CN111824964A - Detection system and method for container bottom fixing twist lock - Google Patents
Detection system and method for container bottom fixing twist lock Download PDFInfo
- Publication number
- CN111824964A CN111824964A CN201910317006.4A CN201910317006A CN111824964A CN 111824964 A CN111824964 A CN 111824964A CN 201910317006 A CN201910317006 A CN 201910317006A CN 111824964 A CN111824964 A CN 111824964A
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- CN
- China
- Prior art keywords
- container
- laser scanner
- truck
- crane
- twist lock
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a detection system and a detection method of a container bottom fixed twist lock.A laser scanner is arranged on the side surface of a container, and horizontal scanning ranging is carried out on a container truck and the container in a scanning range. When the crane lifts the container from the container truck, the laser scanner detects the side surface of the container and calculates the coordinate position of the profile of the side surface of the container; along with the lifting height, when the height of the bottom of the container is consistent with the height of a scanning plane of the laser scanner, if the laser scanner detects an obstacle (fixed twist lock) at the bottom of the container, an alarm is given immediately to remind a worker to take down the twist lock; when the hoist handling container is put the case to container truck, laser scanner detects the position of parking the truck locomotive on the lane, and the while system acquires the hoist position from PLC, compares with the locomotive position, when preventing to put the case, and the truck locomotive is pressed to the container.
Description
Technical Field
The invention relates to detection of a fixed twist lock below a container in a container lifting process, and is particularly suitable for container lifting operation of a gantry crane in a port site.
Background
At present, when a port container is lifted, a worker is required to take down a fixed twist lock below the container. If the fixed lock button is not immediately taken down due to misoperation of workers, when the container is stacked to the container area by the crane, the container is unstably stacked, the container is easy to slide or overturn, and some of the containers even cause casualties. The invention uses laser scanning technology, detects the positions of the container fixed twist lock and the side profile of the container in real time in the process of lifting the container, and immediately gives an alarm if danger is detected, thereby ensuring the lifting safety.
Disclosure of Invention
The invention is characterized in that a laser scanner is arranged on the side surface of the container, and horizontal scanning ranging is carried out on the container truck and the container in a scanning range. When the crane lifts the container from the container truck, the laser scanner detects the side surface of the container and calculates the coordinate position of the profile of the side surface of the container; along with the lifting height, when the height of the bottom of the container is consistent with the height of a scanning plane of the laser scanner, if the laser scanner detects an obstacle (fixed twist lock) at the bottom of the container, an alarm is given immediately to remind a worker to take down the twist lock; when the hoist handling container is put the case to container truck, laser scanner detects the position of parking the truck locomotive on the lane, and the while system acquires the hoist position from PLC, compares with the locomotive position, when preventing to put the case, and the truck locomotive is pressed to the container.
The invention provides a detection system and a detection method for a container bottom fixing twist lock.
The purpose of the invention is realized by the following technical scheme.
The invention relates to a detection system and a method for a container bottom fixing twist lock, which are characterized in that: it includes: laser scanner, spreader, container, fixed twistlock, container truck, crane PLC.
The laser scanner is arranged on a crane beam on the side surface of the container and is used for horizontally scanning and ranging the container truck and the container in a scanning range. The fixed twist lock is arranged at the bottom position of the container. The laser scanner sends the detected and calculated data to the crane PLC, and the crane PLC controls the hoisting action of a crane sling.
When the heavy container truck is driven into the scanning range of the laser scanner, the laser scanner detects the side face of the container after the heavy container truck is stably stopped, the outline size of the side face of the container is calculated, and the system judges the container type according to the size of the container and determines whether the container is a double 20-foot, single 20-foot, 40-foot or 45-foot container. And simultaneously, the laser scanner scans and calculates the contour coordinate position and the gradient of the container, the calculation result is sent to the crane PLC, and the crane PLC acquires the position and the gradient of the container and controls the posture of the lifting appliance to align the container for accurate alignment.
When the container is lifted by the lifting appliance from the container truck, the height of the lifted container rises, and when the height of the bottom of the container is consistent with the height of a scanning plane of the laser scanner, the data acquired by the laser scanner jumps from the profile data of the side surface of the container, namely the bottom of the container is detected. If an obstacle (fixed twist lock) is detected at the bottom of the container, the system immediately gives an alarm, and the crane PLC prohibits the lifting appliance from rising and reminds a worker to take down the fixed twist lock. If no obstacle (fixed twist-lock) is detected at the bottom of the container, the system is considered safe and the crane PLC allows the spreader to rise at high speed.
When the container truck drives into the scanning range of the laser scanner, the container truck is stably stopped, the laser scanner detects the head of the container truck, the contour coordinate position of the head of the container truck is calculated, the calculation result is sent to the crane PLC, the crane PLC compares the head position and the hanger position, and the head of the container truck is pressed when the hanger is prevented from being placed.
