CN206553094U - A kind of anti-based on laser slings detecting system - Google Patents
A kind of anti-based on laser slings detecting system Download PDFInfo
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- CN206553094U CN206553094U CN201720267201.7U CN201720267201U CN206553094U CN 206553094 U CN206553094 U CN 206553094U CN 201720267201 U CN201720267201 U CN 201720267201U CN 206553094 U CN206553094 U CN 206553094U
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Abstract
Detecting system is sling the utility model discloses a kind of anti-based on laser, the value of bogie encoder and raising encoder is sent to ALU by the laser scanner and PLC control system being connected including ALU and respectively with ALU, the PLC control system；The container outline data scanned, ground contour data and truck outline data are sent to ALU by the laser scanner；The ALU receives the data that laser scanner and PLC control system are sent, computing and judgement are carried out to received data, in the case where detecting the operating mode that truck is lifted, sent to PLC control system and prevent slinging control signal, stop rising by PLC control system control suspender.The utility model can realize the real time position detection of suspender, container, truck etc., greatly promote the security of container handling.
Description
Technical field
The utility model is related to a kind of anti-container dragon sling detecting system, apply in container terminal based on laser
In gantry crane equipment, the released state of bracket and container during to external truck operation is detected in real time, protects truck
It will not be separated with container because of the tapered end on bracket, and cause truck to be sling by mistake by straddle truck (i.e. RTG).
Background technology
In operation process, one of major security risk of RTG raisings is due to that truck lock pin is not opened completely, by packaging
Case is sling in the lump together with truck or one side of something is sling, and normally referred to as hangs truck accident.
In the market for the anti-safety detection protection system sling of truck, photoelectric switch is mainly used,
When container crane plays certain distance, safe separating is judged whether by the detection to space between container and bracket, so
Device place one's entire reliance upon encoder data calculating, and influenceed by the height of truck bracket, there is also very for the detection of boxcar separation
Big uncertainty, it is impossible to meet security needs.
The content of the invention
The utility model overcomes shortcoming of the prior art and slings detecting system there is provided a kind of anti-based on laser.
The technical solution of the utility model is：A kind of anti-based on laser slings detecting system, including ALU
The laser scanner and PLC control system being connected respectively with ALU, the PLC control system is by bogie encoder
ALU is sent to the value of raising encoder；The laser scanner by the container outline data scanned,
Facial contour data and truck outline data are sent to ALU；The ALU receive laser scanner and
The data that PLC control system is sent, computing and judgement are carried out to received data, and sling control to PLC control system transmission is anti-
Signal processed, is stopped rising by PLC control system control suspender.
Compared with prior art, the utility model has the advantages that：The utility model uses laser scanning and ranging principle, pattern
Identification and automatic control technology, realize the real time position detection of suspender, container, truck etc., and real according to safety control strategy
The operation control of existing lifting mechanism, realizes and prevents hanging truck function, it is to avoid the generation of production accident；The utility model is employed to collection
The lasting scanning recognition of side profile during vanning, the state that truck is lifted can be judged exactly, collection is greatly promoted
The security of vanning handling.
Brief description of the drawings
The utility model will illustrate by example and with reference to the appended drawing, wherein：
Fig. 1 is the structural representation of this detecting system；
Fig. 2 is laser scanning outline drawing；
Fig. 3 is laser scanning data schematic diagram when truck is not lifted；
Laser scanning data schematic diagram when Fig. 4 is lifted for truck.
Embodiment
A kind of anti-based on laser slings detecting system, as shown in figure 1, including：Packaging on operation truck 1, truck
(container is made by case 2, laser scanner 3, ALU 4, PLC control system 5, dolly driver's cabin 6, suspender 7, RTG/RMG
Industry straddle truck) 8.
Laser scanner 3, the ALU 4 of the system equipment are arranged on RTG/RMG (container operation gantry
Hang) below 8 operation track side, the requirement of the setting height(from bottom) of laser scanner 3 from the ground 180CM (because truck height is no more than
150CM, the setting height(from bottom) is equivalent to being higher by truck at least 30CM), in the electricapparatus installed outdoors of ALU 4,
Communication is carried out by ethernet line and laser scanner 3 to be connected, and is connected with PLC control system 5 by data cable, when
When the container 2 on operation truck 1 is sling in the operation of suspender 7, when loose cable signal is with case blackout, PLC control system 5
By the value of current bogie encoder and raising encoder, ALU 4 is sent to；ALU 4 collects laser
The scan data of scanner 3 is analyzed, and the lasting progress analysis judgement during suspender 7 is lifted by crane；As shown in Fig. 2 11
Illustrate for laser scanning line, obtaining container vessels profile 9, ground by the analysis of the scanning element obtained to laser scanner 3 takes turns
Profile 10 and truck contour line 12；According to the change in location of container vessels profile 9 and truck contour line 12, and and ground contour
10 height distance change, can analyze whether acquisition truck is lifted, when the height for judging to sling reaches protection limit value (typical case
Value：When 25CM), ALU 4 is sent to PLC control system to be prevented slinging control signal, realizes defencive function.
