CN107200229B - Harbour container level carries unmanned vehicle and accepts system and accept method - Google Patents
Harbour container level carries unmanned vehicle and accepts system and accept method Download PDFInfo
- Publication number
- CN107200229B CN107200229B CN201710472420.3A CN201710472420A CN107200229B CN 107200229 B CN107200229 B CN 107200229B CN 201710472420 A CN201710472420 A CN 201710472420A CN 107200229 B CN107200229 B CN 107200229B
- Authority
- CN
- China
- Prior art keywords
- electric cylinder
- ranging information
- unmanned vehicle
- adjustable height
- distance measuring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
- B65G63/06—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations with essentially-vertical transit
- B65G63/062—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations with essentially-vertical transit for articles
- B65G63/065—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations with essentially-vertical transit for articles for containers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Unmanned vehicle is carried the present invention relates to a kind of harbour container level and accepts system, including vehicle frame, further includes the adapting table that shape is square；There are three the electric cylinders for being hingedly used to push the adapting table movement with the vehicle frame for any three positions setting in four angles of the adapting table；The position that three electric cylinders are corresponded on the adapting table also sets up that there are three for detecting the distance measuring sensor of container；The undertaking system further includes controller, and the controller is connect with the distance measuring sensor and the electric cylinder；The controller is used to receive the ranging information of three distance measuring sensors, and the control information for obtaining electric cylinder is calculated according to the ranging information.It is consistent with the posture of the container by adjusting the horizontal bearing platform carried on unmanned vehicle, reduce impact when contact, protects the cargo in container.
Description
Technical field
The present invention relates to harbour container hoist controlling fields, carry in particular to a kind of harbour container level
Unmanned vehicle accepts system and a kind of harbour container level carries unmanned vehicle and accepts method.
Background technique
In port container terminal, container needs are lifted on carrier from containerized shipment ship, or from stockyard
It is lifted on the carrier, in the actual hoisting process of container, due to various aspects, the container of lifting and removes
The bearing platform of fortune vehicle is all inevitably maintained at the horizontality of a high level, and the two is often difficult to reach one in parallel in other words
State in addition the two docking plane angle decentralization shipping process in can gradually become larger, cause the container and hold
Impact is generated when consecutive contact, for the carrying kinds of goods of some fragility, these impact will damage goods, cause damages.
Summary of the invention
During the present invention is in order to solve existing container hanging, what container and carrier adapting table generated when contacting
Temporary impact leads to the problem of damaging impact to cargo in container, and proposing one kind can be according to the lifting posture tune of container
The harbour container level of whole adapting table posture carries unmanned vehicle, specifically, provides a kind of harbour container level carrying nothing
People's vehicle accepts system, including vehicle frame, further includes the adapting table that shape is square；It is any in four angles of the adapting table
There are three the electric cylinders for being hingedly used to push the adapting table movement with the vehicle frame for three position settings；On the adapting table
The position of corresponding three electric cylinders also sets up that there are three the distance measuring sensors for detecting container；The undertaking system is also
Including controller, the controller is connect with the distance measuring sensor and the electric cylinder；The controller is for receiving three
The ranging information of the distance measuring sensor, and the control information for obtaining electric cylinder, specifically, institute are calculated according to the ranging information
State the first ranging information h1 that ranging information includes corresponding first distance measuring sensor, the second ranging of corresponding second distance measuring sensor
Information h2, the third ranging information h3 of corresponding third distance measuring sensor, the controller is to the first ranging information h1, described
The second ranging information h2 and third ranging information h3, which is ranked up, obtains maximum distance hmax, minimum range hmin and centre
The maximum distance hmax is subtracted minimum range hmin and obtains the first adjustable height hs1, by the intermediate distance by distance hmid
Hmid subtracts minimum range hmin and obtains the second adjustable height hs2, and it is corresponding that the controller controls the minimum range hmin
Electric cylinder is fixed, controls the corresponding electric cylinder of the maximum distance hmax and rises the first adjustable height hs1, controls in described
Between the corresponding electric cylinder of distance hmid rise the second adjustable height hs2.
It further, further include the pressure sensor being set on the adapting table, the controller is controlling in described
Between after the corresponding electric cylinder of distance hmid rises the second adjustable height hs2, receive the pressure signal of the pressure sensor, judge
After threshold value, the adjustable height for controlling three electric cylinders is zero.
