Study On Multi-module Cooperative Container Handling System

At present,the port container handling work has gradually developed towards automation and intellectualization.Foreign ports in Holland and Germany began to use automatic guided vehicle(AGV in short)to carry containers in the 1990 s.With the gradual deepening of reform and opening up,coastal ports in China are gradually approaching this direction,the earliest pilot project.The automatic container handling terminal,such as Xiamen Port,and then Shanghai Yangshan Port Phase IV and Qingdao Port,have been equipped with AGV.At present,the global demand for port container AGV is enormous,and a large number of AGV products are in urgent need in this field.But at this stage,most of the ports of AGV use the integrated transport structure,that is,the length and width of AGV is mostly equal to the length and width of the container or slightly larger,such a structure has some drawbacks,such as the overall quality is too large,the area is too large,energy consumption is relatively large and so on.In view of the above problems,this paper proposes a new container handling module,which uses four handling modules to insert into four bottom corner holes of the container,and then lifts the container from the ground up through the torque of the wheel motor.The four transport modules are synchronously transferred from the outer side of the container to the inner side of the container through the selection of rotary support so as to operate normally and steadily.In the course of driving,the system chooses a moving module on the forward side as the host of the whole system,and the other three as the slave.The host sends commands to the slave to realize the forward,backward and various steering modes,such as ordinary steering,large-angle steering,oblique steering,crossing and around-center steering.The right of the main engine is adjusted at any time.When turning left,the porting module on the left front is the host,and the porting module on the right front is the host when turning right.The navigation system of the whole system uses laser navigation,and each transport module is equipped with a laser radar on both sides.This paper mainly describes the focus on communication and transmission of CCD information in four transport modules.Generally speaking,three slaves transmit their CCD information to the host computer in real time.The host computer synthesizes all the CCD feedback information to judge the surrounding environment,so as to choose whether to drive normally or avoid or stop suddenly.Through the research of this paper,exploring a new type of container handling device,from concept to mechanical structure design,assembly layout and control system design,the feasibility of practical operation of this type device has been verified,and further design can be carrie out in the stage of engineering development.