CN111582168A - Port linkage visual effect allocation and transportation system and allocation and transportation method thereof - Google Patents

Abstract

The invention provides a port linkage visual effect allocation and transportation system and an allocation and transportation method thereof, wherein the system comprises: the dispatching and transporting equipment is arranged at a port, and objects to be transported are placed in the port; the monitoring module is arranged at a port; the instruction input module is used for generating a transfer instruction, and the transfer instruction comprises a first three-dimensional coordinate of an object to be transferred and a second three-dimensional coordinate of a destination; the control module comprises a modeling unit, a calculating unit, an equipment control unit, a synthesizing unit and a comparison unit, wherein the instruction input module and the modeling unit are respectively connected with the calculating unit, the monitoring module, the modeling unit and the calculating unit are respectively connected with the synthesizing unit, the synthesizing unit is connected with the comparison unit, the equipment control unit is connected with the calculating unit and the comparison unit, and the dispatching and transporting equipment is connected with the equipment control unit; and a display module connected to the synthesizing unit. The invention solves the problems of low efficiency and poor control accuracy of port goods hoisting construction by adopting the traditional hoisting equipment.

Description

Port linkage visual effect allocation and transportation system and allocation and transportation method thereof

Technical Field

The invention relates to the technical field of port hoisting equipment, in particular to a port linkage visual effect allocation and transportation system and an allocation and transportation method thereof.

Background

Large goods such as containers and equipment enter and exit more at ports, and hoisting equipment such as a shore bridge is generally adopted for hoisting. The dispatching operator needs to control the top control room of the hoisting equipment, and the visual angle of the dispatching operator is easily limited. Many times, the dispatching operator can only operate according to the command of the ground commander through signals or the interphone, which easily causes the problem of inconsistent coordination between the dispatching operator and the ground commander. When need judge whether lifting hook, lifting rope can bump with building on every side, only can rely on the observation and the experience of transfer operator to judge, hoist and mount low in construction efficiency and control the precision poor.

Disclosure of Invention

In order to overcome the defects in the prior art, the port linkage visual effect dispatching system and the dispatching method thereof are provided so as to solve the problems of low efficiency and poor control accuracy in the hoisting construction of port cargos by using traditional hoisting equipment.

In order to realize above-mentioned purpose, provide a port linkage sight effect allocation and transportation system, include:

the dispatching and transporting equipment is arranged at a port, and objects to be transported are placed in the port;

the monitoring module is used for acquiring moving images of the object to be transported in the dispatching and transporting process in real time and is installed at the port;

an instruction input module for generating a transfer instruction, the transfer instruction including a first three-dimensional coordinate of the object to be transferred and a second three-dimensional coordinate of a destination of the object to be transferred;

the control module comprises a modeling unit, a calculation unit, an equipment control unit, a synthesis unit and a comparison unit, wherein the modeling unit is used for establishing a three-dimensional coordinate system of a real port scene with a mounting point of the dispatching equipment as an origin and a three-dimensional model of the real port scene, the calculation unit is used for receiving the transfer instruction and generating a transfer path based on the three-dimensional model and a first three-dimensional coordinate and a second three-dimensional coordinate in the transfer instruction, the equipment control unit is used for controlling the dispatching equipment to dispatch the object to be transported based on the transfer path, the synthesis unit is used for receiving the moving image and combining the transfer path, the moving image and the three-dimensional model to generate a virtual reality image, the comparison unit is used for comparing the moving track of the object to be transported formed by the virtual reality image with the transfer path, the instruction input module and the modeling unit are respectively connected to the, the monitoring module, the modeling unit and the calculating unit are respectively connected to the synthesizing unit, the synthesizing unit is connected to the comparing unit, the equipment control unit is connected to the calculating unit and the comparing unit, the dispatching equipment is connected to the equipment control unit, when the moving track deviates from the transfer path, the comparing unit generates a deviation correcting signal carrying deviation information of the object to be transferred, and the equipment control unit receives the deviation correcting signal and controls the dispatching equipment to correct the deviation based on the deviation information in the deviation correcting signal, so that the object to be transferred returns to the transfer path; and

and the display module is used for receiving and displaying the virtual reality image and is connected with the synthesis unit.

