CN105271006A - Rubber-tyred gantry crane walking positioning, correcting and container truck alignment anti-lifting method - Google Patents
Rubber-tyred gantry crane walking positioning, correcting and container truck alignment anti-lifting method Download PDFInfo
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- CN105271006A CN105271006A CN201410260501.3A CN201410260501A CN105271006A CN 105271006 A CN105271006 A CN 105271006A CN 201410260501 A CN201410260501 A CN 201410260501A CN 105271006 A CN105271006 A CN 105271006A
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Abstract
According to the invention, laser scanners are arranged at the center of lower side surfaces between two columns at two sides of a rubber-tyred gantry crane and are slightly higher than a container truck trailer panel and lower than height of a container and are used for detecting gaps between containers' side surface and containers on a container yard. Thus, rubber-tyred gantry crane walking positioning, position location of containers on the container yard, automatic correction, anti-collision warning and container truck alignment anti-lifting are realized. The equipment comprises the laser scanners, containers, a computer, an alarm, a container position management display, display screens, a rainproof cover and a crane PLC. The laser scanners are respectively mounted at the center of lower side surfaces between the two columns at two sides of the rubber-tyred gantry crane, and are slight higher than the container truck trailer panel and lower than height of a container. The gaps between containers' side surface and containers on the container yard are used as reference. The computer is installed in an electrical room. The alarm is mounted inside a cab of the rubber-tyred gantry crane. The display screens are installed at two sides of the rubber-tyred gantry crane and positioned at the same eye level of a driver in the container truck cab.
Description
Technical field
The present invention relates to for container in hoisting status in container handling operation, the location of tyre crane, deviation rectification, container truck contraposition and anti-to sling, be especially applicable to tyre crane handling container handling operation.
Background technology
At present, Rubber-Tyred Gantry Crane deviation rectification and crashproof detection means comprise GPS and locate automatic deviation correction method, and single-point laser apomecometer is in conjunction with reflecting plate automatic deviation correction method, and image procossing is rectified a deviation, manual deviation rectification, but these methods all respectively have shortcoming.CPS location is easily subject to artificial altered data and causes corrupt data and need regular calibration.Single-point laser apomecometer in conjunction with reflecting plate automatic deviation correction method, then needs to install long reflecting plate aside, and impracticable.Image procossing correction easily affects by weather light, and stability is inadequate.Tyre crane driver adjusts wheel direction of travel, i.e. manual deviation rectification, and this method precision is low, easily causes tired driver.Nowadays have GPS automatic deviation correction method, single-point laser apomecometer is in conjunction with reflecting plate automatic deviation correction method.Contraposition as container truck and tyre crane suspender relies on driver artificial visually examine, and when suspender declines close to freight container, truck is moved repeatedly in the position of driver visually suspender and freight container.These class methods reduce handling speed.During the freight container slinging on truck flat truck when tyre crane, truck flat truck tapered end does not unlock completely, relatedly truck flat truck and truck headstock can be sling, causes safety misadventure.
Summary of the invention
The present invention respectively installs a laser scanner a little more than container truck trailer plate lower than a case eminence by below flanking central between the column of two, tyre crane both sides, to detect on container depot gap between freight container side and freight container, realize tyre crane walking location, in location, Nei Xiangwei position, stockyard, automatic deviation correction, crashproof alarm, truck contraposition prevent slinging.
The present invention is by the following technical solutions: laser scanner, freight container, computing machine, siren horn, case position administration display (i.e. operator's compartment management system interface terminal), read-out, hoisting crane PLC, rainproof cover.Laser scanner to be arranged between the column of two, tyre crane both sides below flanking central inwardly respectively, and laser scanner residing height should be high lower than a case a little more than container truck trailer plate.Laser scanner is arranged in rainproof cover.With the gap on stockyard between freight container side and freight container as a reference.Computing machine is arranged on electric panel room.Siren horn is arranged in tyre crane operator's compartment.Read-out is arranged on tyre crane both sides, is in and truck operator's compartment driver sight line sustained height.Laser scanner, siren horn, case position administration display, read-out are all connected with computing machine.Computing machine is connected with tyre crane PLC, participates in tyre crane travelling control.
Merit attention, the installation site angle of laser scanner is different, all can have different technique effects, choosing of the complexity of computer digital animation, R point can be caused different with the technical parameter such as setting, the final function difference realized.