The laser scanner is wide-angle scanning, the scanning range exceeds 180 degrees, and the front and back positions of the container truck can be detected except for the container truck in the lane. If the container truck is parked in the lane and another vehicle approaches, the system gives an alarm to attract the attention of the truck driver.
When the crane travels, the laser scanner detects whether an obstacle exists on a traveling path of the crane, and if the obstacle is too close, the system sends a detection result to the crane PLC to control the speed reduction, so that the side face of the crane is prevented from colliding with the obstacle.
Laser scanner can install on the automatic rising support, and system control support goes up and down, drives laser scanner and reciprocates, and the fixed twistlock in initiative detection container bottom.
Due to the adoption of the technical scheme, the invention has the beneficial effects that: the container bottom fixing twist lock and the container contour position are effectively detected, potential safety hazards are eliminated, the container is prevented from being lifted to press the truck head, and the production efficiency of container lifting operation is improved.
Drawings
FIG. 1 is a top view of the system structure.
Fig. 2 is a schematic diagram of the detection of the profile of the side surface of the container.
Fig. 3 is a schematic diagram of the detection of the fixed twistlock at the bottom of the container.
Figure 4 is a schematic diagram of the head of a container truck in a compression-proof manner.
Description of the main components in the drawings: (1) the device comprises a laser scanner, (2) a fixed twist lock, (3) a scanning plane, (4) a container, (5) a lifting appliance, (6) a container truck and (7) a crane.
Detailed Description
The laser scanner (1) is arranged on a beam of a crane (7) on the side surface of the container (4) and used for horizontally scanning and ranging the container truck (6) and the container (4) within a scanning range. The fixed twist lock (2) is arranged at the bottom of the container (4). The laser scanner (1) sends detected and calculated data to the crane PLC, and the crane PLC controls the hoisting action of the crane sling (5).
Referring to fig. 2, when a heavy container truck (6) enters the scanning range of the laser scanner (1) and the heavy container truck (6) is stationary, the laser scanner (1) detects the side of the container (4) and calculates the profile dimension of the side of the container (4), and the system determines the container type of the container (4) according to the container size and determines whether the container is a double 20-foot, single 20-foot, 40-foot or 45-foot container. Meanwhile, the laser scanner (1) scans and calculates the contour coordinate position and the gradient of the container (4), the calculation result is sent to the crane PLC, the crane PLC acquires the position and the gradient of the container, and the posture of the lifting appliance (5) is controlled to align the container (4) for accurate alignment.
As shown in fig. 3, when the spreader (5) lifts the container (4) from the container truck (6), and the height of the container (4) is consistent with the height of the scanning plane (3) of the laser scanner, the data acquired by the laser scanner (1) jumps from the profile data of the side surface of the container, that is, the bottom of the container is detected. If an obstacle (a fixed twist lock) (2) is detected at the bottom of the container, the system immediately gives an alarm, and the crane PLC prohibits the lifting appliance (5) from rising, and reminds a worker to take down the fixed twist lock (2). If no obstacle (fixed twistlock) (2) is detected at the bottom of the container, the system is considered safe and the crane PLC allows the spreader (5) to rise at high speed.
As shown in fig. 4, when the container truck (6) is driven into the scanning range of the laser scanner (1) and the empty container truck (6) is parked stably, the laser scanner (1) detects the head of the container truck (6), calculates the contour coordinate position of the head of the container truck (6), and sends the calculation result to the crane PLC, and the crane PLC compares the head position with the spreader position to prevent the spreader (5) from pressing the head of the container truck when being lowered.
It will be appreciated by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be construed as limiting the present invention, and that changes and modifications to the above described embodiments will fall within the scope of the appended claims as long as they come within the true spirit of the present invention.
Claims (8)
1. The detection system and the detection method of the container bottom fixed twist lock comprise a laser scanner, a lifting appliance, a container, a fixed twist lock, a container truck and a crane PLC, and are characterized in that: the laser scanner is arranged on a crane beam on the side surface of the container and is used for horizontally scanning and ranging the container truck and the container within a scanning range; the fixed twist lock is arranged at the bottom position of the container; the laser scanner sends the detected and calculated data to the crane PLC, and the crane PLC controls the hoisting action of a crane sling.
2. The system and method for detecting a container bottom binding twistlock of claim 1, wherein: after the heavy container truck is stopped, the laser scanner detects the side of the container, calculates the outline dimension of the side of the container, and the system judges the container type according to the size of the container and determines whether the container is a double 20-foot, single 20-foot, 40-foot or 45-foot container.
3. The system and method for detecting a container bottom binding twistlock of claim 1, wherein: the laser scanner scans and calculates container contour coordinate position and gradient to send the calculated result to crane PLC, crane PLC acquires container position and gradient, and the control hoist gesture is aimed at the container and is carried out accurate counterpoint.