It further, further include that support base fixed with vehicle frame on the vehicle frame is set, the height of the support base is matched
It is set to so that the support base is contacted with the adapting table when the adjustable height of three electric cylinders is zero.
Further, the electric cylinder includes electric cylinder ontology and can be driven what the relatively described electric cylinder moved along a straight line to stretch
Contracting bar, the telescopic rod end and adapting table are hinged, and the bottom end of the electric cylinder ontology and vehicle frame are hinged.
Further, the distance measuring sensor is reflected infrared sensors or ultrasonic sensor.
On the other hand, based on above-mentioned undertaking system, the present invention also provides a kind of harbour container levels to carry nobody
Vehicle accepts method, comprising:
S110, the first ranging information h1 that first distance measuring sensor detects, the second ranging sensing are obtained
The second ranging information h2 that device detects, the third ranging information h3 that the third distance measuring sensor detects；
S120, the first ranging information h1, the second ranging information h2 and the third ranging information h3 are carried out
Sequence obtains maximum distance hmax, minimum range hmin and intermediate distance hmid；
S130, the maximum distance hmax is subtracted to minimum range hmin the first adjustable height hs1 of acquisition, by the centre
Distance hmid subtracts minimum range hmin and obtains the second adjustable height hs2；
S140, the corresponding electric cylinder of the control minimum range hmin are fixed, control hmax pairs of the maximum distance
The electric cylinder answered rises the first adjustable height hs1, controls the corresponding electric cylinder of the intermediate distance hmid and rises the second lifting height
Spend hs2.
Further, after step s 140 further include:
S150, the pressure signal for receiving the pressure sensor control three electric cylinders after judgement is greater than threshold value
Adjustable height is zero.
Further, the step of adjustable height of control three electric cylinders described in the step S150 is zero packet
It includes, disconnects the power supply signal of three electric cylinders.
Further, the step of judgement is greater than threshold value includes the weight for obtaining the container, and judgement is greater than described
The weight of container 2/3rds when for judgement be greater than threshold value.
The present invention compared with the existing technology, the bearing platform and the container on unmanned vehicle is carried by adjusting level
Posture is consistent, reduces impact when contact, protects the cargo in container.
Detailed description of the invention
The features and advantages of the present invention will be more clearly understood by referring to the accompanying drawings, and attached drawing is schematically without that should manage
Solution is carries out any restrictions to the present invention, in the accompanying drawings:
Fig. 1 is that the harbour container level in some embodiments of the invention carries unmanned vehicle undertaking system structure diagram；
Fig. 2 is that the harbour container level in some embodiments of the invention carries the state signal that unmanned vehicle accepts system
Figure；
Fig. 3 is that the harbour container level in some embodiments of the invention carries the state signal that unmanned vehicle accepts system
Figure；
Fig. 4 is that the harbour container level in some embodiments of the invention carries the process signal that unmanned vehicle accepts method
Figure.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
To be implemented using other than the one described here other modes, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
In harbour container automatic dock, container is using full-automatic lifting mode.In general, by
In a variety of causes, it is difficult to guarantee the plane of adapting table in the container base plane and unmanned vehicle of lifting largely flat
Row, this results in biggish unbalance loading being brought to impact when container and adapting table contact, not only kinds of goods more fragile in container
Subject to damage also can cause greater impact to carrier vehicle body.The present invention proposes a kind of harbour container in response to this
Level carries unmanned vehicle and accepts system, operates on unmanned vehicle, and the posture of container is detected in hoisting process, and then adjustment is held
Consecutive posture, so that reducing unbalance loading impact with more contact point when container and adapting table contact.