In tyre crane traveling process, two laser scanners simultaneously to scanning range finding in gap between freight container side and freight container on container depot, with the container position that stockyard is stacked and gap as a reference.If tyre crane departs from driving lane, on the container depot that laser scanner is surveyed, freight container side can become large or diminish to the distance of laser scanner, Computer Analysis data, if can not rectify a deviation in purview the deviation distance walked on by anticipation tyre crane.Computing machine sends deviation correcting signal to hoisting crane PLC, participates in tyre crane travelling control, deviation distance is controlled within the scope of tolerable.
When tyre crane arrives near institute's working set vanning row, two laser scanners are simultaneously to the freight container side of working set vanning row and scanning range finding in gap between freight container and freight container.If adjacent container is had vacant position (namely not having gap), then case row left or right face for reference with working set.Because laser scanner is arranged on below flanking central between the column of two, tyre crane both sides respectively, with scanning range of scanner Central Line for datum line, to case the freight container justified arranged with tyre crane institute working set, tyre crane can be realized and case to arrange with working set and aim at.
When tyre crane arrives working set vanning row, driver learns current place shellfish figure place by case position administration display, presses OK button, and computing machine remembers current shellfish position.Or confirm to provide current place shellfish figure place by suspender open locking signal, driver's manual confirmation can be removed from.Using current shellfish bit data namely as initial point, when tyre crane continues forward or when moving backward, the travel distance information that computing machine provides in conjunction with detection data and the tyre crane coder of laser scanner, tyre crane direct of travel and distance can be known, extrapolate the shellfish figure place of tyre crane in traveling process and next parking shellfish figure place, obtain the location of tyre crane in stockyard.This method of work can replace GPS positioning and rectifying.
When heavily loaded truck enters track, laser scanner can detect the freight container on truck, the take off data of Computer Analysis laser scanner, lift by crane location information with the suspender benchmark in computer storage to compare, judge truck position, simultaneously truck, freight container departs from the distance display of tyre crane suspender Heave Here on a display screen forward, backward or on the information of stopping and truck.
Tyre crane is sling freight container on truck, if the Unscrew completely of the tapered end on truck flat truck, still catch on freight container lockhole, flat truck can be taken up by freight container.Because the setting height(from bottom) of scanner is only a little more than truck flat truck, so when flat truck is taken up, scanner can detect there is object below freight container in time, and computing machine can give the alarm signal to siren horn, and sends stopping lifting signal to hoisting crane PLC.
In order to obtain more accurate position and realize tyre crane location and correction, additionally on tyre crane, GPS can be installed, assisting as positioning and rectifying function of the present invention.
Owing to adopting technique scheme, the invention has the beneficial effects as follows: realize tyre crane walking location, automatic deviation correction, eliminates safe hidden trouble, and auxiliary truck driver contraposition, alleviates tired driver, effectively improves the handling container handling efficiency of Rubber-Tyred Gantry Crane.
Accompanying drawing explanation
Accompanying drawing 1 tyre crane walking positioning and rectifying and the anti-principle schematic of slinging of truck contraposition
Accompanying drawing 2 tyre crane walking positioning and rectifying and the anti-installation birds-eye view of slinging of truck contraposition
The anti-schematic diagram of slinging of accompanying drawing 3 truck contraposition
The walking of accompanying drawing 4 tyre crane is analyzed
Accompanying drawing 5 tyre crane deviation rectification is analyzed
The nomenclature of major part in accompanying drawing:
(1) computing machine (5) hoisting crane PLC (9) tyre crane
(2) laser scanner (in rainproof cover) (6) read-out (10) dolly
(3) case position administration display (7) laser scanning line (11) suspender
(4) siren horn (8) freight container (12) container truck
Detailed description of the invention
As shown in Figure 1, laser scanner (2), case position administration display (3), siren horn (4), hoisting crane PLC (5), read-out (6) are all connected with computing machine (1).Siren horn (4) combines by sound or acousto-optic or other modes carry out alarm to tyre crane driver.
As shown in Figure 2, in tyre crane (9) traveling process, two laser scanners (2) simultaneously to (8) side of freight container on container depot and between freight container (8) and freight container (8) gap scan and find range, with the freight container that stockyard is stacked (8) position and gap as a reference.If tyre crane (9) departs from driving lane, on the container depot that laser scanner (2) is surveyed, freight container (8) side can become large to the distance of laser scanner (2) or diminish, computing machine (1) analyze data, can anticipation tyre crane (9) if do not rectify a deviation the deviation distance walked in purview.Computing machine (1) sends deviation correcting signal to hoisting crane PLC (5), participates in tyre crane (9) travelling control, deviation distance is controlled within the scope of tolerable.
