When the RTG is handling containers, it may lead to containers collision because of the sway of the process of lifting containers or trailers, and cause the possibility of personnel injury and death.

In order to avoid containers collision accidents, RTG drivers usually use the door-shaped operation when handling containers. This way of operation increases oil consumption of RTG and affects the efficiency of loading and unloading containers.

Therefore, in order to solve the above problems, on the premise of ensuring safety, we adopt laser scanning technique to avoid containers collision, improve the efficiency of handling containers, and save the energy consumption.

Use laser scanning technique, install one reflector on either end of the trolley (total two reflectors), and install one reflector on the spreader. When the RTG is working in the containers stack area, our V3.0 container lifting anti-collision software can real-timely detect the trolley’s position and the spreader’s position and height, automatically detect the position and height of stacked containers, and provide all the information for PLC via the data processing and analysis of the anti-collision software to control the trolley’s moving and the spreader’s lifting and drop, and avoid the collision accidents between the no-load spreader and the stacked containers, or between the spreader with containers and the stacked containers.

ØRTG container stack profiling measurement accuracy: ±5cm

2.RTG Auto Gantry Anti-collision System

Install a laser scanner on each gate leg of the RTG, total 4 laser scanners, and the installation position has a certain height to the ground. Through the laser scanners to measure the distance data of the barriers, through the system control box to make a data processing, after finishing the data processing then send the signal(s) to the PLC control system, controlling RTG to stop and realizing the anti-collision function of RTG traveling and the anti-collision between the RTG crane and the RTG crane.

During the process of RTG traveling, often some people or vehicle or other barriers appear on the lane of the RTG traveling track, but it’s very difficult for the RTG operator in the cab to find the situation on the track in time. The 4 laser scanners, installed on the gate legs of RTG, real-timely detect whether there have any barriers directly at front or rear. The detection range is divided into three zones: far zone, middle zone, and near zone.If there have any barriers to be detected on the lane(s) within the far zone, the computer treats this as a barrier-free, and the RTG travels normally. If there have any barriers to be detected on the lane(s) within the middle zone, the computer sends a slow speed signal to the crane PLC, and the RTG travels slowly. If there have any barriers to be detected on the lane(s) within the near zone, the computer sends an alarm signal to the alerter, sends a control signal to the crane PLC, an the RTG stops.

Besides, the collision between the RTG and the RTG may sometimes happen during the process of the RTG traveling. According to the different zones, this system also can detect the other RTG sending different control signals, remind the RTG operator, control the RTG and realize the anti-collision between the RTG and the RTG.

ØRTG anti-collision slow vehicle range: 10m

ØRTG anti-collision stop range: 5m

3.RTG Auto Gantry Steering Control System

The 4 laser scanners meanwhile scan and measure the container side of containers in the yard and the separation between containers.If the RTG deviates from the traveling lane or the RTG tyres’ running direction deviates from the plan line direction, the computer, based on the tyres’steering angle, analyzes the data and it can foresee the deviating distance of the RTG continuing to travel without the right steering within the foreseen range. The computer sends the correction signal to the crane PLC, participating in the RTG traveling control and controlling the deviating distance within the tolerance range.

ØRTG traveling steering accuracy:±10cm (The error range of the right position of the stacked containers is within ±5cm).

4.RTG Chassis Anti-lifting System

When the RTG is lifting the container(s) on the trailer of the truck, if the trailer locks are not all unlocked, then the trailer and the truck head will be lifted, which will cause safety accidents. On the premise of ensuring safety, Chassis Anti-lifting System is used the laser scanning technology, alarm will be sent in time and start-lifting shall be stopped, avoiding lifting the container(s) with the trailer, then the efficiency of loading and unloading is improved, and the safe hidden trouble is eliminated.

One laser scanner is installed at the each side of the beam of the RTG, the position is about 1.8m high from the ground, to horizontally scan and measure the chassis on the lane. Both sides of the laser scanner can achieve the same function, according to the lane location can be used interchangeably.