CN102336366A - Monitoring method for anticollision of quayside container crane sling - Google Patents
Monitoring method for anticollision of quayside container crane sling Download PDFInfo
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- CN102336366A CN102336366A CN2010102371402A CN201010237140A CN102336366A CN 102336366 A CN102336366 A CN 102336366A CN 2010102371402 A CN2010102371402 A CN 2010102371402A CN 201010237140 A CN201010237140 A CN 201010237140A CN 102336366 A CN102336366 A CN 102336366A
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Abstract
The invention relates to a monitoring method for anticollision of a quayside container crane sling. The method of the invention employs two two-dimensional laser scanners, and once a car enters a seaside scanning area, the occluded two-dimensional laser scanner stops transmitting scanning data to an industrial control computer and a PLC (programmable logic controller) on-site, while the other two-dimensional laser scanner reads the height of the area and transmits the scanning data; once the car moves out of the occluded area, the two-dimensional laser scanner stopping transmitting scanning data transmits updated scanning data again to the industrial control computer and the PLC on-site; if the two two-dimensional laser scanners are both occluded by the car, ineffective data are first transmitted to the occluded area, and the height data are updated immediately when the car leaves. In the invention, the employment of two two-dimensional laser scanners can reduce the scope of a scanning blind area to the utmost and improve measuring accuracy, scanning efficiency and precision. Once one laser scanner breaks down, the other scanner can still maintain the normal work of an anticollision system. Thus, the method of the invention has high reliability.
Description
Technical field
The present invention relates to a kind of method for supervising, particularly a kind of method for supervising of bank bridge crane tool anticollision.
Background technology
The thriving demand and the China's container port throughput of world's freight container traffic constantly increase, and the bank bridge crane tool in the container depot is also busy day by day thereupon.What the freight container of stacking in the stockyard was general all is that height is straggly; The driver of bank bridge crane tool is in actual mechanical process, and the height of suspender (band freight container) must be higher than the maximum height of freight container in the stockyard, and dolly could safety pass through; Otherwise suspender just knocks the freight container in the stockyard down.Particularly the action of the vertical direction of the horizontal direction of dolly and suspender is operated simultaneously; Though make efficiency of operation improve; But the driver operation error also takes place easily; The height that suspender (band freight container) occurs is not higher than the maximum height of freight container in the stockyard, and collision of suspender and freight container has just taken place for that.The result of collision is: can the thing of freight container that knocks over and freight container the inside be smashed on the one hand; On the other hand, the freight container that knocks over might be pounded on the bank bridge crane tool, makes bank bridge crane tool smash; The freight container that the worst one side is bumped against has been pounded operating personal, and accident causes casualties.This collision meeting that takes place owing to the driver operation error brings very big economic loss and potential safety hazard to harbour, and therefore, harbour is badly in need of wanting a kind of system that can prevent that this accident from taking place.
Chinese invention patent mandate prospectus CN2820803Y discloses a kind of automation system of optimal path of container handling crane; This system is provided with the laser sensor with operation number of track-lines similar number; The signal of the container height in the affiliated operation track that all laser sensors will collect is delivered to local conv; Through after the local micro controller system collection and treatment, deliver to said Programmable Logic Controller again according to a communication format.This system's green phase is answered the cooperation of hardware and software; The concrete optimization that realizes suspender path of motion; Make safety indexes and efficiency index reach satisfied simultaneously, can prevent the collision of suspender and freight container effectively, but a little less than this system's antijamming capability; In case hoisting tool bogie shelters from the laser sensor in a certain operation track, just cause the PLC controller to receive false information easily; While is a laser sensor et out of order in a single day, and then other laser sensor just cannot be kept the normal operation of system, and reliability is low; A laser sensor is only to an operation track simultaneously, and scanning efficiency and precision are not high.
Summary of the invention
The objective of the invention is in order to solve the problem that above-mentioned prior art exists; A kind of bank bridge crane tool anticollision method for supervising is provided; This bank bridge crane tool anticollision method for supervising has improved accuracy of measurement, scanning efficiency and precision, has improved the reliability of whole device simultaneously.