When tyre crane (9) arrives near institute working set vanning row, two laser scanners (2) simultaneously to freight container (8) side of working set vanning row and between freight container (8) and freight container (8) gap scan and find range.If adjacent container (8) is had vacant position (namely not having gap), then case row left or right face for reference with working set.Because laser scanner (2) is arranged on below flanking central between the column of two, tyre crane (9) both sides respectively, with scanning range of scanner Central Line for datum line, contrast freight container (8) width, to case freight container (8) justified arranged with tyre crane (9) institute working set, tyre crane (9) can be realized and case to arrange with working set and aim at.
When tyre crane (9) arrives working set vanning row, driver learns current place shellfish figure place by case position administration display (3), and press OK button, computing machine (1) remembers current shellfish position.Or confirm to provide current place shellfish figure place by suspender (11) open locking signal, driver's manual confirmation can be removed from.Using current shellfish figure place namely as initial point, when tyre crane (9) continues forward or when moving backward, the travel distance information that the detection data of computing machine (1) combining laser scanning instrument (2) and tyre crane (9) coder provide, tyre crane (9) direct of travel and distance can be known, extrapolate the shellfish figure place of tyre crane (9) in traveling process and next parking shellfish figure place, obtain tyre crane (9) location in stockyard.
As shown in Figure 3, when heavy-load container truck (12) enters track, laser scanner (2) can detect the freight container on container truck (12), computing machine (1) analyzes the take off data of laser scanner (2), lift by crane location information with suspender (11) benchmark in computing machine (1) memory device to compare, judge container truck (12) position, forward container truck (12) simultaneously, backward or the upper freight container of the information of stopping and container truck (12) depart from tyre crane (9) suspender (11) Heave Here distance and be presented on read-out (6).
Tyre crane (9) is sling the upper freight container of container truck (12), if the Unscrew completely of the tapered end on container truck (12) flat truck, still catch on freight container lockhole, flat truck can be taken up by freight container.Laser scanner (2) can detect there is object below freight container in time, and computing machine (1) can give the alarm signal to siren horn (4), and sends stopping lifting signal to hoisting crane PLC (5).
Fig. 4 display of tyre hangs the data analysing method of (9) normal driving process.A figure is the scanning situation schematic diagram of laser scanner (2), and B figure is the geometric coordinate figure of A figure situation.
In A figure, O ' is the intersection point of freight container (8) in the medium line of laser scanner (2) scanning range and stockyard.In B figure, O point (i.e. the origin of coordinates) is corresponding with laser scanner (2) in A figure.With OO ' for axis, get, as analytic angle to positive negative direction.The intersection point that A, A ', B, B ' are laser scanner (2) scanning line and storage yard container (8).If selected analytic angle detects the gap between storage yard container (8) just, as A ' point, for simplifying the analysis, analysis angle can be given up.When tyre crane (9) normally travels, when without offset track, b=b '.
Fig. 5 display of tyre hangs the data analysing method of (9) offset track driving process.A figure is the scanning situation schematic diagram of laser scanner (2), and B figure is the geometric coordinate figure of A figure situation.
B is the intersection point of freight container (8) in the medium line of laser scanner (2) scanning range and stockyard.In B figure, O point (i.e. the origin of coordinates) is corresponding with laser scanner (2) in A figure.It is tyre crane (9) deviation angle.Take OB as axis, be taken as analytic angle to positive negative direction.A, A ' be the intersection point of laser scanner (2) scanning line and storage yard container (8).If selected analytic angle detects the gap (not shown) between storage yard container (8) just, for simplifying the analysis, this analysis angle can be given up, again choose.According to B figure, in conjunction with relevant geometric knowledge, known:
acos(α+β)＝a′cos(α-β)
Tyre crane (9) deviation angle is obtained, and gets final product anticipation tyre crane (9) if do not rectify a deviation the deviation distance walked in purview: deviation distance=operating range × sin β
More than analyzing should in conjunction with actual conditions, methods such as considering in conjunction with error analysis, choose multiple analytic angle, average.
Those of ordinary skill in the art will be appreciated that, above embodiment is only used to the present invention is described, and not as limitation of the invention, as long as in spirit of the present invention, the change of the above embodiment, modification all will be fallen in the scope of claims of the present invention.
