CN118239383A - Anti-smashing method for cabin cover plate of shore crane - Google Patents

Abstract

The invention relates to a method for preventing a hatch cover plate of a shore crane from being crashed, which comprises the steps of judging whether to carry out the lowering operation of the hatch cover plate in a hatch cover plate placing area or not; laser scanning in the vertical direction behind the land side door legs is carried out through a vertical laser scanner, and whether lifting of the lifting appliance of the shore crane is a hatch plate is judged; scanning and judging the width of the hatch board to obtain an actual placement area of the hatch board in the area to be placed; scanning a target in a region to be placed by a horizontal laser scanner, and judging whether the target exists or not and whether the target is a stackable hatch board or not; judging whether an external rectangle of the horizontal section outline of the non-hatch board target obtained by laser scanning is overlapped with an actual placement area or not, and then starting the steps of acousto-optic warning and the like; through the specific arrangement of the device and the specific configuration of the method, efficient and reliable target judgment of a specific area below the hatch board is realized, so that the safety of the shore crane in the land side placement process of the hatch board is greatly improved.

Description

Anti-smashing method for cabin cover plate of shore crane

Technical Field

The invention relates to the technical field of port machinery, in particular to the technical field of port loading and unloading equipment operation safety protection, and particularly relates to a method for preventing a cover plate of a shore crane from being crashed.

Background

The current container cargo ship is mainly a cargo ship with a shelter and a deck, and containers are stacked in rows and columns in the shelter and on the deck of the cargo ship. The decks of the container cargo ship are of a block type hoisting structure, the length of each deck is basically the same, and the width of each deck is related to the hull structure and is called as a hatch board; when the container in the shelter is handled, the deck plate above the shelter is lifted off and placed at a fixed position on the shore, and the deck plate is lifted and installed back to the deck position where the deck plate is originally positioned after the operation in the shelter is completed.

The most common way of container handling operation of the existing container terminal is to use a gantry crane as a handling device to handle the container ship. The shore crane mainly comprises a crane cart, a crane trolley and a crane lifting appliance; the crane cart consists of two sets of door legs and a pair of cross beams erected at the tops of the door legs. When the container is handled, the side close to the shoreline is called the sea side, the door leg close to the shoreline is called the front door leg (also called the sea side door leg), the side far away from the shoreline is called the land side, the door leg far away from the shoreline is called the rear door leg (also called the land side door leg), each set of door legs comprises a left door post and a right door post, a wheel set is arranged below the door posts, and the container can walk on a ground rail along the direction parallel to the shoreline during operation. The rail is paved on the beam of the crane cart, a wheel rail travelling mechanism is erected on the rail, and the crane cart can travel along the direction of the beam; the trolley is provided with a cab, and a shore crane driver operates the crane in the cab to finish the operations of hoisting the container and the cabin cover plate. A crane lifting appliance is arranged on a crane trolley through a steel wire rope in a lifting manner, and when a container is loaded and unloaded and a hatch board is lifted, the trolley drives the lifting appliance to travel to the position above a container cargo ship, lifting of the lifting appliance is realized through winding and unwinding the steel wire rope, and the lifting appliance is lowered to the position above the container or the hatch board on the cargo ship to lift the container and the hatch board; the main beam of the crane sling is provided with two pairs of telescopic horizontal suspension arms, and the two ends and the middle position of the bottom surface of each suspension arm are provided with rotatable lock pins; the lifting appliance stretches and contracts the suspension arm according to the type of the container or the hatch board to be assembled and disassembled, so that the lock pin is aligned with the lock hole on the top surface of the container or the hatch board, and the lock pin is inserted into the lock hole and is fastened and connected with the container or the hatch board after rotating, thereby realizing the lifting of the container and the hatch board.

When the shore crane with the operation mode is used for carrying out floor placement operation on the deck plates, the lifting appliance is used for locking the target deck plates on the container ship, the deck plates are lifted to the rear of the land side door legs (generally considered to face the direction of the sea) of the shore crane and placed on the floor, the deck plates placed on the floor can be stacked, the maximum number of layers is generally four, the rear of the land side door legs is also used for temporarily placing containers to be transported or processed, and the containers and the deck plates cannot be stacked.

By adopting the cabin cover plate lifting operation flow, ground smashing and pressing dangerous situations can occur, and serious threat is formed to the safety of ground personnel and vehicles. Such as a ground person or vehicle inadvertently entering the deck drop behind the land side door leg; in the land placement process of the cabin cover plate, a driver of the shore crane cannot find out a wrongly-entering ground personnel vehicle because the line of sight is blocked by the cabin cover plate (an operator cannot see the area condition below the hoisted object, and the hoisted object enables the driver to have a large-range visual blind area), and the operator can continuously perform the lowering operation, so that the ground smashing and pressing dangerous situation can be caused. Meanwhile, as the crane on the bank needs to frequently move the crane cart in the process of container loading and unloading operation, different container columns on the container ship are switched; meanwhile, the ground working vehicle is frequently parked due to working requirements, and the parking position generally corresponds to the rear part of a land side door leg of the shore crane; if the ground working vehicle cannot be moved away in time after the shore crane moves to the working position, the ground working vehicle can enter the cabin cover plate placing area, and the ground smashing dangerous situation can possibly happen due to negligence of a driver in the cabin cover plate ground placing process. The ground smashing and pressing dangerous situation needs to be found as soon as possible, the lifting appliance of the shore crane is lowered to carry out braking protection, meanwhile, the ground target is warned and driven away, and protection and warning are released after the ground dangerous target leaves the actual placement area of the hatch board.

Aiming at the demand of the anti-smashing protection of the deck plate of the shore crane, technicians have performed some exploration and experimental work, and a plurality of solutions are also provided. The method mainly comprises an image analysis scheme and a laser scanning scheme; the image analysis scheme adopts a camera to shoot a ground hatch board placement area, and detects a ground dangerous object through a video image to find out a smashing dangerous situation. However, the main disadvantage of this solution is that the all-weather working capability is insufficient, for example, the false alarm rate is too high and there is a risk of missing the alarm due to the low reliability of the image imaging under weather and weather conditions such as rainfall, backlight, night, etc. The laser scanning scheme mainly comprises the steps of installing a laser instrument behind a land side door leg, carrying out laser scanning on a ground cabin cover plate placing area, detecting a ground dangerous object through a scanning outline, and finding out a smashing dangerous situation. The laser scanning scheme can effectively solve the problem of all-weather working capacity; however, because the width of the hatch board and the actual placement position on the ground are different, the maximum placement range can only be adopted for detection to ensure safety, so that ground safety targets (such as a reflecting cone and the like) outside the actual placement area of the hatch board trigger anti-smashing alarm, normal operation is affected, and the practical application value is low. Meanwhile, in addition to the need of scanning the placement area during the operation of not placing the deck boards, since the deck boards can be stacked, that is, when the operator lifts one deck, two deck or three deck boards, it is necessary to determine whether the deck board placement area has other objects (e.g., personnel) than the deck boards in addition to the deck boards, and also whether the objects in the area are already placed or stacked deck boards, which cannot be achieved by the conventional laser scanning scheme.

The two-dimensional laser scanner is an existing device, and mainly performs laser scanning ranging on the surrounding environment on a scanning plane through an internal rotating mechanism, wherein the ranging mode is 'time-of-flight measurement'. The method comprises the steps of transmitting laser pulses with specific shapes on the current scanning angle, receiving the laser pulses reflected from the surface of a tested object, measuring the time interval from the transmission to the reception of the laser pulses, obtaining the distance of the tested object on the current scanning angle through time-distance conversion, continuously changing the scanning angle on a plane (laser scanning plane) through a rotating mechanism, realizing the measurement of the cross section outline of the surrounding environment on the plane, giving measurement data in a polar coordinate representation mode, and further converting the measurement data into two-dimensional rectangular coordinate representation under the coordinate system of scanner equipment. I.e. a two-dimensional laser scanner, can obtain a scanned cross-sectional profile and the cross-sectional dimensions of the scanned object on that plane. The two-dimensional laser scanner can effectively work under all-weather conditions, and accurate two-dimensional profile data is obtained, so that the two-dimensional laser scanner is an important sensor for realizing automation and safety operation of large-scale mechanical equipment.

