Design Of Automated Operating System For Tire Cranes

With the development of the global economy and the rapid development of global trade,ports,as an important part of trade transportation,unmanned oprations mode have become the trend of ports developments.In addition,improving operation efficiency,reducing labor costs and opreration risks make the demand for fully automatic terminals more urgent.Now,with the improvement of artificial intelligence and the enrichment of detection methods,the research and development about automated terminals all over the world are becoming more mature.In the process of port automation,automation for RTG(rubber tire gantry)is the biggest obstacle to solve.In view of this situation,several key technologies involved in the automated RTG are studied and automated operating system for RTG is designed in this dissertation.Meanwhile,the main functions of the automated RTG is tested and the performance of the system is evaluated based on the automated operating system.The main contents of this dissertation are as follows:(1)collecting and dealing with the point cloud data of the target including container and container truck,and obtaining the position of target.(2)Designing the PID controller to realize spreader positioning and designing the fuzzy adaptive PID controller to realize trolley positioning.Realizing gantry track identification based on image processing technology and proposing “S” mode correction method.(3)Designing the software platform of the automated operating system based on hardware platform including(IPC)industrial computer and(PLC)programmable logic controller.detection units are realized on the IPC platform and Motion controller is realized on the PLC platform.The feasibility of the automated operating system is verified after testing in field,and the studies in this dissertation have a good performance including target recognition and positioning technology based on lidar,motion control algorithms for spreaders and trolleys,gantry positioning and gantry deviation correction,dynamic-container-grabbing and dynamic-container-dropping strategy.Finally,the operating efficiency of the system can reach 20 standard containers per hour.The success rate of grabbing boxes is above 95%.The error of stacked containers is within ± 3cm.The success rate of dropping container on trucks is over 98%.Therefore,the automated operating system designed by this dissertation has met the requirements.