For solving the problems of the technologies described above, described bank bridge crane tool anticollision method for supervising is characterized in that may further comprise the steps:
(1) system powers on, and the PLC controller sends sweep start and orders to two two dimensional laser scanning appearance, freight container stacking profile profile on the first scanning of the beginning ship;
(2) two two dimensional laser scanning appearance send scan-data in the operator's compartment PLC controller and on-the-spot industrial computer through ethernet, through pre-installing the some cloud computing of the laser scanner data processing software on the industrial computer at the scene, data bank are gone in data preparation;
(3) based on data bank, the laser scanner data processing software will scan the gained valid data and put in order according to the checkerboard type cut zone of setting, and with the form of birds-eye view, be shown to operating personal; Dolly can be carried out and grab the case operation simultaneously;
(4) dolly is when extra large side is moved, and laser scanner is selected output usable height value according to the situation of covering;
(5) cover freight container in case dolly leaves, two scanners are with real-time update container height data;
The data scanning method of two two dimensional laser scanning appearance is following:
In case dolly gets into extra large side scanning area, the two dimensional laser scanning appearance that is blocked so stops to transmit scan-data to on-the-spot industrial computer and PLC controller, and the height value of this subregion reads and transmit scan-data by another two dimensional laser scanning appearance; After dolly moved, in case leave the zone that is blocked, the two dimensional laser scanning appearance that stops to transmit data transmitted the scan-data that upgrades to on-the-spot industrial computer and PLC controller again; If two two dimensional laser scanning appearance are all covered by dolly, at first the zone output invalid data to blocking after the wait dolly leaves, upgrades altitude information immediately.
Wherein, when said two two dimensional laser scanning appearance are all covered by dolly, then import the maximum height value of freight container stacking in the suspender district and give the district that is blocked; In case dolly leaves the zone that is blocked, upgrade altitude information immediately.Can under the situation that does not have accurately monitoring, be raised to highest point to suspender earlier, then at travelling car, avoid dolly to bump against the freight container stacking as far as possible, safety is higher.
Wherein, said two two dimensional laser scanning appearance lay respectively at the both sides of the crossbeam of bank bridge crane tool, before and after on the direct of travel of dolly, are being configured on the crossbeam of bank bridge crane tool.
The present invention adopts two two-dimensional scanners can reduce to scan the scope of blind area to greatest extent, improves accuracy of measurement; Make the work area of every scanner less than the work area of a scanner, improve scanning efficiency and precision; Adopt two two dimensional laser scanning appearance can also be as a redundant system, in case a laser scanner et out of order, another still can keep the normal operation of collision avoidance system, and reliability is high.
Description of drawings
Fig. 1 is the diagram of circuit of bank bridge crane tool anticollision method for supervising of the present invention.
Fig. 2 is the block diagram of the device of embodiment of the present invention bank bridge crane tool anticollision method for supervising.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described further:
Bank bridge crane tool anticollision method for supervising as shown in Figure 1 may further comprise the steps:
(1) system powers on, and the PLC controller sends sweep start and orders to two two dimensional laser scanning appearance, freight container stacking profile profile on the first scanning of the beginning ship;
(2) two two dimensional laser scanning appearance send scan-data in the operator's compartment PLC controller and on-the-spot industrial computer through ethernet, through pre-installing the some cloud computing of the laser scanner data processing software on the industrial computer at the scene, data bank are gone in data preparation;
(3) based on data bank, the laser scanner data processing software will scan the gained valid data and put in order according to the checkerboard type cut zone of setting, and with the form of birds-eye view, be shown to operating personal; Dolly can be carried out and grab the case operation simultaneously;
(4) dolly is when extra large side is moved, and laser scanner is selected output usable height value according to the situation of covering;
(5) cover freight container in case dolly leaves, two scanners are with real-time update container height data;
The data scanning method of two two dimensional laser scanning appearance is following:
In case dolly gets into extra large side scanning area, the two dimensional laser scanning appearance that is blocked so stops to transmit scan-data to on-the-spot industrial computer and PLC controller, and the height value of this subregion reads and transmit scan-data by another two dimensional laser scanning appearance; After dolly moved, in case leave the zone that is blocked, the two dimensional laser scanning appearance that stops to transmit data transmitted the scan-data that upgrades to on-the-spot industrial computer and PLC controller again; If two two dimensional laser scanning appearance are all covered by dolly, at first the zone output invalid data to blocking after the wait dolly leaves, upgrades altitude information immediately.
The present invention adopts two two-dimensional scanners can reduce to scan the scope of blind area to greatest extent, improves accuracy of measurement; Make the work area of every scanner less than the work area of a scanner, improve scanning efficiency and precision; Adopt two two dimensional laser scanning appearance can also be as a redundant system, in case a laser scanner et out of order, another still can keep the normal operation of collision avoidance system, and reliability is high.
Wherein, when said two two dimensional laser scanning appearance are all covered by dolly, then import the maximum height value of freight container stacking in the suspender district and give the district that is blocked; In case dolly leaves the zone that is blocked, upgrade altitude information immediately.Can under the situation that does not have accurately monitoring, be raised to highest point to suspender earlier, then at travelling car, avoid dolly to bump against the freight container stacking as far as possible, safety is higher.