Specifically, as shown in Figure 1, carrying unmanned vehicle the present invention provides a kind of harbour container level accepts system 100,
It further include the adapting table 120 that shape is square including vehicle frame 110；In four angles A, B, C, D of the adapting table 120
There are three the electric cylinders for hingedly being used to that the adapting table 120 to be pushed to move with the vehicle frame 110 for any three positions setting
130；The position that three electric cylinders 130 are corresponded on the adapting table 120 also sets up that there are three for detecting container 200
Distance measuring sensor 140；The undertaking system 100 further includes controller 150, the controller 150 and the distance measuring sensor 140
It is connected with the electric cylinder 130；The controller 150 is used to receive the ranging information of three distance measuring sensors 140, and root
The control information for obtaining electric cylinder 130 is calculated according to the ranging information, specifically, the ranging information includes corresponding first ranging
First ranging information h1 of sensor, the second ranging information h2 of corresponding second distance measuring sensor, corresponding third distance measuring sensor
Third ranging information h3, the controller 150 is to the first ranging information h1, the second ranging information h2 and described
Three ranging information h3, which are ranked up, obtains maximum distance hmax, minimum range hmin and intermediate distance hmid, by it is described it is maximum away from
Minimum range hmin is subtracted from hmax and obtains the first adjustable height hs1, and the intermediate distance hmid is subtracted into minimum range hmin
Obtaining the second adjustable height hs2, it is fixed that the controller 150 controls the corresponding electric cylinder 130 of the minimum range hmin,
It controls the corresponding electric cylinder of the maximum distance hmax and rises the first adjustable height hs1, it is corresponding to control the intermediate distance hmid
Electric cylinder rise the second adjustable height hs2, while controlling two electric cylinders 130 and acting.Lifting machine transfers container 200
In the process, the detection of distance measuring sensor 140 obtains the posture of container 200 by three distance values at a distance from container 200,
Then by calculating adjustment electric cylinder 130, so that the posture of adapting table 120 is corresponding with the posture of container 200.As shown in Fig. 2,
Then the container 200 transferred is contacted with adapting table 120, is reduced impact, is protected cargo.It is maximum that distance is found by sequence
Value, median and minimum value, and the difference relative to minimum value is found out, the posture of adapting table 120 is adjusted on the basis of minimum value,
The position of the corresponding adapting table 120 of minimum value is fixed, then adjusts one jiao of corresponding maximum value adapting table 120, then adjustment pair
Another angle for answering the adapting table 120 of median finally makes the posture of adapting table 120 consistent with the posture of container 200.
After container 200 is fallen on adapting table 120, the electric cylinder 130 of support adapting table 120 will be by great role
Power needs to discharge the undertaking power of electric cylinder 130 after entirely falling on adapting table 120, protects electric cylinder 130, while also protecting
Unmanned vehicle is demonstrate,proved in next handling process, so that container 200 is fixed steady, specifically, the undertaking system 100 is also wrapped
The pressure sensor 160 being set on the adapting table 120 is included, the controller 150 is controlling described hmid pairs of intermediate distance
After the electric cylinder 130 answered rises the second adjustable height hs2, the pressure signal of the pressure sensor is received, judgement is greater than threshold value
Afterwards, the adjustable height for controlling three electric cylinders 130 is zero.The power supply of specific cut-off electric cylinder 130, can also be actively
Control the extended length of electric cylinder 130.
After guaranteeing that the adjustable height of the electric cylinder 130 becomes zero, vehicle frame 110 can be accepted described in gentle support
Platform 120 further includes that support base 112 fixed with vehicle frame 110 on the vehicle frame 110 is arranged in, and the height of the support base 112 is matched
It is set to so that the support base 112 is contacted with the adapting table 120 when the adjustable height of three electric cylinders 130 is zero,
Or after breaking the driving power of the electric cylinder 130, adapting table 120 freely lands to be contacted with the support base 112, such as
Shown in Fig. 3.
The electric cylinder 130 includes electric cylinder ontology 131 and the relatively described electric cylinder ontology 131 can be driven to move along a straight line
Telescopic rod 132,132 end of telescopic rod and adapting table 120 are hinged, the bottom end of the electric cylinder ontology 131 and vehicle frame 110
Hingedly.
The distance measuring sensor 140 is reflected infrared sensors or ultrasonic sensor, and the controller 150 is sent
Distance measuring instruction gives the distance measuring sensor 140, then receives the data of the distance measuring sensor 140, or the corresponding caching of inquiry
Read the data that distance measuring sensor 140 returns in real time.
The present invention reduces the impact of container by pre-adjusting the posture of adapting table, protects kinds of goods, also protects
Carry unmanned vehicle.
Another aspect of the present invention additionally provides a kind of harbour container level carrying unmanned vehicle undertaking method, including above-mentioned
Harbour container level carry unmanned vehicle accept system, as shown in figure 4, the undertaking method includes:
S110, the first ranging information h1 that first distance measuring sensor detects, the second ranging sensing are obtained
The second ranging information h2 that device detects, the third ranging information h3 that the third distance measuring sensor detects；
S120, the first ranging information h1, the second ranging information h2 and the third ranging information h3 are carried out
Sequence obtains maximum distance hmax, minimum range hmin and intermediate distance hmid；
S130, the maximum distance hmax is subtracted to minimum range hmin the first adjustable height hs1 of acquisition, by the centre
Distance hmid subtracts minimum range hmin and obtains the second adjustable height hs2；
S140, the corresponding electric cylinder of the control minimum range hmin are fixed, control hmax pairs of the maximum distance
The electric cylinder answered rises the first adjustable height hs1, controls the corresponding electric cylinder of the intermediate distance hmid and rises the second lifting height
Spend hs2.
