, manual operation is switched immediately, and hoisting is stopped; after the lifting height of the lifting appliance is more than 50cm, the system allows the lifting appliance to be lifted at a high speed.

Technical Field

The invention relates to hoisting control of a gantry crane in container loading and unloading operation, in particular to automatic gantry crane loading and unloading operation suitable for railway train freight yard.

Background

At present, no effective accurate measurement method exists for the container gantry crane lifting control of the railway train freight yard. Railway freight yard is complicated, and gantry cranes span train tracks, container areas, and container truck lanes. During lifting, alignment of an integrated container or a container truck on a train and a crane spreader depends on manual visual inspection by a driver, when the spreader descends to approach a container, the driver repeatedly moves the spreader according to the positions of the visual inspection spreader and the container, and the method seriously reduces the loading and unloading speed and influences the working efficiency.

Disclosure of Invention

The laser scanner is arranged on the crane trolley and scans containers, trains and container trucks which are stacked transversely and vertically below the lifting appliance, so that the stacking conditions of the vehicles and the containers in a storage yard below the position of the crane and in an adjacent storage yard are obtained in real time, and the positions of the trolley, the lifting height of the lifting appliance, the distribution positions of containers on the storage yard, the trains off the gantry crane and heavy-duty container trucks and the stacking heights are measured. According to the data measured by the laser scanner technology, the data is calculated by the controller and sent to the PLC, the lifting process is controlled to prevent a lifting appliance or a lifted container from colliding with the container on a storage yard in the lifting process, and the functions of lifting collision prevention, train position positioning, stacked container positioning, container truck positioning, automatic soft container positioning and the like are realized. When the container is hoisted, the laser sensor on the hoisting tool accurately measures the train plate, and the train plate is prevented from being lifted without unlocking the lock head in the hoisting process.

The invention provides a positioning control system and method for a lifting appliance of a railway gantry crane.

The purpose of the invention is realized by the following technical scheme.

The invention discloses a positioning control system and a method for a lifting appliance of a railway gantry crane, which are characterized in that: it includes: laser scanners, laser sensors, cranes, spreaders, trains, containers, container trucks, PLCs, controllers.

The laser scanners are arranged on the crane trolley, one or more laser scanners are arranged in the front-back direction of the trolley, the scanning direction is parallel to the transverse stacking direction of the containers, and the laser scanning is used for measuring the position of the trolley, the lifting height of a lifting appliance, the distribution positions of containers on a storage yard, trains off a gantry crane and heavy-duty container trucks and the stacking height in real time; another or a plurality of laser scanners are installed in the left and right directions of the trolley, the scanning direction is perpendicular to the transverse stacking direction of the containers, the positioning measurement is carried out on the containers in the adjacent rows, and the collision between the lifting process and the adjacent containers is prevented.

The laser scanner is connected with the controller, and the controller is connected with the PLC. The controller synthesizes data measured by the laser scanner to calculate the position of the trolley, the lifting height of the lifting appliance, the positions of the train and the truck of the container and the outline position of the container on the yard, and feeds the calculated positions back to the PLC to control the lifting process of the crane.

The laser sensors are arranged at two ends of the lifting appliance and used for accurately measuring the containers and the flat cars below the lifting appliance. The laser sensor comprises a laser scanner, a laser range finder and the like.

For the operation condition from the train container to the container yard, when the train is stopped stably, the gantry crane positions the train container, so that the hanger is aligned with the train container, and the container is accurately hung; and if the gantry crane is not aligned with the position of the container stacked in the storage yard at the moment, adjusting the position of the cart to align the lifting appliance with the stacked container, and accurately placing the container. The laser scanner on the portal crane dolly detects the position distribution of hoist, container, train and the collection truck in the below in real time, prevents that handling in-process container from bumping.

For the operation condition from container storage yard to train, firstly, adjusting the position of a gantry crane to align a lifting appliance with the stacked containers, and accurately lifting the containers; and if the gantry crane is not aligned with the position of the flat plate of the train target carriage at the moment, the gantry crane positions the position of the train container, adjusts the position of the cart, aligns the lifting appliance with the flat plate of the train, and accurately places the container. The laser scanner on the portal crane dolly detects the position distribution of hoist, container, train and the collection truck in the below in real time, prevents that handling in-process container from bumping.

When the lifting box is lifted, the lifting appliance is controlled to slowly rise, when the lifting height of the lifting appliance is about 8cm, a laser sensor on the lifting appliance accurately measures the car plate, and the car plate is prevented from being lifted without unlocking a lock head in the lifting process. After the system confirms that the lock is correct, the lifting appliance continues to slowly rise, the laser sensor detects the car plate in real time, and if the lock is not unlocked in the lifting process, the system immediately stops lifting and gives an alarm; meanwhile, wireless remote control is arranged, if the lifting process is found to be abnormal manually, manual operation is immediately switched, and lifting is stopped. After the lifting height of the lifting appliance is more than 50cm, the system allows the lifting appliance to be lifted at a high speed.