The function of laser scanner is the profile scan for realizing that container is vertical with truck side.
The ALU 4 includes microprocessor, storage chip, power supply chip, data interaction interface etc..Logic is transported
The function of calculating unit is the identification of the Control ＆ data acquisition, profile of realizing laser scanner and prevents hanging the functions such as logic judgment.
ALU sends data retrieval commands by ICP/IP protocol to laser scanner, and ALU will pass through afterwards
Network receives the 2D laser datas of laser scanner.
As shown in Fig. 2 laser scanner is installed perpendicular to ground, then when truck is in operating area operation, logic fortune
The truck contour point data of laser scanning can be obtained by calculating unit.For truck side profile, shown as in laser data
The vertical curve of discrete point composition, for ground, shows as the horizontal straight line of discrete point composition in laser data space.Pass through cluster
Partitioning scheme, in the data in a laser scanning cycle, we will be according to laser scanning order, by each two adjacent laser point
Difference DELTA x and Δ y under X-Y coordinate
Δ x=xn-xn+1
Δ y=yn-yn+1
With initial given threshold DsIt is compared.If certain two adjacent laser spots meets following condition：
Δx>DsAnd Δ y>Ds
Before then thinking n-th point of laser data two class data should be divided into the data after (n+1)th point.With Fig. 3
Exemplified by, then laser data will be divided into two parts.One is No. 1 dotted line frame area in truck side profile data, i.e. Fig. 3；
Another part is ground data, i.e. No. 2 dotted line frame areas in Fig. 3.Data to two parts enter line according to below equation respectively
Property fitting.
Linear equation is obtained according to fitting result：
Y=K1x+B1
Y=K2x+B2
Can be according to its slope K1The laser point data extrapolated in No. 1 frame is vertical curve, and judges that laser spots are in No. 1 frame
Container and truck bracket overall profile, then obtain truck by calculating the difference of the y values of head and the tail laser spots in No. 1 frame
Upper container side plus truck bracket side entire length L.
When truck is inclined by slinging, laser scanning data is shown in Fig. 4.Now yet by above-mentioned cluster segmentation method, Fig. 4
In laser data will be divided into three parts.One is No. 1 dotted line frame area in container lateral facial contour data, i.e. Fig. 4；Secondly
Ground data, i.e. No. 2 dotted line frame areas in Fig. 4；The third is No. 3 dotted line frame areas in truck bracket side profile data, i.e. Fig. 4
Shown laser spots cluster data.Now, linear fit is carried out to data in frame 1, the y values put from beginning to end in the frame by calculating
Difference obtains the height of container, the container side plus truck bracket side then calculated using the data of Fig. 3 centers 1
The height that entire length L subtracts container can calculate the thickness of truck bracket (if height of container now etc.
In L, then illustrate bracket without thickness).Again by carrying out linear fit to data in frame 3, it can obtain oblique at the top of truck bracket
Rate, by judging slope, would know that whether tilted at the top of truck bracket, when angle of inclination is more than the angle of setting, then sentence
Disconnected truck is inclined by slinging.
When truck is integrally sling, container is not separated with truck bracket, and laser scanning data is also such as Fig. 3 institutes
Show, now the height of bracket bottom is compared during raising non-with suspender by the y values of the point for calculating the bottom of Fig. 3 centers 1, can
Judge whether bracket rises, when bracket rises to the height of setting, then judge that truck is integrally sling.For bracket without thickness
The situation of degree, if truck is integrally sling, when truck is by overall sling to certain altitude, it will obtain bracket center vertical beam
Side profile data, the height of bracket rising can be calculated according to the data, when bracket rises to the height of setting, is then judged
Truck is integrally sling.
Eventually through realizing the acquisition of control signal and issuing for control command with PLC interface.
PLC is the core electrical control equipment of container gantry crane, is responsible for bogie encoder, raising encoder, suspender
Opening and closing lock status, loose cable signal, the information such as case signal and be sent to ALU, and receive the finger of ALU
The execution of control is realized in order.