Wherein, said two two dimensional laser scanning appearance lay respectively at the both sides of the crossbeam of bank bridge crane tool, before and after on the direct of travel of dolly, are being configured on the crossbeam of bank bridge crane tool.
The bank bridge crane tool anticollision control monitor unit that is used to implement bank bridge crane tool anticollision method for supervising as shown in Figure 2 comprises: the PLC controller is the parts of each operation of components of control in the said control monitor unit; Electric machine controller and actuating motor are the parts that control bank bridge crane tool hoists and advances; Frequency converter is connected with said PLC controller, is the parts of said electric machine controller of control and actuating motor; On-the-spot industrial computer is a remote computer, and interface uses between standard serial mouth and the said PLC controller and carries out intercommunication; Also comprise following parts: at least two two dimensional laser scanning appearance, be connected with on-the-spot industrial computer with said PLC controller, this two dimensional laser scanning appearance is distributed in the both sides of said bank bridge, is used to measure the freight container height separately in whole operations track under the bank bridge crane tool; Said two dimensional laser scanning appearance is sent to said on-the-spot industrial computer with the container height information that collects through ethernet, is delivering to said PLC controller through ethernet through the data processing software in the on-the-spot industrial computer after with information processing.
Compared with prior art, the present invention has following advantage: the present invention gathers the container height data in real time, reflects freight container stacking situation in real time.Effectively eliminate various such environmental effects such as hoisting tool bogie, accurately reflect freight container stacking situation.Owing to adopted the fixed type installation, when dolly is in the land side, can scan detection area, set up freight container stacking model, efficient is high.Data speed upgrades fast, reacts each row container height situation of detection area sooner more accurately.Utilize computing machine that laser scanning data is handled, higher than plc data treatment effeciency.The PLC that need not upgrade can also add the processing capacity of other error signals such as flying bird, and data-handling capacity is strengthened than PLC system greatly.Data communication efficient is high.Antijamming capability is strong.
More than show and described groundwork of the present invention and principal character and advantage thereof.The technological personage of the industry should understand; The present invention does not receive the restriction of above-mentioned implementing regulations; That describes in above-mentioned implementing regulations and the specification sheets just is used to explain principle of the present invention; Under the prerequisite that does not break away from the principle of the invention and scope, the present invention also can have various changes and modifications, and these variations and improvement all belong in the scope of the invention of requirement protection.
The present invention requires protection domain to define with appending claims and other equivalent.
Claims (3)
1. bank bridge crane tool anticollision method for supervising may further comprise the steps:
(1) system powers on, and the PLC controller sends sweep start and orders to two two dimensional laser scanning appearance, freight container stacking profile profile on the first scanning of the beginning ship;
(2) two two dimensional laser scanning appearance send scan-data in the operator's compartment PLC controller and on-the-spot industrial computer through ethernet, through pre-installing the some cloud computing of the laser scanner data processing software on the industrial computer at the scene, data bank are gone in data preparation;
(3) based on data bank, the laser scanner data processing software will scan the gained valid data and put in order according to the checkerboard type cut zone of setting, and with the form of birds-eye view, be shown to operating personal; Dolly can be carried out and grab the case operation simultaneously;
(4) dolly is when extra large side is moved, and laser scanner is selected output usable height value according to the situation of covering;
(5) cover freight container in case dolly leaves, two scanners are with real-time update container height data;
It is characterized in that the data scanning method of two two dimensional laser scanning appearance is following:
In case dolly gets into extra large side scanning area, the two dimensional laser scanning appearance that is blocked so stops to transmit scan-data to on-the-spot industrial computer and PLC controller, and the height value of this subregion reads and transmit scan-data by another two dimensional laser scanning appearance; After dolly moved, in case leave the zone that is blocked, the two dimensional laser scanning appearance that stops to transmit data transmitted the scan-data that upgrades to on-the-spot industrial computer and PLC controller again;
If two two dimensional laser scanning appearance are all covered by dolly, at first the zone output invalid data to blocking after the wait dolly leaves, upgrades altitude information immediately.
2. bank bridge crane tool anticollision method for supervising according to claim 1 is characterized in that: when said two two dimensional laser scanning appearance are all covered by dolly, then import the maximum height value of freight container stacking in the suspender district and give the district that is blocked; In case dolly leaves the zone that is blocked, upgrade altitude information immediately.