Chinese patent publication CN108946485A discloses a container yard loading and unloading operation anti-collision system, wherein a vertical laser scanner is arranged to scan and determine a container during lifting, so as to avoid collision danger of the container; however, the system cannot be used for hoisting and smashing prevention of the hatch board, and the judging mode of the system is completely different from that of the hatch board. The Chinese utility model bulletin text CN208166413U discloses a safety protection and operation auxiliary system of a portal crane, and discloses a two-dimensional scanning system which is provided with a plurality of scanners such as a vertical scanner, a horizontal scanner, a left scanner, a right scanner and the like for carrying out two-dimensional scanning in all directions, and on the basis, two-dimensional and three-dimensional space position information of a cart, a lifting appliance, a trailer and a related operation box is generated, namely, the scanners in all different directions are arranged for acquiring the two-dimensional and three-dimensional space position information of different parts, so that the technical problem of lifting and smashing prevention of a hatch board cannot be solved even if the scanners are used in a rotating mode.

Therefore, how to effectively solve the problem of smashing of the hatch board through the space matching of a plurality of scanners which are reasonably arranged becomes a technical problem to be solved.

Disclosure of Invention

Aiming at the prior art problems, the invention provides a method for preventing the cover plate of the crane cabin on the shore from being crashed.

The method is realized by the following technical scheme:

A method for preventing the cover plate of the cabin of a shore crane from being broken is characterized in that a vertical laser scanner and a horizontal laser scanner are arranged behind the landing side door leg of the crane cart.

The method comprises the following steps:

S1, judging whether the shoreside crane carries out the operation of placing the cabin cover plate in the cabin cover plate placing area according to a control device of the shoreside crane; if yes, step S2 is performed, and if not, no operation is performed.

S2, starting the vertical laser scanner to perform laser scanning in the vertical direction behind the land side door leg, judging whether the lifting of the lifting appliance of the shore crane is a hatch cover plate, if so, performing the step S3, and if not, not performing the operation.

S3, scanning and judging the width of the hatch board through a vertical laser scanner to obtain an actual placement area of the hatch board in the hatch board placement area.

S4, starting the horizontal laser scanner, carrying out target scanning on the deck plate placing area, judging whether a target exists or not, judging whether the target is a deck plate, if the target does not exist or is the deck plate, carrying out step S5, and if the target exists and is not the deck plate, carrying out step S6.

S5, continuing to hoist and place the cabin cover plate.

S6, judging whether an overlapped part exists between the circumscribed rectangle of the target horizontal section outline obtained by the laser scanning in the step S4 and the actual placement area obtained in the step S3, if so, braking the lifting appliance to prevent smashing by a control device of the shore crane, and starting an alarm device to warn by sound and/or light.

Preferably, a system control component is further arranged on the shore crane cart, and comprises a main control module, a vertical scanning data extraction module, a hatch cover plate vertical profile extraction module, a hatch cover plate width detection module, a horizontal scanning data extraction module, a horizontal profile extraction module, a hatch cover plate placement area target extraction module, a hatch cover plate smashing prevention detection module and an alarm information sending module, wherein the vertical scanning data extraction module, the hatch cover plate vertical profile extraction module, the hatch cover plate width detection module, the horizontal scanning data extraction module, the horizontal profile extraction module, the hatch cover plate placement area target extraction module, the hatch cover plate smashing prevention detection module and the alarm information sending module are connected with the main control module.

Preferably, in step S1, it is determined whether or not to perform the deck plate lowering operation in the deck plate placement area, based on the spreader position and the spreader lowering speed of the shore crane obtained by the control device of the shore crane.

Preferably, the concrete method for judging whether the lifting of the lifting appliance of the shore crane is a hatch board comprises the following steps: and judging whether real-time laser scanning points positioned in a specific height range and a specific width range below the lifting appliance form a continuous profile curve, wherein the width of an circumscribed rectangle of the continuous profile curve is larger than or equal to a set minimum width threshold value of the hatch board, and the minimum width threshold value is the minimum width of the hatch board minus a set detection error. Wherein the boundary point of the height range is 1700-1900 mm below the lifting appliance, and the boundary point of the width range is 14700-14900 mm.

Preferably, in step S3, the width of the deck plate is scanned and determined by a vertical laser scanner, so as to obtain an actual placement area of the deck plate in the area to be placed, and the specific method is as follows: the width of the circumscribed rectangle of the continuous profile curve of the lifting object is judged to be the width of the hatch board, the actual placement area of the hatch board is a rectangular area on the ground, the center of the rectangle is a ground projection point of the horizontal center point of the working surface of the lifting appliance, the length of the rectangle is the sum of the maximum length of the hatch board and the safety margin, and the width of the rectangle is the sum of the width of the circumscribed rectangle of the profile curve of the lifting object and the safety margin (the safety margin is preferably 0.2-0.9 m, and more preferably 0.5 m).

Preferably, in step S4, the specific determination method for determining whether the target is a deck plate is: a continuous contour curve positioned in the cabin cover plate placement area exists in a centralized manner through the real-time scanning points of the horizontal laser scanner, and when the length of the circumscribed rectangle of the contour curve is greater than or equal to the minimum length threshold value of the cabin cover plate, the target is judged to be the cabin cover plate; otherwise, the target is determined to be an unstackable object, and the minimum length threshold is the minimum length of the deck plate minus a set detection error (the detection error is preferably 0.2-0.9 m, and more preferably 0.5 m).

Preferably, in step S1, the lifting appliance height and lifting appliance lowering speed of the shore crane are obtained through the control device of the shore crane, whether the operation of placing the deck plate in the deck plate placing area is performed is determined, wherein the length is defined in the X direction, the width is defined in the Y direction, the height and the thickness are defined in the Z direction, and the determination is completed by the main control module; the method comprises the following steps: when the projection point of the horizontal center point of the working surface of the lifting appliance on the ground is positioned in the deck plate placing area, the deck plate is being placed, namelyAnd/>And (3) if the number of the left and right sides is less than 0, judging that the operation of placing the hatch board is currently performed, and starting the detection of the anti-smashing hatch board.

Wherein SPos _XY(0,S_Y) is the projection point of the horizontal center point of the working surface of the lifting appliance on the ground, S _Y is the position of the trolley,The cabin cover board placement area is a rectangular area; /(I)The lifting speed of the lifting appliance in the vertical direction is lower than zero and is downward movement, and is higher than zero and is upward movement.

Preferably, in steps S2 and S3, it is determined whether the lifting of the crane spreader at the shore is a hatch board, and the width of the hatch board is scanned and determined by a vertical laser scanner, so as to obtain an actual placement area of the hatch board in the hatch board placement area, and the method is completed by a vertical scanning data extraction module, a hatch board vertical profile extraction module and a hatch board width detection module, and specifically includes the following steps:

S21, determining the spatial range of the vertical section outline of the deck plate lifted by the lifting appliance:

Satisfy the following requirements

Wherein HCROI _YZ is the space range of the vertical section outline of the deck plate lifted by the lifting appliance, S _Y is the position of the trolley, S _Z is the height of the working surface of the lifting appliance,For maximum thickness of deck slab,/>The maximum width of the hatch cover plate; pos _YZ (y, z) is the coordinates of the projection point at the YZ plane; RECT _YZ(Pos_YZ, W, H) is a rectangular area on the YZ plane, and wherein the center point is Pos _YZ, the opposite sides are parallel to the Y axis and the Z axis, respectively, and the rectangular area has a width W and a height H.