Furthermore, the system also comprises an information acquisition module which is used for acquiring the image information of the real port scene at a preset time interval and is connected with the modeling unit.

Further, the control module further comprises a storage unit for storing the three-dimensional model, and the storage unit is connected to the modeling unit and the calculation unit.

Further, the information acquisition module is a three-dimensional laser scanner.

Further, the monitoring module comprises a panoramic camera and a range finder.

Further, the distance measuring instrument is a pulse type laser distance measuring instrument.

Further, the display module is VR glasses.

Further, the instruction input module is installed on the VR glasses.

The invention provides a dispatching method of a port linkage visual effect dispatching system, which comprises the following steps:

a modeling unit of the control module establishes a three-dimensional coordinate system of a real port scene with a mounting point of a dispatching device as an origin and a three-dimensional model of the real port scene;

the instruction input module generates a transfer instruction and sends the transfer instruction to the outside, wherein the transfer instruction comprises a first three-dimensional coordinate of an object to be transferred and a second three-dimensional coordinate of a destination of the object to be transferred;

a computing unit of the control module receives the transfer instruction and generates a transfer path based on the three-dimensional model, a first three-dimensional coordinate and a second three-dimensional coordinate in the transfer instruction;

based on the transfer path, the equipment control unit of the control module controls the transfer equipment to lift the object to be transferred;

in the hoisting process, the monitoring module collects the moving images of the objects to be transported in real time and sends the moving images to the outside;

a synthesizing unit of the control module receives the moving image, combines the transfer path, the moving image and the three-dimensional model to generate a virtual reality image and sends the virtual reality image to the outside;

the display module receives and outputs the virtual reality image;

based on treat the removal orbit of transport in the virtual reality image, control module's the unit of comparing will remove the orbit with the transfer route is compared, works as it is skew to remove the orbit during the transfer route, generates and carries treat the deviation information's of transport signal, control module's equipment control unit receives the signal of rectifying and is based on deviation information control in the signal of rectifying the equipment of transferring rectifies, makes treat that the transport returns to the transfer route.

Further, the step of establishing a three-dimensional coordinate system of the real port scene with the installation point of the dispatching equipment as the origin by the modeling unit of the control module comprises the following steps:

the information acquisition module acquires image information of a real port scene at a preset time interval and transmits the image information to the outside;

the modeling unit receives the image information and takes a mounting point of the dispatching equipment as an original point to obtain a three-dimensional coordinate system of the real port scene and a three-dimensional model of the real port scene.

The port linkage visual effect dispatching system has the advantages that the port linkage visual effect dispatching system establishes a three-dimensional model and a three-dimensional coordinate system of a port, generates a transfer path through calculation, monitors the movement track of an object to be transferred in real time, corrects the movement track to avoid misoperation when the movement track deviates from the transfer path, improves dispatching construction efficiency and control accuracy, avoids operating completely depending on experience of operators, and reduces accident occurrence probability.

Drawings

Fig. 1 is a block diagram of a port linkage visual effect dispatching system according to an embodiment of the present invention.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention.

Referring to fig. 1, the invention provides a port linkage visual effect allocation and transportation system, comprising: the system comprises a dispatching device 1, a monitoring module 2, an instruction input module 3, a control module 4 and a display module 5.

The allocation and transportation equipment 1 is installed in a port where objects to be transported are placed. The monitoring module 2 is installed in a port.

In some embodiments, the monitoring module is mounted on a hook of the commissioning device. In other embodiments, the monitoring module is mounted around the distribution facility.

The control module 4 includes a modeling unit 41, a calculation unit 42, a device control unit 43, a synthesis unit 44, and a comparison unit 45. The instruction input module 3 and the modeling unit 41 are connected to the calculation unit 42, respectively. The monitoring module 2, the modeling unit 41, and the calculation unit 42 are connected to the synthesis unit 44, respectively. The synthesis unit 44 is connected to the comparison unit 45 and the display module 5, respectively. The device control unit 43 is connected to the calculation unit 42 and the comparison unit 45. The handling equipment 1 is connected to the equipment control unit 43.

The monitoring module 2 is used for acquiring moving images of the object to be transported in the transportation process in real time.

The instruction input module 3 is used for generating a transfer instruction. The transfer instruction includes a first three-dimensional coordinate of the object to be transferred and a second three-dimensional coordinate of a destination of the object to be transferred.