Claims (7)
1. tyre crane walking positioning and rectifying and the anti-method of slinging of truck contraposition, laser scanner, siren horn, case position administration display, read-out, tyre crane PLC are all connected with computing machine, described laser scanner is arranged in rainproof cover, it is characterized in that: with the freight container on stockyard and truck for reference, described laser scanner is simultaneously to the container scanning range finding on gap between freight container side described on stockyard and described freight container and truck, described Computer Analysis gained take off data, sends a signal to described hoisting crane PLC and described read-out.
2. tyre crane walking positioning and rectifying as claimed in claim 1 and the anti-method of slinging of truck contraposition, it is characterized in that: described laser scanner to be arranged between the column of two, tyre crane both sides below flanking central inwardly respectively, residing height should be high lower than a case a little more than container truck trailer plate; Described computing machine is arranged on electric panel room, and described siren horn is arranged in tyre crane operator's compartment, and described read-out is arranged on tyre crane both sides, is in and truck operator's compartment driver sight line sustained height.
3. tyre crane walking positioning and rectifying as claimed in claim 1 and the anti-method of slinging of truck contraposition, it is characterized in that: on the container depot that described laser scanner is surveyed, described freight container side can change to the distance of described laser scanner, described Computer Analysis data, if can not rectify a deviation in purview the deviation distance walked on by anticipation tyre crane, described computing machine sends deviation correcting signal to hoisting crane PLC, participate in tyre crane travelling control, deviation distance is controlled within the scope of tolerable.
4. tyre crane walking positioning and rectifying as claimed in claim 1 and the anti-method of slinging of truck contraposition, it is characterized in that: described computing machine with described laser scanner scans scope Central Line for datum line, to case the described freight container justified arranged with tyre crane institute working set, tyre crane can be realized and case to arrange with working set and aim at.
5. tyre crane walking positioning and rectifying as claimed in claim 1 and the anti-method of slinging of truck contraposition, it is characterized in that: described computing machine is by acknowledgement key or the current shellfish position of open locking imformation memory, in conjunction with the travel distance information that detection data and the tyre crane coder of described laser scanner provide, extrapolate the shellfish figure place of tyre crane in traveling process and next parking shellfish figure place, obtain the location of tyre crane in stockyard.
6. tyre crane walking positioning and rectifying as claimed in claim 1 and the anti-method of slinging of truck contraposition, it is characterized in that: described laser scanner can detect the described freight container on truck, laser scanner measurement data described in described Computer Analysis, lift by crane location information with the suspender benchmark in described computer storage to compare, judge truck position, simultaneously truck, freight container departs from tyre crane suspender Heave Here distance and is presented on described read-out forward, backward or on the information of stopping and truck.
7. tyre crane walking positioning and rectifying as claimed in claim 1 and the anti-method of slinging of truck contraposition, it is characterized in that: when suspender is from truck handling freight container, described laser scanner can detect there is object below freight container described in truck in time, described computing machine can give the alarm signal to described siren horn, and sends stopping lifting signal to hoisting crane PLC.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410260501.3A CN105271006A (en) | 2014-06-12 | 2014-06-12 | Rubber-tyred gantry crane walking positioning, correcting and container truck alignment anti-lifting method |
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| CN201410260501.3A CN105271006A (en) | 2014-06-12 | 2014-06-12 | Rubber-tyred gantry crane walking positioning, correcting and container truck alignment anti-lifting method |
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| WO2019024172A1 (en) * | 2017-08-03 | 2019-02-07 | 南通通镭软件有限公司 | Automatic container landing and lift prevention method for automatic loading and unloading operation |
| CN109368503A (en) * | 2018-12-14 | 2019-02-22 | 天津港太平洋国际集装箱码头有限公司 | Field bridge handling operation remote control operation system |
| CN110398740A (en) * | 2019-07-25 | 2019-11-01 | 陕西重型汽车有限公司 | A kind of port tractor Container inspection system method |
| CN111824964A (en) * | 2019-04-19 | 2020-10-27 | 南通通镭软件有限公司 | Detection system and method for container bottom fixing twist lock |
| CN112456308A (en) * | 2020-11-26 | 2021-03-09 | 周岳 | Fork feeding positioning system of clamping type lifting appliance |
| CN115849195A (en) * | 2022-11-16 | 2023-03-28 | 上海西井信息科技有限公司 | Self-adaptive alignment calibration method, system, equipment and storage medium for transportation equipment |
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| CN115849195A (en) * | 2022-11-16 | 2023-03-28 | 上海西井信息科技有限公司 | Self-adaptive alignment calibration method, system, equipment and storage medium for transportation equipment |
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Application publication date: 20160127 |