Mains electric gantry crane anti-collision and automatic deviation correction
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Outline requirements:
With the rise of international oil prices and the promotion of domestic energy conservation and emission reduction, major container terminals are actively transforming existing diesel-powered tire cranes and using green city electricity as a power source. There are three schemes of oil-to-electricity or mains drive: high-altitude trolley line, low-altitude trolley line and ground cable trough, each with its advantages and applications. Because the power supply infrastructure is added in the yard, if the gantry crane touches the sliding contact line and the cable trough during the movement, it will cause a big safety and production accident. The anti-collision and automatic deviation correction of all oil-to-electric gantry cranes is a safety guarantee system that must be installed in the oil-to-electricity project. Based on its own experience in gantry crane collision avoidance and deviation correction for more than 10 years, Tangen Technology has developed and perfected the “mains electricity gantry crane collision avoidance and automatic deviation correction system”. There are two options of GPS and laser ranging, which can avoid the gantry crane’s power supply setting. It also provides high-precision automatic correction function, which reduces the labor intensity of the driver and improves the safety of production operations.
application solution:
Gantry cranes powered by high-altitude trolley lines or ground cable troughs can use Dunn Technology’s DGPS box position detection and automatic correction system; while low-altitude trolley-powered gantry cranes can use more cost-effective laser ranging, collision avoidance and automatic Correction system. Install 2 high-precision laser distance measurement modules in the oil-to-electric gantry crane electrical room and diesel engine room respectively. The installation height is the same as that of the low-altitude sliding contact line. A 30 cm high reflector is installed on the top. Install a dedicated automatic correction controller in the electrical room to connect with the PLC to obtain the tire crane operation instructions and output anti-collision alarms, speed reduction, parking commands and front and rear wheel correction force instructions to achieve anti-collision, anti-pull and automatic correction functions.
system structure:
System functions:
Automatic correction
Continuously measure the deviation between the tire crane and the trolley wire bracket through millimeter-level precision laser ranging, combined with the current cart handle speed, and use a dedicated algorithm to accurately adjust the front and rear motors of the tire crane to achieve accurate automatic deviation correction. The driving deviation is less than +-100mm;
Anti-collision and anti-drag
Real-time judge the distance between the tire crane and the trolley wire support and the container, set a level 2 threshold, control the alarm to decelerate when the first threshold value is reached, and stop emergency when the second threshold value is reached to prevent the tire crane from colliding with the trolley wire support and the container, and at the same time Prevent the tyre crane from being too far away from the trolley wire bracket and pulling the electric car to cause a safety accident;
Entry and exit control
The system can judge whether the tire crane is about to enter and leave the yard. When leaving the yard, the system will slow down and remind the driver to switch to manual control; when entering the yard, it will also control the speed of the cart to ensure safety. When the tire crane has completely entered the yard, the 2 laser ranging modules work normally, the system will give a prompt and will automatically switch to the automatic correction mode;
Status detection alarm
The system will detect its own working status in real time, especially the operation of the laser ranging module and communication line, and promptly give an alarm when faults are found to avoid running with faults.
Performance and parameters:
Collision avoidance and automatic correction using laser ranging are more cost-effective than RTK GPS systems;
Level 2 anti-collision warning can be set to support alarm, deceleration and emergency stop functions to ensure safety;
The deviation of automatic correction is less than +-100mm, the correction effect is good, and the driver can operate with confidence;
Support the judgment of entering and exiting the field, assist the driver in safe operation, and prevent the occurrence of pulling accidents;
Automatic deviation correction and manual control are transparently switched, and the automatic deviation correction will be started when the conditions for automatic correction are met;
Increase the laser protection device, which can work 24 hours a day;
Automatically detect the operation status, and the fault alarm will be triggered when the laser ranging performance is found to be degraded.
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