Operation principle of the present utility model is：
The utility model is separated there is provided a kind of detection operation container for container operation RTG/RMG with truck
State and the system and device that automatic safe protective is provided, using two dimensional laser scanning instrument, ALU, with container gantry
The PLC system of (RTG/RMG) is hung, position and the state of container and truck bracket and suspender is analyzed and obtained in real time, when
Judge suspender box raising, and truck is alarmed when slinging in the lump, automatically controlled by PLC system on suspender stops
Rise, safe let-down, so as to avoid truck from slinging the generation of accident.
This detecting system includes a two dimensional laser scanning instrument and an ALU；With original PLC on RTG/RMG
The cooperations such as function start and stop selecting switch and buzzer in system and driver Consoles, realize alarm and automatic protection work(
Energy.Laser scanner is installed on the lower central position of RTG/RMG cart operation tracks side, towards operation truck, vertically
Face is scanned；In truck operation, scanner can be scanned to ground, truck side edge and the side of container thereon, with
And the operation suspender of packaging upper box part；At the time of suspender locking lifts container, suspender slack rope and case blackout, pass through
Identification to the profile of laser scanning, judges the position of truck bottom and box top；During suspender raising, system and device
Analysis persistently is identified to laser scanning profile, the separation situation of container and truck bracket is identified, when judging truck quilt
Sling and reach that system sends protection control instruction signal to PLC, and control suspender stops rising, so as to reach anti-when setting limit value
The safeguard protection sling.
Function start and stop selecting switch, system state indicator are provided on driver Consoles.At function start and stop selecting switch
Anti- to hang truck function deactivation when off-position, when preventing that hanging truck function is in dead status, indicator lamp extinguishes；Hung when anti-
When truck function is in use state, indicator lamp length is bright；When system jam, indicator lamp flicker.Meanwhile, system is in driver
Anti- sling is provided on console and controls single by-pass switch, from the reset switch of tape light.When preventing slinging triggering, system
Control suspender to stop rising, indicator lamp is lighted, driver can press by-pass switch, carry out single control bypass；When anti-sling is not touched
When hair or bypass, indicator lamp extinguishes.
Claims (5)
1. a kind of anti-based on laser slings detecting system, it is characterised in that：Transported including ALU and respectively with logic
Calculate the laser scanner and PLC control system of unit connection, the PLC control system is by bogie encoder and raising encoder
Value is sent to ALU；The laser scanner is by the container outline data scanned, ground contour data and collection
Card outline data is sent to ALU；The ALU receives laser scanner and PLC control system is sent
Data, computing and judgement are carried out to received data, in the case where detecting the operating mode that truck is lifted, to PLC control system
Send and prevent slinging control signal, stop rising by PLC control system control suspender.
2. a kind of anti-based on laser according to claim 1 slings detecting system, it is characterised in that：The logical operation
Unit carries out communication by ethernet line and laser scanner and is connected, and is connected by data cable with PLC control system.
3. a kind of anti-based on laser according to claim 1 slings detecting system, it is characterised in that：The laser scanning
Instrument, ALU are arranged on below the operation track side of straddle truck.
4. a kind of anti-based on laser according to claim 3 slings detecting system, it is characterised in that：The laser scanning
Instrument is installed perpendicular to ground, and setting height(from bottom) is above the ground level 180CM.
5. a kind of anti-based on laser according to claim 1 slings detecting system, it is characterised in that：The logical operation
Unit includes microprocessor, storage chip, power supply chip and data interactive interface.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720267201.7U CN206553094U (en) | 2017-03-20 | 2017-03-20 | A kind of anti-based on laser slings detecting system |
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| CN201720267201.7U CN206553094U (en) | 2017-03-20 | 2017-03-20 | A kind of anti-based on laser slings detecting system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108792951A (en) * | 2018-07-06 | 2018-11-13 | 上海振华重工(集团)股份有限公司 | The truck of image recognition technology is anti-to sling method, system, equipment and storage medium |
| CN112061993A (en) * | 2020-08-27 | 2020-12-11 | 宁波大榭招商国际码头有限公司 | Automatic detecting and monitoring method for vehicle plate separation during container lifting |
-
2017
- 2017-03-20 CN CN201720267201.7U patent/CN206553094U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108792951A (en) * | 2018-07-06 | 2018-11-13 | 上海振华重工(集团)股份有限公司 | The truck of image recognition technology is anti-to sling method, system, equipment and storage medium |
| CN108792951B (en) * | 2018-07-06 | 2024-04-23 | 上海振华重工(集团)股份有限公司 | Method, system, equipment and storage medium for preventing lifting of collection card by image recognition technology |
| CN112061993A (en) * | 2020-08-27 | 2020-12-11 | 宁波大榭招商国际码头有限公司 | Automatic detecting and monitoring method for vehicle plate separation during container lifting |
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