S22, obtaining a continuous contour curve set of the vertical laser scanner VLD according to the continuous contour curve point set, wherein the continuous contour curve set of the vertical laser scanner VLD is equal to the point set of the kth continuous contour curve obtained by scanning of the vertical laser scanner, namelyWherein/>) Is a set of continuous profile curves for a vertical laser scanner VLD,/>The distance threshold value is used for smoothing the profile curve of the profile of the vertical section of the hatch cover plate, and the distance threshold value is 0.1-0.3 meter; omega (VLD) is the set of projection points of the scanning point of the vertical laser scanner VLD on the measured object on the YZ plane; /(I)The point set of the kth continuous contour curve scanned by the vertical laser scanner is that K is the number of continuous contours.

S31, extracting vertical section outline of a lifting cabin cover plate and detecting width:

For the current time

In the time-course of which the first and second contact surfaces,

It is externally connected with rectangle

Wherein the method comprises the steps ofThe lifting object is circumscribed with the y-axis coordinate of the rectangular center point projected by the kth continuous contour curve of the rectangle,Z-axis coordinates of rectangular center points projected by the kth continuous contour curve of the circumscribed rectangle for the lifting object,/>Circumscribing a rectangular kth continuous contour curve for the trolley at a projection point in the width direction,/>, andThe lifting object is circumscribed with a projection point of the kth continuous contour curve of the rectangle in the height direction.

Wherein if:

And is also provided with

Wherein the method comprises the steps ofThe detection error is 0.1-0.3 meter; /(I)For the width of the circumscribed rectangle of the profile curve of the lifting object,/>Is the minimum width of the deck plate;

Then

The vertical profile of the deck plate which is lifted at present;

And get out

Wherein HC _W is the width of the currently lifted deck plate.

S32, generating an actual placement area of the hatch board:

the rectangular area HCFRect _XY of the area where the deck plate is actually placed satisfies:

Wherein HCFPos _XY is the projection point of the horizontal center point of the working surface of the lifting appliance on the ground, and HCFPos _XY＝Pos_XY(0,S_Y), And/>Respectively a transverse safety margin and a longitudinal safety margin,/>For the maximum length of the deck plate, rect _XY(Pos_XY, L, W) is a rectangular area on the XY plane, wherein the center point is Pos _XY, the opposite sides are parallel to the X axis and the Y axis, respectively, the length is L, and the width is W.

Preferably, in step S4, the horizontal laser scanner is started to scan the hatch board placing area, and determine whether the target is the hatch board, and the method is completed by a horizontal scanning data extraction module, a horizontal profile extraction module and a hatch board placing area target extraction module, and specifically includes the following steps:

S41, generating a continuous contour curve set of the HLD of the horizontal laser scanner It satisfies the following conditions:

Wherein the method comprises the steps of For the horizontal section outline of the hatch cover plate, a hole structure exists in the outline curve, and the distance threshold is 0.2-0.8 m; omega (HLD) is the set of projection points of the scanning point of the horizontal laser scanner HLD on the measured object on the XY plane,/>A point set of a kth continuous contour curve scanned by a horizontal laser scanner, wherein k is the number of continuous contours;

s42, extracting ground targets in a hatch board placement area:

The ground target set of the deck plate placement area is

The method meets the following conditions:

Wherein the method comprises the steps of A point set of a kth continuous contour curve scanned in a cabin cover plate placement area by a horizontal laser scanner, wherein k is the number of continuous contours;

Wherein the method comprises the steps of

And is also provided with

Wherein the method comprises the steps ofA deck plate placement area that is a rectangular area.

S43, detecting a ground hatch board:

For the current time

In the time-course of which the first and second contact surfaces,

It is externally connected with rectangle

Wherein the method comprises the steps ofCircumscribing the scanned object with the x-axis coordinate of the rectangular center point projected by the kth continuous contour curve of the rectangle,/>Circumscribing the scanned object with the y-axis coordinate of the rectangular center point projected by the kth continuous contour curve of the rectangle,/>Circumscribing a projection point of a kth continuous contour curve of a rectangle in the length direction for a scanned object,/>Circumscribing a projection point of a kth continuous contour curve of the rectangle in the width direction for the scanned object; rect _XY(Pos_XY, L, W) is a rectangular area on the XY plane, the center point of the rectangle is Pos _XY, opposite sides are respectively parallel to the X axis and the Y axis, and the length of the rectangular area is L and the width is W.

If it is

Wherein the method comprises the steps ofFor the minimum length of the deck lid/>For detecting the error, the detection error is set to be 0.1-0.3 meter (preferably, the detection error value is 0.2 meter);

The existence of the hatch board in the hatch board placement area is obtained, and no smashing and pressing dangerous case exists because the hatch boards can be stacked.

Preferably, in step S6, it is determined whether the circumscribed rectangle of the target horizontal cross-section profile obtained by laser scanning in step S4 overlaps with the actual placement area obtained in step S3, specifically, the detection is completed by a hatch cover anti-smashing detection module, and the method includes the following steps:

when it is determined that no hatch exists in the hatch placement area and k exists, the k can be satisfied HCFRect _XY is a rectangular area of the actual placement area of the hatch board; and (3) if the obtained circumscribed rectangle of the target horizontal section outline is overlapped with the actual placement area obtained in the step (S3), judging that the ground smashing and pressing dangerous situation exists, and starting an alarm device to carry out sound and/or light smashing prevention warning.

Preferably, the vertical scanning data extracting means is configured to extract real-time scanning data of the vertical laser scanner; the hatch board vertical section profile extraction module is used for extracting the hatch board vertical section profile from real-time scanning data of the vertical laser scanner; the deck plate width detection module is used for detecting the width of the deck plate based on the vertical section profile of the deck plate and determining the range of the actual placement area of the ground deck plate based on the width of the deck plate and the front and rear positions of the lifting appliance of the shore crane; the horizontal scanning data extraction module is used for extracting real-time scanning data of the horizontal laser scanner; the horizontal section profile extraction module is used for extracting a ground target profile from real-time scanning data of the horizontal laser scanner; the deck plate placement area target extraction module is used for extracting a ground target in the deck plate placement area from the ground target outline and determining whether the target is a deck plate; the hatch cover plate smashing prevention detection module is used for determining whether a non-hatch cover plate ground target in a hatch cover plate placing area is located in the hatch cover plate actual placing area or not, and judging whether a ground smashing dangerous situation exists in the hatch cover plate placing area or not; the alarm information sending module is used for sending anti-smashing alarm information when the ground smashing and pressing dangerous situation is detected.

Preferably, the distance between the scanning plane of the horizontal laser scanner and the ground is 3.5-62 cm.

The invention has the technical effects that:

(1) According to the invention, the size data of the hatch cover plate is judged by carrying out vertical laser scanning on the hatch cover plate, then the actual placement area is judged, then whether the whole placement area has a non-hatch cover plate target or not is determined by carrying out horizontal laser scanning, and then whether the outline of the target is overlapped with the position of the actual placement area or not is judged, so that whether other targets of the non-hatch cover plate exist in the actual placement area or not can be conveniently, rapidly, efficiently and reliably obtained, and the anti-smashing early warning judgment can be reliably and efficiently carried out.

The width of the hatch board which is being placed is extracted through the real-time scanning data acquired by the vertical laser scanner, and the range of the actual placement area of the hatch board can be accurately determined by combining the front and back positions of the lifting appliance acquired from the crane control system, so that the ground safety target is prevented from triggering false alarm. Extracting the target position and type in the deck plate placing area through real-time scanning data acquired by a horizontal laser scanner, accurately distinguishing deck plate targets from non-deck plate targets, and avoiding false alarms triggered by deck plate stacking operation (due to the specificity that the deck plates can be stacked and need to be lifted for many times, the special lifting components of the deck plates can be accurately judged through the specific setting, so that false alarms are avoided); therefore, under the condition of reliably finding out the crushing dangerous case of the hatch cover plate, false alarm is reduced to the maximum extent, normal operation efficiency is prevented from being influenced, and the method has higher reliability and application value.