Due to the adoption of the technical scheme, the invention has the beneficial effects that: the automatic container loading and unloading device solves the problem of anti-hoisting detection of container trucks outside the automatic wharf, prevents the container trucks from being hoisted, eliminates potential safety hazards, and improves the production efficiency of hoisting and loading and unloading containers by the container gantry crane of the field automatic wharf.

Drawings

Fig. 1 is a diagram of a positioning control system of a railway gantry crane spreader.

Fig. 2 is a schematic view of the scanning direction of the laser scanner on the trolley.

Fig. 3 is a schematic diagram of the working principle of the laser sensor on the crane spreader.

In the figure, (1) a gantry crane, (2) a trolley, (3) a spreader, (4) a yard container, (5) a train, (6) a container truck, (7) a laser scanner, (8) a scanning line parallel to the transverse stacking direction of the containers, (9) a scanning line perpendicular to the transverse stacking direction of the containers, (10) a laser sensor, and (11) a train flat plate.

Detailed Description

The system is characterized in that the laser scanners (7) are arranged on the crane trolley (2), the number of the laser scanners (7) is multiple, one or more laser scanners (7) are arranged in the front-back direction of the trolley (2), the scanning direction is parallel to the transverse stacking direction of containers, and the laser scanning is used for measuring the position of the trolley (2), the lifting height of a lifting appliance (3), the distribution positions and the stacking height of a container (4) on a storage yard, a train (5) off a gantry crane (1) and a heavy-load container truck (6) in real time; the other or a plurality of laser scanners (7) are arranged in the left and right directions of the trolley (2), the scanning direction is perpendicular to the transverse stacking direction of the containers, the positioning measurement is carried out on the containers in the adjacent rows, and the collision between the lifting process and the adjacent containers is prevented.

And the laser scanners (7) are connected with the controller, and the controller is connected with the PLC. The controller synthesizes data measured by the laser scanner (7) to calculate the position of the trolley (2), the lifting height of the lifting appliance (3), the positions of the train (5) and the container truck (6), and the position of the container outline (4) on the yard, and feeds the calculated data back to the PLC to control the lifting process of the crane.

The laser sensors (10) are installed at two ends of the lifting appliance (3) and used for accurately measuring the containers or flat cars below the lifting appliance.

For the operation condition from the train (5) to the container yard, when the train (5) is driven into the yard and is stopped stably, the gantry crane positions the position of the train container, so that the position of the spreader (3) is aligned with the position of the train (5) container, and the container is accurately hung; and if the gantry crane is not aligned with the position of the container stacked in the storage yard at the moment, adjusting the position of the gantry crane (1) to align the lifting appliance with the stacked container, and accurately placing the container. Laser scanner (7) on portal crane dolly (2) real-time detection below hoist (3), storage yard container (4), train (5) and container truck's (6) position distribution prevent that handling in-process container from bumping.

For the operation condition from container storage yard to train, firstly, adjusting the position of a gantry crane (1) to align a spreader with a stacked container (6) and accurately hoisting the container; and if the gantry crane is not aligned with the position of the flat plate of the train target carriage at the moment, the gantry crane positions the train container, adjusts the position of the gantry crane (1), aligns the lifting appliance with the flat plate of the train, and accurately places the container. Laser scanners on a gantry crane (1) and a trolley (2) detect the position distribution of a lower lifting appliance (3), a yard container (4), a train (5) and a container truck (6) in real time, and the containers are prevented from colliding in the lifting process.

When the lifting box is lifted, the lifting appliance is controlled to slowly rise, when the lifting height of the lifting appliance (3) is about 8cm, a laser sensor (10) on the lifting appliance accurately measures a train flat plate (11), and the condition that a lock head is not unlocked in the lifting process to lift the train flat plate is prevented. After the system confirms that the lock is correct, the lifting appliance continues to slowly rise, the laser sensor detects the car plate in real time, and if the lock is not unlocked in the lifting process, the system immediately stops lifting and gives an alarm; meanwhile, wireless remote control is arranged, if the lifting process is found to be abnormal manually, manual operation is immediately switched, and lifting is stopped. After the lifting height of the lifting appliance is more than 50cm, the system allows the lifting appliance to be lifted at a high speed.

It will be appreciated by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be construed as limiting the present invention, and that changes and modifications to the above described embodiments will fall within the scope of the appended claims as long as they come within the true spirit of the present invention.