The modeling unit 41 is used to establish a three-dimensional coordinate system of a real harbor scene with the installation point of the dispatching facility 1 as the origin and a three-dimensional model of the real harbor scene.

The calculation unit 42 is configured to receive the transfer instruction and calculate and generate several better transfer paths based on the three-dimensional model, the first three-dimensional coordinates and the second three-dimensional coordinates in the transfer instruction. The transfer path comprises a first path with shortest time, a second path with shortest route and a third path with least energy consumption. During hoisting construction, a corresponding path can be selected according to requirements.

The device control unit 43 is used for controlling the allocation and transportation device 1 to allocate and transport the objects to be transported based on the transportation path and the deviation rectifying path. And the equipment control unit calculates and generates corresponding actions of the dispatching equipment according to the transfer path in the three-dimensional model.

The synthesizing unit 44 is configured to receive the moving image, combine the transfer path, the moving image, and the three-dimensional model to generate a virtual reality image, and display a moving trajectory of the object to be transferred in the virtual reality image according to the continuous moving image of the object to be transferred.

The comparison unit 45 is configured to compare the movement trajectory of the object to be transported formed by the virtual reality image with the transportation path. When the moving track deviates from the transfer path, the comparison unit 45 generates a deviation-correcting signal carrying deviation information of the object to be transported (i.e. the object to be transported on the current moving track returns to the deviation-correcting path on the transfer path), and the device control unit 43 receives the deviation-correcting signal and controls the dispatching device 1 to correct the deviation based on the deviation information in the deviation-correcting signal, so that the object to be transported returns to the transfer path.

The display module 5 is used for receiving and displaying the virtual reality image.

The port linkage visual effect dispatching system establishes a three-dimensional model and a three-dimensional coordinate system of a port, generates a transfer path through calculation, monitors the movement track of an object to be transferred in real time, corrects the movement track to avoid misoperation when the movement track deviates from the transfer path, improves dispatching construction efficiency and control accuracy, avoids operating completely depending on the experience of operators, and reduces the accident occurrence probability.

In this embodiment, the port linkage visual effect dispatching system of the present invention further includes an information collecting module 6. The information acquisition module 6 is connected to the modeling unit 41. The information acquisition module 6 is mainly used for acquiring image information of the real port scene within a preset time interval and sending the image information to the outside so that the modeling unit can update the three-dimensional model of the real port scene.

In some embodiments, the information acquisition module is a three-dimensional laser scanner. The three-dimensional laser scanner can be installed on the dispatching and transporting equipment, or a high-rise building of a port, or an unmanned aerial vehicle, and information is acquired by high-altitude flight of the unmanned aerial vehicle.

In some embodiments, the information acquisition module includes a panoramic camera, a range finder, to acquire various data information to construct a three-dimensional model of the real port scene.

As a preferred embodiment, the control module 4 further comprises a memory unit 46. The storage unit 46 is connected to the modeling unit 41 and the calculation unit 42. The storage unit 46 is used for receiving and storing the three-dimensional model.

In the present embodiment, the monitoring module 2 includes a panoramic camera and a range finder. In a preferred embodiment, the rangefinder is a pulsed laser rangefinder.

The monitoring module may optionally be mounted at a height or near the hook of the distribution facility. In some embodiments, the distance measuring device is rotatably mounted on the hook for obtaining the distance between the object to be transported and the object ahead in the direction of the transport path in real time. When the distance is smaller than the safe distance, the synthesis unit displays the virtual reality image, the comparison unit sends a deviation rectifying path and an alarm, and the equipment control unit suspends the dispatching of the equipment.

In this embodiment, the display module 5 is VR glasses, i.e. VR head display, virtual reality head-mounted display device. The port linkage visual effect dispatching system can be operated by dispatching operators with VR glasses in an operation room far away from dispatching equipment, and the potential safety hazard that the traditional dispatching operators need to operate the dispatching equipment at high altitude is avoided.

In a preferred embodiment, the command input module 3 is mounted on VR glasses. The adjustment and transportation operator can carry VR glasses, and the port linkage visual effect adjustment and transportation system is controlled by the VR glasses to carry out adjustment and transportation operation of objects to be transported.