(2) The judgment of the crushing risk can be efficiently and accurately carried out according to a simple scanning result by setting the detailed mathematical treatment mode judgment of the specific steps; the high-efficiency and accurate judgment of the hatch board and the non-hatch board targets is achieved by matching with the setting of the scanning surface height and other positions of the horizontal laser scanner. Through the setting of these details for just through setting up vertical laser scanner and horizontal laser scanner can reach high-efficient accurate reliable judgement, thereby under the circumstances of guaranteeing relative low cost, realized high-efficient reliable judgement of preventing pounding, improved the safe production level of operation greatly.

Drawings

FIG. 1 is a schematic flow chart of a method for preventing a cover plate of a shore crane from being crashed.

FIG. 2 is a schematic diagram of the components of the control system of the present invention.

Wherein: 101-a main control module; 102-a vertical scanning data extraction module; 103-a hatch board vertical section profile extraction module; 104, a hatch cover plate width detection module; 105-a horizontal scan data extraction module; 106-a horizontal profile extraction module; 107-a hatch board placement area target extraction module; 108-a smashing prevention detection module for the hatch cover plate; 109-alarm information sending module.

Detailed Description

To make the above objects, features and advantages of the present invention more comprehensible, embodiments and examples of the present invention are described in detail below, examples of which are illustrated in the accompanying text and drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described by referring to the drawings are exemplary and intended to explain the present invention/invention and should not be construed as limiting the invention.

In the description of the present invention, it should be understood that, if the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," etc. refer to the relative orientation or positional relationship as shown based on the drawings, it is merely for convenience of description of the invention and to simplify the description, and does not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the invention.

In the present invention, unless explicitly specified and limited otherwise, terms such as "mounted," "connected," "secured," and the like are to be construed broadly and include, for example, either permanently connected, removably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

The invention will be described in further detail below with reference to the drawings by means of specific embodiments. It should be noted that the apparatus/facilities mentioned in the present invention but not specifically described refer to relevant operation elements in the container terminal side operation scene in the prior art.

The embodiment illustrates a method for preventing the cover plate from being crashed, and the method for preventing the cover plate from being crashed is mainly applied to a container terminal and is arranged on a gantry crane. In the following, the structure and application of the equipment used in the method for preventing the bilge plate from being crashed are further specifically described by taking the application of the method for preventing the bilge plate from being crashed to the shore crane of the container terminal as an application scene.

In the present embodiment, the gantry crane includes a crane cart, a crane trolley, and a crane control system. The crane control system is a control system which is contained in the crane and used for controlling the operation of the crane cart, the crane trolley, the lifting appliance and other parts.

The crane cart comprises sea side door legs, land side door legs and cross beams arranged at the tops of the two door legs at intervals, and the ground area of one side (namely the rear) of the land side door legs, which is far away from the cargo ship, is a hatch cover plate placement area set in the embodiment. The crane trolley is erected on the cross beam above the crane trolley through the guide rail and can walk along the cross beam. The crane trolley comprises a cab, and a lifting appliance is arranged below the crane trolley through a rope and is used for lifting containers and/or cabin cover plates.

Further, in the embodiment of the invention, the anti-smashing method for the hatch cover plate is connected with a crane control system through a system control component. The device is used for detecting the ground smashing and pressing dangerous case in the cabin cover plate placing operation process to obtain the dangerous case, and sending out an alarm when the dangerous case is detected.

Specifically, the equipment used in the anti-smashing method for the hatch cover plate of the embodiment comprises a vertical laser scanner, a horizontal laser scanner, a system controller and an alarm component (the alarm component is preferably arranged, and if the alarm component is not arranged, the alarm is carried out in other modes, and the technical scheme is also within the protection scope of the invention).

In the embodiment, the vertical laser scanner is used for vertically scanning the hatch board of the container cargo ship which is lifted by the crane at the bank through the lifting appliance and is ready for ground placement operation, and acquiring real-time scanning data of the hatch board; the vertical laser scanner adopts a two-dimensional laser scanner and is arranged at the central position behind the land side door leg of the shore crane in a vertical scanning mode, and the laser scanning surface implemented by the vertical laser scanner faces to a cabin cover plate placement area behind the land side door leg of the shore crane.

The horizontal laser scanner in the embodiment is used for horizontally scanning the cabin cover board placing area to acquire real-time scanning data; the horizontal laser scanner adopts a two-dimensional laser scanner and is arranged at the central position behind the land side door leg of the shore crane in a horizontal scanning mode, and the laser scanning surface implemented by the horizontal laser scanner faces to the cabin cover plate placing area.

As a preferred embodiment, the vertical laser scanner is disposed behind the land side door leg (on the side away from the cargo ship) at a height of 1 to 2 meters from the ground; the horizontal laser scanner is positioned at a height of 0.6 meters from the ground (in other embodiments the distance of the laser scanning surface from the ground may be set to 3.5-62 cm, such as 5cm, 10cm, 20cm, 25cm, 30cm, 35cm, 45cm, 50cm, 55cm, etc. heights) such that the laser scanning surface is below the crouching adult level, ensuring the ability to find dangerous objects within the deck placement area (covering substantially all possible objects that may be present at that location); the vertical laser scanner and the horizontal laser scanner are connected and communicated with a system controller.

The system controller is arranged at a proper position of the shore crane (namely, the installation position of the system controller is not limited), is used as a control center of the deck plate smashing prevention system, is used for completing ground smashing and pressing dangerous situation detection in the deck plate placing operation process, is communicated with the crane control system, acquires crane working condition data, and sends smashing prevention protection instructions to the crane control system when the ground smashing and pressing dangerous situation is detected.

In the embodiment of the invention, as shown in fig. 2, the system controller specifically comprises a main control module, and a vertical scanning data extraction module, a hatch cover vertical section profile extraction module, a hatch cover width detection module, a horizontal scanning data extraction module, a horizontal section profile extraction module, a hatch cover placement area target extraction module, a hatch cover anti-smashing detection module and an alarm information sending module which are connected with the main control module. The vertical scanning data extraction module is used for extracting real-time scanning data of the vertical laser scanner; the hatch board vertical section profile extraction module is used for extracting the hatch board vertical section profile from real-time scanning data of the vertical laser scanner; the deck plate width detection module is used for detecting the deck plate width based on the deck plate vertical section profile and determining the range of the actual placement area of the ground deck plate based on the deck plate width and the front and rear positions of the shore crane sling; the horizontal scanning data extraction module is used for extracting real-time scanning data of the horizontal laser scanner; the horizontal section profile extraction module is used for extracting a ground target profile from real-time scanning data of a horizontal laser scanner; the deck plate placing area target extraction module is used for extracting a ground target in the deck plate placing area from the ground target contour and determining whether the target contour meets the characteristics of the deck plate horizontal section contour, so that whether the target is the deck plate is determined; the hatch cover plate anti-smashing detection module is used for determining whether a non-hatch cover plate target in the hatch cover plate placing area is located in the hatch cover plate actual placing area or not, and judging whether a ground smashing dangerous situation exists in the hatch cover plate placing area or not; the alarm information sending module is used for sending anti-smashing alarm information when the ground smashing and pressing dangerous situation is detected.

The alarm component is also connected with the system controller and is used for alarming and driving away the target in the cabin cover board placing area when the alarm information sending module sends alarm information. The alarm component is a combination of an audible alarm and a visual alarm.

As a preferred embodiment, the alarm means is implemented as an audible and visual alarm, which is installed near the central position behind the landing door leg, preferably 2 meters from the ground (such a height can warn both ground targets and operators in the operator room, such as drivers, etc.); the audible and visual alarm comprises a loudspeaker and a red warning lamp. When the ground smashing and pressing dangerous situation occurs, audible alarm is carried out through voice prompt of the loudspeaker, and visual alarm is carried out in a way that a red alarm lamp is always on or flashes.

In the embodiment of the invention, the system controller can communicate with the vertical laser scanner and the horizontal laser scanner through the Ethernet to acquire real-time scanning data; meanwhile, the system controller is communicated with a crane control system through an industrial bus to acquire crane operation condition data including the height, the lowering speed and the front and rear positions of the lifting appliance; when the system controller detects a ground smashing and pressing dangerous situation, the alarm information sending module sends a smashing and protecting instruction to the crane control system, so that operation accidents are avoided; further as a preferred embodiment, the anti-smashing protection instruction is an operation of braking by lifting down the lifting appliance.