3. bank bridge crane tool anticollision method for supervising according to claim 1, it is characterized in that: said two two dimensional laser scanning appearance lay respectively at the both sides of the crossbeam of bank bridge crane tool, before and after on the direct of travel of dolly, are being configured on the crossbeam of bank bridge crane tool.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2010102371402A CN102336366A (en) | 2010-07-26 | 2010-07-26 | Monitoring method for anticollision of quayside container crane sling |
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| CN2010102371402A CN102336366A (en) | 2010-07-26 | 2010-07-26 | Monitoring method for anticollision of quayside container crane sling |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102980512A (en) * | 2012-08-29 | 2013-03-20 | 武汉武大卓越科技有限责任公司 | Fixed type automatic volume measurement system and measuring method thereof |
| CN105819341A (en) * | 2016-06-02 | 2016-08-03 | 北京国泰星云科技有限公司 | System for profile identification of ship under container terminal quay crane and anti-collision of lifting sling and method for profile identification of ship under container terminal quay crane |
| WO2018095103A1 (en) * | 2016-11-25 | 2018-05-31 | 同方威视技术股份有限公司 | Mobile scanning detection system |
| CN108275575A (en) * | 2018-02-05 | 2018-07-13 | 上海振华重工(集团)股份有限公司 | The adjacent shellfish position of gantry crane is anti-to hit intelligent secondary speed-reducing system |
| CN109074536A (en) * | 2016-04-08 | 2018-12-21 | 利勃海尔比伯拉赫股份有限公司 | The method and apparatus of plan and/or control and/or the operation of construction simulation machinery |
| CN109415190A (en) * | 2016-07-04 | 2019-03-01 | 西门子股份公司 | For avoiding the method and system of the collision of crane |
| CN113911911A (en) * | 2021-09-30 | 2022-01-11 | 国能黄骅港务有限责任公司 | Portal crane and control method and device thereof |
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| JPH10194671A (en) * | 1997-01-14 | 1998-07-28 | Mitsubishi Heavy Ind Ltd | Quay crane |
| CN101365116A (en) * | 2008-09-28 | 2009-02-11 | 上海外轮理货有限公司 | Real-time monitoring system for container loading, unloading and checking |
| CN101386397A (en) * | 2008-10-28 | 2009-03-18 | 高旭 | Anti-collision control method for gantry crane lifting trolley |
| CN201343377Y (en) * | 2008-10-28 | 2009-11-11 | 高旭 | Anti-collision control system for hoisting trolley of gantry crane |
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Patent Citations (5)
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| JPH10194671A (en) * | 1997-01-14 | 1998-07-28 | Mitsubishi Heavy Ind Ltd | Quay crane |
| CN101365116A (en) * | 2008-09-28 | 2009-02-11 | 上海外轮理货有限公司 | Real-time monitoring system for container loading, unloading and checking |
| CN101386397A (en) * | 2008-10-28 | 2009-03-18 | 高旭 | Anti-collision control method for gantry crane lifting trolley |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102980512A (en) * | 2012-08-29 | 2013-03-20 | 武汉武大卓越科技有限责任公司 | Fixed type automatic volume measurement system and measuring method thereof |
| CN109074536A (en) * | 2016-04-08 | 2018-12-21 | 利勃海尔比伯拉赫股份有限公司 | The method and apparatus of plan and/or control and/or the operation of construction simulation machinery |
| CN109074536B (en) * | 2016-04-08 | 2022-03-08 | 利勃海尔比伯拉赫股份有限公司 | Method and device for planning and/or controlling and/or simulating the operation of a construction machine |
| CN105819341A (en) * | 2016-06-02 | 2016-08-03 | 北京国泰星云科技有限公司 | System for profile identification of ship under container terminal quay crane and anti-collision of lifting sling and method for profile identification of ship under container terminal quay crane |
| CN109415190A (en) * | 2016-07-04 | 2019-03-01 | 西门子股份公司 | For avoiding the method and system of the collision of crane |
| US11167959B2 (en) | 2016-07-04 | 2021-11-09 | Siemens Aktiengesellschaft | Method and system for avoiding collisions in cranes |
| WO2018095103A1 (en) * | 2016-11-25 | 2018-05-31 | 同方威视技术股份有限公司 | Mobile scanning detection system |
| US10690803B2 (en) | 2016-11-25 | 2020-06-23 | Nuctech Company Limited | Mobile scanning inspection system |
| CN108275575A (en) * | 2018-02-05 | 2018-07-13 | 上海振华重工(集团)股份有限公司 | The adjacent shellfish position of gantry crane is anti-to hit intelligent secondary speed-reducing system |
| CN113911911A (en) * | 2021-09-30 | 2022-01-11 | 国能黄骅港务有限责任公司 | Portal crane and control method and device thereof |
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Application publication date: 20120201 |