CN103196434B - Device and method for positioning container in port - Google Patents
Device and method for positioning container in port Download PDFInfo
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- CN103196434B CN103196434B CN201210035473.6A CN201210035473A CN103196434B CN 103196434 B CN103196434 B CN 103196434B CN 201210035473 A CN201210035473 A CN 201210035473A CN 103196434 B CN103196434 B CN 103196434B
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Abstract
The invention discloses a device for positioning a container in the port. The device is characterized in that two laser length meters comprising a first laser length meter and a second laser length meter are fixedly connected to a horizontal surface of a carrier; the two laser length meters are arranged in parallel in the same direction; a gap is formed between optical axes of the two laser length meters; the two laser length meters synchronously and continuously emit laser pulse trains, and when the laser pulse trains reach a container truck, distances between the laser length meters and laser irradiation points on the container truck are obtained; an angle relation of a connection line and a location line between the laser irradiation points on the container truck is calculated by a data processing unit; the minimum length of the vertical line from the laser irradiation points of the first laser length meter and the second laser length meter to the location line is calculated; and a display screen displays the minimum distance between the container truck and the location line, and also displays driving instructions of forward/back driving, left/right turning or stopping of the container truck. The device realizes container truck positioning by a starting process. The invention also discloses a method for positioning a container in the port.
Description
Technical field
The invention belongs to laser measuring technique field, relate to and utilize laser technology to harbour container localization method and device.
Background technology
The handling of Nowadays, Container shipping harbour, use Type of Quayside Container Crane in a large number, are called for short container crane.During shipment, container truck fetches container from goods yard, transports to below container crane, stops.Container crane driver overlooks container below, and handle suspender up and down and left and right translation, the container on aligning container truck, move to right after vertical lifting the assigned address installed on ship.Usually, in order to provide the efficiency of loading and unloading, the movement of container crane must be relative fixing with the position of container on ship.Lifting each like this, just can only make one-dimensional square to slip.Unload ship time, container crane driver mention container usually, traversingly out to be unloaded to etc. (basic demand of container truck position is exactly ensure that container is parallel with the suspender of container crane) on the container truck parallel with suspender below container crane, to see the harbour container handling schematic diagram shown in Fig. 1.But container truck parking spot departs from.Usually force before and after container crane driver and left and right adjustment suspender, accurately to unload on container truck.The tens of ton of weight of container cargo, when container crane driver does two-dimension adjustment, container aloft swings to and fro, and add that harbour wind is large, container is in oscillatory regime, very dangerous.
No matter be load onto ship and unload a ship, the aligning of suspender and container is the key factor affecting the efficiency of loading and unloading.Even in order to not allow suspender move forward and backward, the driver of container truck adopts secondary to move backward, or secondary cycling start is slowly to coming to keep container and suspender to aim at.Can only the range estimation of Dependency Set vanning truck driver judge in real work, the longitudinal separation of progressively finely tuning suspender and container is poor.
If the container on container truck and between suspender shape at an angle, only have and allow container truck output, reenter and treat goods area, can only lean on container truck driver again march into the arena keep container parallel with suspender.
So container crane driver more depends on the skilled cooperation of container truck driver, repeatable operation, inefficiency.
The container localization method that harbour uses now has: (1) light curtain photoelectric method; (2) stereoscopic vision localization method; (3) infrared light reflection method; (4) laser scanning and ranging method; Wherein application number is also had to be " 200610028640.9 ", the patent of invention that name is called " suspender-container truck is to the double laser radar positioning method of case ".
Above-mentioned (1), (2) and (3) are obvious with gap of the present invention.
Laser scanning and ranging method, the position of usually installing, on container crane, makes laser range finder do two-dimensional scan, utilizes software to depict the location drawing of container top and side on container truck simultaneously.Fatal shortcoming is the vibrations of the method measuring basis subject container crane, and the factors such as displacement change, and needs to implement to correct.Secondly laser scanning surface is point-to-point measurement, and container truck does not have real-time and synchronism, and measuring accuracy declines to a great extent.The data of open report: precision 30 millimeters; There is case (during shipment) aligning accuracy 100 millimeters; Unloaded (unloading ship time) aligning accuracy 200 millimeters.And the effective range of container crane sling is 15 millimeters, reliably orientation problem can not be solved as seen.
Application number is " 200610028640.9 ", name is called the patent of invention of " suspender-container truck is to the double laser radar positioning method of case ", belong to laser scanning surface distance-finding method, just propose the technical scheme with two laser scans range findings, instructions is described as in the 6th page " two laser radars form redundant system, form backup mutually ".As can be seen here, container truck Distance geometry angle (attitude) dynamic real-time measurement problem does not solve.
In sum, the parallel problem of container and suspender, or the measurement of angle of container truck and datum line is the key affecting efficiency, this determines the root problem of the efficiency of loading and unloading, is not all directly solved.
Summary of the invention
(1) technical matters that will solve
In order to solve the existing suspender and the container technique of alignment defect that affect the efficiency of loading and unloading, the object of this invention is to provide a kind of harbour container localization method and the device that can avoid the front and back adjustment of suspender and the secondary cycling start adjustment of container truck.