The detection method of the hatch cover plate anti-smashing system is specifically described in a step by step with reference to specific embodiments.

Firstly, the system controller completes detection of ground smashing and pressing dangerous situations in a cabin cover plate placement area through a vertical laser scanner and a horizontal laser scanner based on operation working condition data acquired from a crane controller.

The method specifically comprises the following steps:

Determining the range of the actual placement area of the hatch board:

Determining whether the crane is executing the lowering operation above the deck plate placing area according to the position of the lifting appliance and the lowering speed of the lifting appliance, which are acquired from the crane control system; if yes, extracting the vertical profile of the lifting appliance lifting object from the real-time scanning data of the vertical laser scanner, and judging whether the lifting appliance lifting object is a hatch board or not, wherein the judgment criteria are as follows: the real-time scanning data points obtained in the vertical laser scanner in a specific height and width range below the lifting appliance are concentrated to form a continuous contour curve, and the width of the circumscribed rectangle of the contour curve is not smaller than the minimum width of the hatch cover plate. The width of the deck plate is far larger than that of other types of lifting objects such as containers, manned lifting cages and the like, and the deck plate can be used as a reliable characteristic for judging the lifting of the deck plate.

If the judgment is successful, the width of the hatch board is the width of the circumscribed rectangle of the profile curve of the lifting object (the width of the rectangular area on the ground of the actual placement area of the hatch board is obtained according to the width), and the range of the actual placement area of the hatch board is calculated, and the calculation method is as follows: the actual placement area of the hatch cover plate is a ground rectangular area, the center of the rectangle is a ground projection point of the horizontal center point of the working surface of the lifting appliance, the length of the rectangle is the maximum length of the hatch cover plate, and the width of the rectangle is the width of the circumscribed rectangle of the profile curve of the lifting object. To ensure safety, the practically used rectangular area is extended by a safety margin on each side in the length and width directions, and the safety margin may be 0.1 meter, 0.2 meter, 0.3 meter, 0.4 meter, 0.5 meter, 0.6 meter, 0.7 meter, 0.8 meter, etc., and further, the most preferable safety margin is 0.5 meter.

Hatch board placement area target extraction and type detection:

Extracting a target horizontal section outline in a hatch board placement area from real-time scanning data of a horizontal laser scanner, and judging whether the target is the hatch board or not, wherein the judgment criteria are as follows: the real-time scanning data points are concentrated to form a continuous contour curve positioned in the cabin cover plate placing area, the length of an external rectangle of the contour curve is not smaller than the minimum length of the cabin cover plate, and the cabin cover plate is the target; otherwise the target is non-stackable. The characteristics of the horizontal cross-sectional profile of the deck plate are known. To ensure reliability of the determination, the actually employed detection threshold value for the length of the deck plate is the minimum length of the deck plate minus the detection error, and the detection error may be 0.1 meter, 0.2 meter, 0.3 meter, 0.4 meter, 0.5 meter, 0.6 meter, 0.7 meter, 0.8 meter, etc., and most preferably the detection error is 0.5 meter. The minimum length of the deck boards of this embodiment is set at 14 meters (in other embodiments, 10 meters, 11 meters, 12 meters, 13 meters, 15 meters, 16 meters, 17 meters, 18 meters, 19 meters, up to 20 meters) and the difference in length is not large, exceeding the width of any other normal target in the container terminal shoreline area, and can be used as a reliable feature for determining floor-level deck boards.

Detecting and alarming the ground smashing and pressing dangerous situations:

If a non-hatch board target exists in the hatch board placing area, and the circumscribed rectangle of the horizontal section outline of the target overlaps with the actual hatch board placing area, the situation that the ground is crashed and pressed is judged to exist, a crashing prevention protection instruction is sent to a crane control system, and an alarm component is started to perform audible and visual alarm.

The specific implementation method comprises the following steps as shown in the flow chart of fig. 1:

S1, judging whether the shoreside crane carries out the operation of placing the cabin cover plate in the cabin cover plate placing area according to a control device of the shoreside crane; if yes, step S2 is performed, and if not, no operation is performed.

S2, starting the vertical laser scanner to perform laser scanning in the vertical direction behind the land side door leg, judging whether the lifting of the lifting appliance of the shore crane is a hatch cover plate, if so, performing the step S3, and if not, not performing the operation.

S3, scanning and judging the width of the hatch board through a vertical laser scanner to obtain an actual placement area of the hatch board in the hatch board placement area.

S4, starting the horizontal laser scanner, carrying out target scanning on the deck plate placing area, judging whether a target exists or not, judging whether the target is a deck plate, if the target does not exist or is the deck plate, carrying out step S5, and if the target exists and is not the deck plate, carrying out step S6.

S5, continuing to hoist and place the cabin cover plate.

S6, judging whether an overlapped part exists between the circumscribed rectangle of the target horizontal section outline obtained by the laser scanning in the step S4 and the actual placement area obtained in the step S3, if so, braking the lifting appliance to prevent smashing by a control device of the shore crane, and starting an alarm device to warn by sound and/or light.

The expression and definition of the related concept of the present embodiment are as follows: the deck slab anti-smashing system needs to acquire the vertical section profile and the horizontal section profile of a lifting appliance lifting object and a ground target in real time. For the sake of clarity in describing the spatial distribution of the profile, the meanings of orientation, coordinate system, sign and expression used in the description of the invention are defined as follows:

1. The azimuth definition, wherein the azimuth is defined according to the sitting posture of a driver in a cab of the crane trolley during normal operation, and the sea side is the front, and the land side is the rear; therefore, the traveling direction of the crane cart is left/right and transverse; the traveling directions of the crane trolley are front/back and longitudinal (sea side and land side are used for moving); the lifting direction of the lifting appliance is 'up/down' and/'vertical'.

2. The representation of the positions and dimensions involved in embodiments of the present invention are defined in the following shore crane installation coordinate system: the X axis points to the right, the Y axis points to the front, and the Z axis points to the upper; the origin of coordinates O is the projection point of the zero point of the crane trolley position sensor on the ground, and the datum point of the trolley position is: the longitudinal position of the horizontal center point of the working surface of the lifting appliance at the standard position.

3. The device symbol, wherein the vertical laser scanner is: VLD; the horizontal laser scanner is: HLD.

4. The relevant definition of the spatial data is that,

1) Scale: the term "length" as used herein is defined in the X direction, the term "width" is defined in the Y direction, and the term "height" and/or "thickness" is defined in the Z direction.

2) Position: pos (Pos _X,Pos_Y,Pos_Z) represents a point with coordinates (Pos _X,Pos_Y,Pos_Z).

3) Two-dimensional projection coordinates: pos _XY (x, y) represents the coordinates of the projection point of Pos on the XY plane; pos _YZ (y, z) represents the projection point coordinates of Pos on the YZ plane; pos _ZX (z, x) represents the coordinates of the projection point of Pos on the ZX plane.

4) Region definition: rect _XY(Pos_XY, L, W) is represented as a rectangular area on the XY plane, the center point of the rectangle is Pos _XY, the opposite sides are respectively parallel to the X axis and the Y axis, the length is L, and the width is W; rect _YZ(Pos_YZ, W, H) is represented as a rectangular area on the YZ plane, with a center point Pos _YZ, opposite sides parallel to the Y and Z axes, respectively, width W, and height H.

5) The set of projection points, Ω _YZ (VLD), represents: a set of projection points of a scanning point of the vertical laser scanner VLD on the measured object on the YZ plane; Ω _XY (HLD) represents: a set of projection points of a scanning point of the horizontal laser scanner HLD on the measured object on the XY plane.

6) Intersection, Ω _YZ(VLD,Rect_YZ) represents the intersection of Ω _YZ (VLD) with Rect _YZ; Ω _XY(HLD,Rect_XY) represents the intersection of Ω _XY (VLD) with Rect _XY.