The invention provides a dispatching method of a port linkage visual effect dispatching system, which comprises the following steps:

s1: the modeling unit 41 of the control module establishes a three-dimensional coordinate system of the real harbor scene with the installation point of the dispatching facility 1 as the origin and a three-dimensional model of the real harbor scene.

Step S1 includes:

and S11, the information acquisition module 6 acquires the image information of the real port scene at a preset time interval and sends the image information to the outside.

S12, the modeling unit 41 receives the image information and the three-dimensional coordinate system of the real harbor scene with the installation point of the dispatching facility 1 as the origin, and the three-dimensional model of the real harbor scene.

S2: the instruction input module 3 generates a transfer instruction and sends the transfer instruction to the outside, wherein the transfer instruction comprises a first three-dimensional coordinate of an object to be transferred and a second three-dimensional coordinate of a destination of the object to be transferred.

The dispatching operator converts into three-dimensional coordinates of a three-dimensional coordinate system according to the position of the existing place of the object to be transferred and the position of the destination of the transfer. The three-dimensional coordinates include at least a first three-dimensional coordinate of the object to be transported and a second three-dimensional coordinate of the destination of the object to be transported. The dispatching operator inputs the three-dimensional coordinates into the instruction input module, and the instruction input module 3 generates a transfer instruction and sends the transfer instruction to the outside.

S3: the calculation unit 42 of the control module receives the transfer instruction and generates a transfer path (the first path with the shortest time, the second path with the shortest path, and the third path with the least energy consumption) by calculation based on the three-dimensional model, the first three-dimensional coordinate and the second three-dimensional coordinate in the transfer instruction.

And the dispatching operator selects and confirms the transfer path through the instruction input module.

S4: based on the transfer path, the device control unit 43 of the control module controls the dispatching device 1 to hoist the object to be transferred.

Based on the confirmed transfer path, the device control unit 43 of the control module controls the dispatching device 1 to hoist the object to be transferred.

S5: in the lifting process, the monitoring module 2 collects the moving images of the objects to be transported in real time and sends the moving images to the outside.

S6: and the synthesis unit 44 of the control module receives the moving image, combines the transfer path, the moving image and the three-dimensional model to generate a virtual reality image and sends the virtual reality image to the outside.

The control module's synthesis unit 44 receives the transfer path, the moving image and the three-dimensional model. The synthesizing unit 44 combines the transfer path, the moving image and the three-dimensional model to generate a virtual reality image and sends the virtual reality image to the outside.

In addition, based on the moving images of the objects to be transported continuously sent by the monitoring module, the synthesis unit combines the continuous moving images of the objects to be transported to generate a moving track, and the moving track is marked in the virtual reality image.

S7: the display module 5 receives and outputs a virtual reality image.

S8: based on the movement track of the object to be transported in the virtual reality image, the comparison unit 45 of the control module compares the movement track with the transportation path, and when the movement track deviates from the transportation path, the comparison unit generates a deviation correction signal carrying deviation information of the object to be transported. The deviation information comprises a deviation correcting path of the object to be transported, wherein the current position of the object to be transported returns to the transportation path.

The device control unit 43 of the control module receives the deviation correction signal and controls the dispatching device 1 to correct the deviation based on the deviation information (deviation correction path) in the deviation correction signal, so that the object to be transferred returns to the transfer path.

It should be noted that the structures, ratios, sizes, and the like shown in the drawings attached to the present specification are only used for matching the disclosure of the present specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions of the present invention, so that the present invention has no technical essence, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.

While the present invention has been described in detail and with reference to the embodiments thereof as illustrated in the accompanying drawings, it will be apparent to one skilled in the art that various changes and modifications can be made therein. Therefore, certain details of the embodiments are not to be interpreted as limiting, and the invention is to be defined by the scope of the appended claims.