4. The system and method for detecting a container bottom binding twistlock of claim 1, wherein: along with the rise of the height of a lifted container, when the height of the bottom of the container is consistent with the height of a scanning plane of the laser scanner, the data acquired by the laser scanner jumps from the profile data of the side surface of the container, namely the bottom of the container is detected.
5. The system and method for detecting a container bottom binding twistlock of claim 1, wherein: if an obstacle (fixed twist lock) is detected at the bottom of the container, the system immediately gives an alarm, and the crane PLC prohibits the lifting appliance from rising and reminds workers to take down the fixed twist lock; if no obstacle (fixed twist-lock) is detected at the bottom of the container, the system is considered safe and the crane PLC allows the spreader to rise at high speed.
6. The system and method for detecting a container bottom binding twistlock of claim 1, wherein: after the container truck is stably stopped, the laser scanner detects the head of the container truck, calculates the outline coordinate position of the head of the container truck, sends the calculation result to the crane PLC, and the crane PLC compares the head position and the hanger position to prevent the hanger from being pressed to the head of the container truck when being transferred.
7. The system and method for detecting a container bottom binding twistlock of claim 1, wherein: the laser scanner is in wide-angle scanning, the scanning range exceeds 180 degrees, and the front and rear positions of the container truck can be detected except for the container truck in the lane; if the container truck is parked in the lane and another vehicle approaches, the system gives an alarm to attract the attention of the truck driver.
8. The system and method for detecting a container bottom binding twistlock of claim 1, wherein: when the crane travels, the laser scanner detects whether an obstacle exists on a traveling path of the crane, and if the obstacle is too close, the system sends a detection result to the crane PLC to control the speed reduction, so that the side face of the crane is prevented from colliding with the obstacle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910317006.4A CN111824964A (en) | 2019-04-19 | 2019-04-19 | Detection system and method for container bottom fixing twist lock |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910317006.4A CN111824964A (en) | 2019-04-19 | 2019-04-19 | Detection system and method for container bottom fixing twist lock |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111824964A true CN111824964A (en) | 2020-10-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910317006.4A Pending CN111824964A (en) | 2019-04-19 | 2019-04-19 | Detection system and method for container bottom fixing twist lock |
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| Country | Link |
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| CN (1) | CN111824964A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113582023A (en) * | 2021-07-28 | 2021-11-02 | 三一海洋重工有限公司 | Truck head anti-collision protection method, controller and anti-collision protection system thereof |
Citations (5)
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|---|---|---|---|---|
| CN201125130Y (en) * | 2007-10-09 | 2008-10-01 | 上海明路绳网索具有限公司 | Container handling anticollision device using laser to scan |
| CN105271006A (en) * | 2014-06-12 | 2016-01-27 | 上海海镭激光科技有限公司 | Rubber-tyred gantry crane walking positioning, correcting and container truck alignment anti-lifting method |
| CN106829742A (en) * | 2017-03-20 | 2017-06-13 | 北京国泰星云科技有限公司 | A kind of anti-detecting system and method for slinging based on laser |
| CN207957554U (en) * | 2018-03-09 | 2018-10-12 | 南通德堡普英传感器有限公司 | Automatic dock truck is anti-to sling system |
| CN109384151A (en) * | 2017-08-03 | 2019-02-26 | 南通通镭软件有限公司 | Automatic the case of automated handling operation and anti-sling method |
-
2019
- 2019-04-19 CN CN201910317006.4A patent/CN111824964A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201125130Y (en) * | 2007-10-09 | 2008-10-01 | 上海明路绳网索具有限公司 | Container handling anticollision device using laser to scan |
| CN105271006A (en) * | 2014-06-12 | 2016-01-27 | 上海海镭激光科技有限公司 | Rubber-tyred gantry crane walking positioning, correcting and container truck alignment anti-lifting method |
| CN106829742A (en) * | 2017-03-20 | 2017-06-13 | 北京国泰星云科技有限公司 | A kind of anti-detecting system and method for slinging based on laser |
| CN109384151A (en) * | 2017-08-03 | 2019-02-26 | 南通通镭软件有限公司 | Automatic the case of automated handling operation and anti-sling method |
| CN207957554U (en) * | 2018-03-09 | 2018-10-12 | 南通德堡普英传感器有限公司 | Automatic dock truck is anti-to sling system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113582023A (en) * | 2021-07-28 | 2021-11-02 | 三一海洋重工有限公司 | Truck head anti-collision protection method, controller and anti-collision protection system thereof |
| CN113582023B (en) * | 2021-07-28 | 2023-10-31 | 三一海洋重工有限公司 | Anti-collision protection method for truck head, controller thereof and anti-collision protection system |
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Application publication date: 20201027 |
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