7) Circumscribed rectangle, MBR _YZ(Ω_YZ) represents a circumscribed rectangle of the point set Ω _YZ on the YZ plane; MBR _XY(Ω_XY) represents the circumscribed rectangle of the point set Ω _XY on the XY plane.

8) The continuous Contour curve set, Λ (Ω, δ) represents the continuous Contour curve set within the point set Ω, Λ (Ω, δ) = { Contour _k (Ω, δ) }, k=1, …, K, where Contour _k (Ω, δ) is the kth continuous Contour curve point set, δ is the distance threshold for Contour extraction, K is the Contour number.

For a scan data point set Ω (LD) of the laser scanner LD, one extraction algorithm of the continuous profile curve point set content _k (Ω (LD), δ) is:

For scan points Pos _i and Pos _i+1 in Ω (LD), i=1, …, I, where I is the LD scan angle number, I is the number of scan angles;

If Pos _i∈Contour_k (Ω (LD), δ), and Pos _i+1 is less than δ from Pos _i;

Pos _i+1∈Contour_k (Ω (LD), δ), otherwise Pos _i+1∈Contour_k+1 (Ω (LD), δ);

the initial conditions of the algorithm are: pos ₁∈Contour₁ (Ω (LD), δ).

The distance threshold delta of contour extraction is related to the scanning angle resolution of the laser scanner and the shape characteristics of the scanned object, and different optimal values are selected according to the shape characteristics for different types of objects.

The basic working condition parameters of the embodiment of the invention are described below, and the basic working condition parameters used by the invention are constants and are determined by industry specifications and field engineering installation parameters. The parameter definitions and symbolic representations are summarized below:

related parameters relating to vertical laser scanners:

1) Mounting height H _VLD, mounting height H _VLD is the height of the origin from the ground measured by the vertical laser scanner.

2) The transverse position X _VLD is installed, and the transverse position X _VLD is the X coordinate of the origin measured by the vertical laser scanner in the coordinate system of the shore crane equipment.

3) The installation longitudinal distance W _VLD is the longitudinal distance between the measurement origin of the vertical laser scanner and the coordinate origin O of the coordinate system of the shore crane equipment.

The scan data points of the vertical laser scanner VLD are converted from the scanner equipment coordinates (X, Y) to the shore crane equipment coordinates (X, Y, Z) in the following manner:

Wherein VLDPos = Pos (-X _VLD,W_VLD,H_VLD), VLDPos is the coordinates of the origin of the vertical laser scanner measurements; the superscript T in VLDPos ^T denotes the transpose of the matrix/vector.

Related parameters relating to horizontal laser scanners:

1) Mounting height H _HLD, mounting height H _HLD is the height of the origin from the ground measured by the horizontal laser scanner.

2) The transverse position X _HLD is installed, and the transverse position X _HLD is the X coordinate of the origin measured by the horizontal laser scanner in the coordinate system of the shore crane equipment.

3) The installation longitudinal distance W _HLD is the longitudinal distance between the measuring origin of the horizontal laser scanner and the coordinate origin O of the coordinate system of the shore crane equipment.

The conversion mode of the scanning data points of the horizontal laser scanner HLD from the scanner equipment coordinates (X, Y) to the shore crane equipment coordinates (X, Y, Z) is as follows:

wherein HLDPos = Pos (-X _HLD,W_HLD,H_HLD), HLDPos is the coordinates of the exit spot of the horizontal laser scanner; the superscript T in HLDPos ^T denotes the transpose of the matrix/vector.

Related parameters relating to deck boards:

1) Minimum length Minimum length/>Typically 10 to 18 meters, preferably 14 meters. /(I)

2) Maximum length ofMaximum length/>Is generally set to 11 to 19 meters, preferably 14.8 meters.

3) Minimum width ofMinimum width/>Is generally set to 6 to 10 meters, preferably 8 meters.

4) Maximum width ofMaximum width/>Is generally set to 11 to 19 meters, preferably 14.8 meters;

5) Maximum thickness of Maximum thickness/>Is generally set to 0.9 to 2.8 m, preferably 1.8 m.

Related parameters related to the shore crane:

1) Floor demarcation width of deck slab placement area This is related to the type of shore crane, typically ranging from 10 to 30 meters, and in different embodiments can be set to e.g. 11 meters, 11.4 meters, 12.3 meters, 13 meters, 14 meters, 15 meters, 16.2 meters, 17.5 meters, 18 meters, 19 meters, 20 meters, 21.5 meters, 23 meters, 25 meters, 28 meters, 29.2 meters, etc.

2) Cabin cover board placement area Rectangular area,/>Is the center point of the deck plate placement area.

Real-time working condition parameters:

The real-time working condition parameters used in the invention are variables, and the parameters are obtained after the system controller processes the real-time working condition data of the shore crane, the real-time scanning data of the vertical laser scanner and the horizontal laser scanner based on the crane control system, and the parameter definition and the symbol representation are summarized as follows:

wherein the relevant parameters related to the shore crane include:

1) The spreader position SPos (0,S _Y,S_Z), the spreader position SPos (0,S _Y,S_Z) is the current coordinate of the spreader face horizontal center point, where S _Y is the trolley position, S _Z is the spreader face height, provided by the crane control system (the crane control system is a known device).

2) Vertical speed of lifting applianceVertical speed/> of lifting applianceThe current lifting speed of the lifting appliance in the Z direction is provided by a crane control system.

Wherein the relevant parameters related to the deck boards and the placement operation comprise:

1) Width HC _W, width HC _W is the width of the deck plate currently lifted.

2) The deck plate actual placement area HCFRect _XY, the deck plate actual placement area HCFRect _XY is the floor actual placement area of the currently lifted deck plate, and is a rectangular area.

The deck plate placement operation judgment is completed by the main control module, wherein the deck plate placement operation judgment method comprises the following steps:

If it is And/>And judging that the cabin cover plate placing operation is currently performed, and starting anti-smashing detection of the cabin cover plate, wherein SPos _XY(0,S_Y) is a projection point of the horizontal central point of the working surface of the lifting appliance on the ground.

The detection of the lifting cabin cover plate and the generation of the actual ground cabin cover plate placement area are completed by a vertical scanning data extraction module, a cabin cover plate vertical section profile extraction module and a cabin cover plate width detection module, and the method for detecting the lifting cabin cover plate and generating the actual ground cabin cover plate placement area comprises the following steps:

S21, determining the spatial range HCROI _YZ of the vertical section outline of the deck plate lifted by the lifting appliance:

Wherein the method comprises the steps of

S22, generating a continuous contour curve set of the vertical laser scanner VLD according to the continuous contour curve point set extraction algorithmWherein/>For the distance threshold of the algorithm, the profile curve is relatively smooth for the bilge plate vertical profile, the preferred threshold for this embodiment being 0.2 meters (in other embodiments, for example, 0.1 to 0.3 meters, for example, 0.1 meters, 0.15 meters, 0.25 meters, 0.3 meters, etc. may be provided).

S31, extracting vertical section outline of a lifting cabin cover plate and detecting width:

For the current time In the time-course of which the first and second contact surfaces,

It is externally connected with rectangleSatisfy the following requirements

If when it isThe method meets the following conditions:

And is also provided with When (wherein/>)For detecting an error, the value of the present embodiment is preferably 0.2 meter (may be set to 0.1 to 0.3 meter, for example, 0.1 meter, 0.15 meter, 0.25 meter, 0.3 meter, or the like in other embodiments));

Then The vertical profile of the deck plate which is lifted at present;

And

S32, generating an actual placement area of the hatch board:

the actual placement area HCFRect _XY of the deck plate satisfies: HCFPos _XY＝Pos_XY(0,S_Y) is the projection point of the horizontal central point of the working surface of the lifting appliance on the ground, and is/> And/>For the lateral safety margin and the longitudinal safety margin, the preferred value of this embodiment is 0.5 meter (in other embodiments, for example, 0.2 to 0.8 meter may be set, for example, 0.25 meter, 0.35 meter, 0.45 meter, 0.48 meter, etc.).