By obtaining minimum value, the corresponding electric cylinder difference of minimum value is then fixed, other two electric cylinders are adjusted, so that
Posture is consistent.
In order to reduce the undertaking power of electric cylinder in transportational process, after step s 140 further include:
S150, the pressure signal for receiving the pressure sensor control three electric cylinders after judgement is greater than threshold value
Adjustable height is zero.Or the step of adjustable height of three electric cylinders is zero packet is controlled described in the step S150
It includes, disconnects the power supply signal of three electric cylinders.
The step of judgement is greater than threshold value includes the weight for obtaining the container, and judgement is greater than the container
Weight 2/3rds when for judgement be greater than threshold value.
In the present invention, term " first ", " second ", " third " are used for description purposes only, and should not be understood as instruction or
Imply relative importance.Term " multiple " refers to two or more, unless otherwise restricted clearly.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of harbour container level carries unmanned vehicle and accepts system, including vehicle frame, which is characterized in that further include shape be four
Rectangular adapting table；There are three hingedly use with the vehicle frame for any three positions setting in four angles of the adapting table
In the electric cylinder for pushing the adapting table movement；Corresponded on the adapting table three electric cylinders position also set up there are three
For detecting the distance measuring sensor of container；The undertaking system further includes controller, and the controller and the ranging sense
Device is connected with the electric cylinder；The controller is used to receive the ranging information of three distance measuring sensors, and according to described
Ranging information calculates the control information for obtaining electric cylinder, and specifically, the ranging information includes corresponding first distance measuring sensor
The third of first ranging information h1, the second ranging information h2 of corresponding second distance measuring sensor, corresponding third distance measuring sensor are surveyed
Away from information h3, the controller is to the first ranging information h1, the second ranging information h2 and the third ranging information
H3, which is ranked up, obtains maximum distance hmax, minimum range hmin and intermediate distance hmid, and the maximum distance hmax is subtracted
Minimum range hmin obtains the first adjustable height hsl, and the intermediate distance hmid is subtracted minimum range hmin and obtains second liter
Height hs2 drops, and the corresponding electric cylinder of the controller control minimum range hmin is fixed, controls the maximum distance
The corresponding electric cylinder of hmax rises the first adjustable height hsl, controls the corresponding electric cylinder of the intermediate distance hmid and rises second
Adjustable height hs2.
2. harbour container level according to claim 1 carries unmanned vehicle and accepts system, which is characterized in that further include setting
The pressure sensor being placed on the adapting table, the controller are controlling the corresponding electric cylinder rising of the intermediate distance hmid
After second adjustable height hs2, the pressure signal of the pressure sensor is received, after judgement is greater than threshold value, controls three electricity
The adjustable height of dynamic cylinder is zero.
3. harbour container level according to claim 2 carries unmanned vehicle and accepts system, which is characterized in that further include setting
Support base fixed with vehicle frame on the vehicle frame is set, the level configurations of the support base are so that when three electric cylinders
When adjustable height is zero, the support base is contacted with the adapting table.
4. harbour container level according to claim 2 carries unmanned vehicle and accepts system, which is characterized in that described electronic
Cylinder includes electric cylinder ontology and the telescopic rod that the relatively described electric cylinder can be driven to move along a straight line, the telescopic rod end and is accepted
Table-hinges connects, and the bottom end of the electric cylinder ontology and vehicle frame are hinged.
5. harbour container level according to claim 2 carries unmanned vehicle and accepts system, which is characterized in that the ranging
Sensor is reflected infrared sensors or ultrasonic sensor.