Claims (10)

1. The utility model provides a system is transferred and transported to effect is looked in harbour linkage which characterized in that includes:

the dispatching and transporting equipment is arranged at a port, and objects to be transported are placed in the port;

the monitoring module is used for acquiring moving images of the object to be transported in the dispatching and transporting process in real time and is installed at the port;

an instruction input module for generating a transfer instruction, the transfer instruction including a first three-dimensional coordinate of the object to be transferred and a second three-dimensional coordinate of a destination of the object to be transferred;

the control module comprises a modeling unit, a calculation unit, an equipment control unit, a synthesis unit and a comparison unit, wherein the modeling unit is used for establishing a three-dimensional coordinate system of a real port scene with a mounting point of the dispatching equipment as an origin and a three-dimensional model of the real port scene, the calculation unit is used for receiving the transfer instruction and generating a transfer path based on the three-dimensional model and a first three-dimensional coordinate and a second three-dimensional coordinate in the transfer instruction, the equipment control unit is used for controlling the dispatching equipment to dispatch the object to be transported based on the transfer path, the synthesis unit is used for receiving the moving image and combining the transfer path, the moving image and the three-dimensional model to generate a virtual reality image, the comparison unit is used for comparing the moving track of the object to be transported formed by the virtual reality image with the transfer path, the instruction input module and the modeling unit are respectively connected to the, the monitoring module, the modeling unit and the calculating unit are respectively connected to the synthesizing unit, the synthesizing unit is connected to the comparing unit, the equipment control unit is connected to the calculating unit and the comparing unit, the dispatching equipment is connected to the equipment control unit, when the moving track deviates from the transfer path, the comparing unit generates a deviation correcting signal carrying deviation information of the object to be transferred, and the equipment control unit receives the deviation correcting signal and controls the dispatching equipment to correct the deviation based on the deviation information in the deviation correcting signal, so that the object to be transferred returns to the transfer path; and

and the display module is used for receiving and displaying the virtual reality image and is connected with the synthesis unit.

2. The system of claim 1, further comprising an information acquisition module for acquiring image information of a real harbor scene at a predetermined time interval, and connected to the modeling unit.

3. The port-linked visual effect commissioning system of claim 2, wherein said control module further comprises a storage unit for storing said three-dimensional model, said storage unit being connected to said modeling unit and said computing unit.

4. The port linkage visual effect dispatching system of claim 2, wherein the information acquisition module is a three-dimensional laser scanner.

5. The port linked visual effect dispatching system of claim 1, wherein the monitoring module comprises a panoramic camera and a range finder.

6. The system of claim 5, wherein the rangefinder is a pulsed laser rangefinder.

7. The port linked visual effect debugging system of claim 1, wherein the display module is VR glasses.

8. The system of claim 7, wherein the command input module is mounted to the VR glasses.

9. The method for dispatching the port linkage visual effect dispatching system according to any one of claims 1-8, characterized by comprising the following steps:

a modeling unit of the control module establishes a three-dimensional coordinate system of a real port scene with a mounting point of a dispatching device as an origin and a three-dimensional model of the real port scene;

the instruction input module generates a transfer instruction and sends the transfer instruction to the outside, wherein the transfer instruction comprises a first three-dimensional coordinate of an object to be transferred and a second three-dimensional coordinate of a destination of the object to be transferred;

a computing unit of the control module receives the transfer instruction and generates a transfer path based on the three-dimensional model, a first three-dimensional coordinate and a second three-dimensional coordinate in the transfer instruction;

based on the transfer path, the equipment control unit of the control module controls the transfer equipment to lift the object to be transferred;

in the hoisting process, the monitoring module collects the moving images of the objects to be transported in real time and sends the moving images to the outside;

a synthesizing unit of the control module receives the moving image, combines the transfer path, the moving image and the three-dimensional model to generate a virtual reality image and sends the virtual reality image to the outside;

the display module receives and outputs the virtual reality image;

based on treat the removal orbit of transport in the virtual reality image, control module's the unit of comparing will remove the orbit with the transfer route is compared, works as it is skew to remove the orbit during the transfer route, generates and carries treat the deviation information's of transport signal, control module's equipment control unit receives the signal of rectifying and is based on deviation information control in the signal of rectifying the equipment of transferring rectifies, makes treat that the transport returns to the transfer route.

10. The method of claim 9, wherein the step of the modeling unit of the control module establishing a three-dimensional coordinate system of the real port scene with the installation point of the commissioning device as an origin comprises:

the information acquisition module acquires image information of a real port scene at a preset time interval and transmits the image information to the outside;

the modeling unit receives the image information and takes a mounting point of the dispatching equipment as an original point to obtain a three-dimensional coordinate system of the real port scene and a three-dimensional model of the real port scene.

Images