The detection and type judgment of the ground target in the deck plate placing area are completed by a horizontal scanning data extraction module, a horizontal profile extraction module and a deck plate placing area target extraction module, and the deck plate placing area ground target detection and type judgment method comprises the following steps:

s41, generating a continuous contour curve set of the horizontal laser scanner HLD according to the continuous contour curve point set extraction algorithm Wherein/>For the algorithm distance threshold, the preferred distance threshold in this embodiment is 0.5 meters (in other embodiments, for example, 0.2-0.8 meters may be set, for example, 0.25 meters, 0.35 meters, 0.45 meters, 0.48 meters, etc.) for the deck plate horizontal section profile due to the hole structure present in the profile curve.

S42, extracting ground targets in a hatch board placement area:

Floor target set of deck plate placement area The method meets the following conditions: /(I) />

Wherein:

And

S43, detecting a ground hatch board:

For the current time In the time-course of which the first and second contact surfaces,

It is externally connected with rectangleThe method meets the following conditions:

and if it Then there is a hatch in the hatch placement area, wherein/>For error detection, the value of the present embodiment is preferably 0.2 meter (in other embodiments, for example, 0.1 to 0.3 meter may be set, for example, 0.1 meter, 0.15 meter, 0.25 meter, 0.3 meter, or the like).

The detection of the ground smashing dangerous case is completed by a smashing prevention detection module of the cabin cover plate, and the detection method of the ground smashing dangerous case comprises the following steps:

When no hatch board exists in the hatch board placing area (the judgment operator can judge whether the hatch board is placed before or not), k exists, the requirement is satisfied The danger of smashing the ground is obtained, and smashing prevention alarm is started.

Comparative example 1

This comparative example shows the example of not judging the area of actually placing the apron, and other setting methods of this comparative example are the same as the above-mentioned embodiment, and the difference lies in not judging the area of actually placing the apron and directly pressing the dangerous case detection with the area of placing the apron to appear the condition that has appeared misjudgement to working parts such as awl bucket, thereby prove the condition that can significantly reduce misjudgement to the judgement of the area of actually placing of apron.

Comparative example 2

This comparative example shows an example of the scanning surface of the horizontal laser scanner which is not within the setting range of the present invention, and other setting manners of this comparative example are the same as the above-described embodiments, except that the heights of the scanning surface of the horizontal laser scanner from the ground are set to 0.5cm and 160cm, respectively. According to the comparison test, when the height is set to be 0.5cm, the ground is occasionally uneven or tiny cobbles are judged to be a crushing dangerous situation, so that misjudgment occurs; when the height of the scanning surface is set to 160cm, a person can not judge the risk of smashing when bending down to pick up objects or squatting down, so that the condition of missing judgment is caused.

The above description is further detailed description of the present invention with reference to specific examples, and is not intended to limit the scope of the technical solution, but is not intended to limit the specific practice of the present invention to these descriptions. It will be apparent to those skilled in the art that several simple deductions or substitutions can be made without departing from the spirit of the invention.

Claims (10)

1. A method for preventing a cover plate of a cabin of a shore crane from being crashed is characterized in that a vertical laser scanner and a horizontal laser scanner are arranged behind a land side portal leg of a shore crane cart;

The method comprises the following steps:

S1, judging whether the shoreside crane carries out the operation of placing the cabin cover plate in the cabin cover plate placing area according to a control device of the shoreside crane; if yes, step S2 is carried out, and if not, no operation is carried out;

S2, starting the vertical laser scanner to perform laser scanning in the vertical direction behind the land side door leg, judging whether the lifting of the lifting appliance of the shore crane is a hatch cover plate, if so, performing the step S3, and if not, not performing the operation;

s3, scanning and judging the width of the hatch board through a vertical laser scanner to obtain an actual placement area of the hatch board in the hatch board placement area;

s4, starting the horizontal laser scanner, carrying out target scanning on a hatch board placement area, judging whether a target exists or not, and judging whether the target is a hatch board, if the target does not exist or is the hatch board, carrying out step S5, and if the target exists and is not the hatch board, carrying out step S6;

S5, continuing to hoist and place the cabin cover plate;

s6, judging whether an overlapped part exists between the circumscribed rectangle of the target horizontal section outline obtained by the laser scanning in the step S4 and the actual placement area obtained in the step S3, if so, braking the lifting appliance to prevent smashing by a control device of the shore crane, and starting an alarm device to warn by sound and/or light.

2. The method for preventing the cover plate from being broken of the shore crane according to claim 1, wherein a system control component is further arranged on the shore crane cart, and the system control component comprises a main control module, a vertical scanning data extraction module, a cover plate vertical section profile extraction module, a cover plate width detection module, a horizontal scanning data extraction module, a horizontal section profile extraction module, a cover plate placement area target extraction module, a cover plate smashing prevention detection module and an alarm information sending module which are connected with the main control module.

3. The method for preventing the cover plate of the shore crane from being broken according to claim 2, wherein,

In the step S1, the position of a lifting appliance and the lifting appliance lowering speed of the shore crane are obtained through a control device of the shore crane, and whether the cabin cover plate is placed in a cabin cover plate placing area or not is judged;

In the step S2, the concrete method for judging whether the lifting of the lifting appliance of the shore crane is a hatch cover plate or not comprises the following steps: judging whether a real-time laser scanning point positioned below the lifting appliance forms a continuous contour curve, wherein the width of an external rectangle of the continuous contour curve is larger than or equal to a preset minimum width threshold value of the hatch board, and the minimum width threshold value is obtained by subtracting a preset detection error from the minimum width of the hatch board;

In step S3, the width of the hatch board is scanned and judged by a vertical laser scanner, and the actual placement area of the hatch board in the area to be placed is obtained, and the specific method is as follows: the width of the circumscribed rectangle of the continuous profile curve of the lifting object is judged to be the width of the hatch board, the actual placement area of the hatch board is a rectangular area on the ground, the center of the rectangle is a ground projection point of the horizontal center point of the working surface of the lifting appliance, the length of the rectangle is the sum of the maximum length of the hatch board and the safety margin, and the width of the rectangle is the sum of the width of the circumscribed rectangle of the profile curve of the lifting object and the safety margin.

4. The method for preventing the cover plate of the shore crane from being broken according to claim 2, wherein,

In step S4, the specific method for determining whether the target is a hatch board is as follows: a continuous contour curve positioned in the cabin cover plate placement area exists in a centralized manner through the real-time scanning points of the horizontal laser scanner, and when the length of the circumscribed rectangle of the contour curve is greater than or equal to the minimum length threshold value of the cabin cover plate, the target is judged to be the cabin cover plate; otherwise, the target is judged to be the non-stackable object, and the minimum length threshold value is the minimum length of the hatch board minus the set detection error.

5. The method for preventing the cover plate of the shore crane hatch from being crashed according to any one of claims 2 to 4, wherein,

In the step S1, the lifting appliance height and lifting appliance lowering speed of the shore crane are obtained through a control device of the shore crane, whether the cabin cover board is placed in a cabin cover board placing area or not is judged, wherein the length is defined in the X direction, the width is defined in the Y direction, the height and the thickness are defined in the Z direction, and the judgment is completed by a main control module; the method comprises the following steps: when the projection point of the horizontal center point of the working surface of the lifting appliance on the ground is positioned in the deck plate placing area, the deck plate is being placed, namelyAnd/>Judging that the cabin cover plate placement operation is currently carried out, and starting anti-smashing detection of the cabin cover plate;

Wherein SPos _XY(0,S_Y) is the projection point of the horizontal center point of the working surface of the lifting appliance on the ground, S _Y is the position of the trolley, The cabin cover board placement area is a rectangular area; /(I)The lifting speed of the lifting appliance in the vertical direction is lower than zero and is downward movement, and is higher than zero and is upward movement.