6. a kind of harbour container level carries unmanned vehicle and accepts method, which is characterized in that including any institute of claim 2~5
The harbour container level stated carries unmanned vehicle and accepts system, and the undertaking method includes:
S110, the first ranging information h1 that first distance measuring sensor detects is obtained, second distance measuring sensor is visited
The the second ranging information h2 measured, the third ranging information h3 that the third distance measuring sensor detects；
S120, the first ranging information h1, the second ranging information h2 and the third ranging information h3 are ranked up
Obtain maximum distance hmax, minimum range hmin and intermediate distance hmid；
S130, the maximum distance hmax is subtracted to minimum range hmin the first adjustable height hsl of acquisition, by the intermediate distance
Hmid subtracts minimum range hmin and obtains the second adjustable height hs2；
S140, the corresponding electric cylinder of the control minimum range hmin are fixed, and it is corresponding to control the maximum distance hmax
Electric cylinder rises the first adjustable height hsl, controls the corresponding electric cylinder of the intermediate distance hmid and rises the second adjustable height
hs2。
7. harbour container level according to claim 6 carries unmanned vehicle and accepts method, which is characterized in that in step
After S140 further include:
S150, the pressure signal for receiving the pressure sensor control the lifting of three electric cylinders after judgement is greater than threshold value
Height is zero.
8. harbour container level according to claim 7 carries unmanned vehicle and accepts method, which is characterized in that step S150
Described in the adjustable heights of control three electric cylinders the step of being zero include the power supply letter for disconnecting three electric cylinders
Number.
9. harbour container level according to claim 7 carries unmanned vehicle and accepts method, which is characterized in that the judgement
It include the weight for obtaining the container greater than the step of threshold value, when judgement is greater than 2/3rds of the weight of the container
It is greater than threshold value for judgement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710472420.3A CN107200229B (en) | 2017-06-21 | 2017-06-21 | Harbour container level carries unmanned vehicle and accepts system and accept method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710472420.3A CN107200229B (en) | 2017-06-21 | 2017-06-21 | Harbour container level carries unmanned vehicle and accepts system and accept method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107200229A CN107200229A (en) | 2017-09-26 |
| CN107200229B true CN107200229B (en) | 2019-06-25 |
Family
ID=59907073
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710472420.3A Expired - Fee Related CN107200229B (en) | 2017-06-21 | 2017-06-21 | Harbour container level carries unmanned vehicle and accepts system and accept method |
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| Country | Link |
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| CN (1) | CN107200229B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107650888B (en) * | 2017-10-10 | 2020-04-21 | 深圳市招科智控科技有限公司 | Container receiving system and method for horizontally transporting unmanned vehicles for port containers |
| CN108483044A (en) * | 2018-05-24 | 2018-09-04 | 上海福耀客车玻璃有限公司 | A kind of device automatically correcting an angle |
| CN108909575A (en) * | 2018-07-13 | 2018-11-30 | 利辛县风雅颂机电科技有限公司 | A kind of logistics transporting device of self-balancing |
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|---|---|---|---|---|
| DE3339092A1 (en) * | 1983-07-09 | 1985-01-24 | Blaser, René, Luzern | Device for transporting containers between container stores and at least one travelling gantry crane and for loading the containers from the crane onto a transporting apparatus and vice versa |
| CN1179765A (en) * | 1995-03-27 | 1998-04-22 | 东洋运搬机株式会社 | Container handling device and control system |
| CN203529470U (en) * | 2013-10-14 | 2014-04-09 | 华电重工股份有限公司 | Efficient container transfer storage yard |
| CN204057262U (en) * | 2014-08-25 | 2014-12-31 | 哈尔滨工程机械制造有限责任公司 | A kind of container lifting device |
| CN105246802A (en) * | 2013-03-27 | 2016-01-13 | Y·K·陈 | A frame structure for a multi-level container handling and storage facility |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NO329304B1 (en) * | 2009-03-18 | 2010-09-27 | Greendoor Logistics As | Intermediate storage for handling loads, as well as associated system and procedures |
-
2017
- 2017-06-21 CN CN201710472420.3A patent/CN107200229B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3339092A1 (en) * | 1983-07-09 | 1985-01-24 | Blaser, René, Luzern | Device for transporting containers between container stores and at least one travelling gantry crane and for loading the containers from the crane onto a transporting apparatus and vice versa |
| CN1179765A (en) * | 1995-03-27 | 1998-04-22 | 东洋运搬机株式会社 | Container handling device and control system |
| CN105246802A (en) * | 2013-03-27 | 2016-01-13 | Y·K·陈 | A frame structure for a multi-level container handling and storage facility |
| CN203529470U (en) * | 2013-10-14 | 2014-04-09 | 华电重工股份有限公司 | Efficient container transfer storage yard |
| CN204057262U (en) * | 2014-08-25 | 2014-12-31 | 哈尔滨工程机械制造有限责任公司 | A kind of container lifting device |
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| CN107200229A (en) | 2017-09-26 |
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