6. The method for preventing the cover plate of the shore crane hatch from being crashed according to any one of claims 2 to 4, wherein,

In the steps S2 and S3, judging whether the lifting of the lifting appliance of the shore crane is a hatch board or not, and carrying out scanning judgment on the width of the hatch board through a vertical laser scanner to obtain an actual placement area of the hatch board in the hatch board placement area, wherein the actual placement area is completed by a vertical scanning data extraction module, a hatch board vertical profile extraction module and a hatch board width detection module, and the method specifically comprises the following steps:

S21, determining the spatial range of the vertical section outline of the deck plate lifted by the lifting appliance:

Satisfy the following requirements

Wherein HCROI _YZ is the space range of the vertical section outline of the deck plate lifted by the lifting appliance, S _Y is the position of the trolley, S _Z is the height of the working surface of the lifting appliance,For maximum thickness of deck slab,/>The maximum width of the hatch cover plate; pos _YZ (y, z) is the coordinates of the projection point at the YZ plane; RECT _YZ(Pos_YZ, W, H) is a rectangular area on the YZ plane, wherein the center point is Pos _YZ, the opposite sides are respectively parallel to the Y axis and the Z axis, the rectangular area has a width W and a height H;

S22, obtaining a continuous contour curve set of the vertical laser scanner VLD according to the continuous contour curve point set, wherein the continuous contour curve set of the vertical laser scanner VLD is equal to the point set of the kth continuous contour curve obtained by scanning of the vertical laser scanner, namely Wherein/>Is a set of continuous profile curves for a vertical laser scanner VLD,/>The distance threshold value is used for smoothing the profile curve of the profile of the vertical section of the hatch cover plate, and the distance threshold value is 0.1-0.3 meter; omega (VLD) is the set of projection points of the scanning point of the vertical laser scanner VLD on the measured object on the YZ plane; /(I)A point set of a kth continuous contour curve scanned by a vertical laser scanner, wherein K is the number of continuous contours;

S31, extracting vertical section outline of a lifting cabin cover plate and detecting width:

For the current time

In the time-course of which the first and second contact surfaces,

It is externally connected with rectangle

Wherein the method comprises the steps ofThe lifting object is circumscribed with the y-axis coordinate of the rectangular center point projected by the kth continuous contour curve of the rectangle,Z-axis coordinates of rectangular center points projected by the kth continuous contour curve of the circumscribed rectangle for the lifting object,/>Circumscribing a rectangular kth continuous contour curve for the trolley at a projection point in the width direction,/>, andThe lifting object is externally connected with a projection point of a kth continuous contour curve of the rectangle in the height direction;

Wherein if:

And is also provided with

Wherein the method comprises the steps ofThe detection error is 0.1-0.3 meter; /(I)For the width of the circumscribed rectangle of the profile curve of the lifting object,/>Is the minimum width of the deck plate;

Then

The vertical profile of the deck plate which is lifted at present;

And get out

HC _W is the width of the currently lifted hatch board;

s32, generating an actual placement area of the hatch board:

the rectangular area HCFRect _XY of the area where the deck plate is actually placed satisfies:

Wherein HCFPos _XY is the projection point of the horizontal center point of the working surface of the lifting appliance on the ground, and HCFPos _XY＝Pos_XY(0,S_Y), And/>Respectively a transverse safety margin and a longitudinal safety margin,/>For the maximum length of the deck, rect _XY(Pos_XY, L, W) is a rectangular area on the XY plane, wherein the center point is Pos _XY, the opposite sides are parallel to the X-axis and Y-axis, respectively, the length is L, and the width is W.

7. The method for preventing the cover plate of the shore crane hatch from being crashed according to any one of claims 2 to 4, wherein,

In step S4, the horizontal laser scanner is started to scan the target in the cabin cover board placing area, and determine whether the target is the cabin cover board, and the method is completed by a horizontal scanning data extraction module, a horizontal profile extraction module and a cabin cover board placing area target extraction module, and specifically includes the following steps:

S41, generating a continuous contour curve set of the HLD of the horizontal laser scanner It satisfies the following conditions:

Wherein the method comprises the steps of For the horizontal section outline of the hatch cover plate, a hole structure exists in the outline curve, and the distance threshold is 0.2-0.8 m; omega (HLD) is the set of projection points of the scanning point of the horizontal laser scanner HLD on the measured object on the XY plane,/>A point set of a kth continuous contour curve scanned by a horizontal laser scanner, wherein k is the number of continuous contours;

s42, extracting ground targets in a hatch board placement area:

The ground target set of the deck plate placement area is

The method meets the following conditions:

Wherein the method comprises the steps of A point set of a kth continuous contour curve scanned in a cabin cover plate placement area by a horizontal laser scanner, wherein k is the number of continuous contours;

Wherein the method comprises the steps of

And is also provided with

Wherein the method comprises the steps ofThe cabin cover board placement area is a rectangular area;

S43, detecting a ground hatch board:

For the current time

In the time-course of which the first and second contact surfaces,

It is externally connected with rectangle

Wherein the method comprises the steps ofCircumscribing the scanned object with the x-axis coordinate of the rectangular center point projected by the kth continuous contour curve of the rectangle,/>The scanned object is circumscribed with the y-axis coordinate of the rectangular center point projected by the kth continuous contour curve of the rectangle,Circumscribing a projection point of a kth continuous contour curve of a rectangle in the length direction for a scanned object,/>Circumscribing a projection point of a kth continuous contour curve of the rectangle in the width direction for the scanned object; rect _XY(Pos_XY, L, W) is a rectangular area on the XY plane, the center point of the rectangle is Pos _XY, opposite sides are respectively parallel to the X axis and the Y axis, the length of the rectangular area is L, and the width is W;

If it is

Wherein the method comprises the steps ofFor the minimum length of the deck lid/>For detecting the error, the detection error is set to be 0.1-0.3 meter;

The existence of the hatch board in the hatch board placement area is obtained, and no smashing and pressing dangerous case exists because the hatch boards can be stacked.

8. The method for preventing the cover plate of the shore crane from being broken according to claim 7,

In step S6, it is determined whether the circumscribed rectangle of the target horizontal cross section profile obtained by the laser scanning in step S4 overlaps with the actual placement area obtained in step S3, and the method is specifically completed by a hatch cover anti-smashing detection module, and includes the following steps:

when it is determined that no hatch exists in the hatch placement area and k exists, the k can be satisfied HCFRect _XY is a rectangular area of the actual placement area of the hatch board; and (3) if the obtained circumscribed rectangle of the target horizontal section outline is overlapped with the actual placement area obtained in the step (S3), judging that the ground smashing and pressing dangerous situation exists, and starting an alarm device to carry out sound and/or light smashing prevention warning.

9. The shore crane hatch cover plate smashing prevention method according to claim 2, wherein the vertical scanning data extraction component is used for extracting real-time scanning data of a vertical laser scanner; the hatch board vertical section profile extraction module is used for extracting the hatch board vertical section profile from real-time scanning data of the vertical laser scanner; the deck plate width detection module is used for detecting the width of the deck plate based on the vertical section profile of the deck plate and determining the range of the actual placement area of the ground deck plate based on the width of the deck plate and the front and rear positions of the lifting appliance of the shore crane; the horizontal scanning data extraction module is used for extracting real-time scanning data of the horizontal laser scanner; the horizontal section profile extraction module is used for extracting a ground target profile from real-time scanning data of the horizontal laser scanner; the deck plate placement area target extraction module is used for extracting a ground target in the deck plate placement area from the ground target outline and determining whether the target is a deck plate; the hatch cover plate smashing prevention detection module is used for determining whether a non-hatch cover plate ground target in a hatch cover plate placing area is located in the hatch cover plate actual placing area or not, and judging whether a ground smashing dangerous situation exists in the hatch cover plate placing area or not; the alarm information sending module is used for sending anti-smashing alarm information when the ground smashing and pressing dangerous situation is detected.

10. The method for preventing the cover plate of the shore crane hatch according to any one of claims 1 to 4, wherein the distance between the scanning plane of the horizontal laser scanner and the ground is 3.5 to 62cm.