(2) technical scheme
For achieving the above object, a first aspect of the present invention is to provide harbour container locating device, in described locating device:
There is a carrier, rest on the ground;
Have the first laser length meter and the second laser length meter, be fixed on the surface level of carrier, the placement and the first laser length meter and the second laser length meter are parallel to each other in the same way, has a spacing between the optical axis of the first laser length meter and the second laser length meter; Wherein:
First laser length meter is surveyed long null position point and the second laser length meter and is surveyed the line of long null position point and extended line for measuring baseline; Two mid points surveying line segment between long null position point are for measuring initial point;
The fixing position line in position is provided with between container truck and measurement baseline; Described position line is the best load/unload stations according to container truck, by adjustment carrier determination position line;
Adjustment carrier makes measurement baseline and position line be parallel to each other, then the vertical range between position line and measurement baseline is for measure former long S;
First laser length meter and the second laser length meter are positioned at front or the rear of container truck, first laser length meter and the second laser length meter synchronously send laser beam, and two bundle laser beams are parallel to each other and are in same level and are radiated on container truck car body; First laser length meter and the second laser length meter are respectively used to obtain the first Distance geometry second distance measured between baseline and container truck;
There is a data processing unit, be fixed on carrier, store the spacing L between two described laser length meter optical axises and measure former long S; First distance S1 data of difference Real-time Collection first laser length meter of data processing unit and the second distance S2 data of the second laser length meter;
Data processing unit utilizes the first distance S1 and second distance S2 to calculate the distance difference (S2-S1) of the illuminated laser spot on container truck apart from measurement baseline, utilize the spacing L between two laser length meter optical axises and distance difference (S2-S1), line between the illuminated laser spot calculating container truck and the angle of position line, and show the travel direction control information of container truck and the container truck lowest distance value apart from position line;
There is a display screen, be fixed on carrier, for showing the control information of container truck travel direction and container truck that data processing unit exports apart from the lowest distance value of position line; The control information of container truck travel direction comprises the advance of requirement container truck, retrogressing, left-hand rotation, right-hand rotation, halt instruction; Work as S2=S1, and when the minor increment of container truck distance position line is null value, display cutoff command; The driver of container truck is according to the driving instruction driving that display screen provides, then a cycling start has operated container truck adjustment, realizes the location of container truck and container spreader.
For achieving the above object, a second aspect of the present invention is to provide the harbour container localization method using harbour container locating device, and the step of its location is as follows:
Step C0: starter gear, system starts;
Step C1: the position will loaded and unloaded according to the container on freighter, the suspender of moving containers crane, then determine the position of the container on container truck, arrange now container longitudinal axes coincide on container truck longitudinal axis and car, now the position of container truck is exactly the parking stall of the container handling on container truck; Apart from described container truck longitudinal axis front or 3 meters, rear, monitoring basic point is being set to 30 meters, is utilizing carrier to make monitoring basic point and measure initial point coincidence;
Step C2: repeatedly adjust carrier, until monitoring basic point and measure initial point overlap and measurement baseline vertical with container longitudinal axis; Now to measure the first distance S1 identical with second distance S2 for the first laser length meter and the second laser length meter, measures former long S exactly;
Step C3: data processing unit collects measures former long S, and S=S1=S2;
Step C4: two laser length meter synchronized transmissions laser;
Step C5: data processing unit Real-time Collection first is apart from S1 and second distance S2;
Step C6: data processing unit controls the smaller value of display screen display (S2-S) and (S1-S), i.e. lowest distance value;
Step C7: data processing unit calculates angle θ;
Step C8: angle θ in [-1 angle is divided, and+1 angle is divided], perform step C9, and whether interpretation angle θ is in [-1 angle is divided, and+1 angle is divided];
Step C8a: divide if θ is less than-1 angle, then display screen display " right-hand rotation ", and return C4;
Step C8b: divide if θ is greater than+1 angle, then display screen display " left-hand rotation ", and return C4;
Step C9: " craspedodrome " is advanced in display screen display;
Step C10: judge whether lowest distance value is zero; Lowest distance value is non-vanishing, returns C4; Lowest distance value is zero, performs step C11
Step C11: display screen display " STOP ";
Step C12: " shutdown " whether interpretation; If do not have " shutdown " to order, return C4; If there be " shutdown " to order, then perform step C13;
Step C13: stopping device.
Beneficial effect of the present invention: the present invention utilizes laser length meter module, measures the angle problem of line and extended line and container truck position line between container truck illuminated laser spot while synchronous range finding.
Two parallel laser is utilized to survey long technology, that measure container with angle and distance that is suspender, demonstrate Distance geometry angular values by display screen, indicate teamster to handle the direction of container truck simultaneously, avoid the front and back adjustment of suspender and the secondary cycling start adjustment of container truck.Solve container handling efficiency and the unsafe problem of charge and discharge operations.The present invention solves and simplifies the positioning action challenge of container handling existence, the present invention adopts the attitude of the instruction container truck location that quantizes, thus ensure that container is parallel with suspender, and accurately locate, this makes it possible to ensure that container crane driver only needs one dimension to aim at and container is located.Theoretically, the work simplification of container crane driver one times, such as, to sling a container from container truck, deliver to assigned address on ship, about 1 minute running time, comprising container truck driver synchronous matching, when mismatch error is larger time, the container sling in the air, violent swing occurs, and the longest needs settle out for 35 seconds, just can carry out next one operation.
In certain container port shipping dock, user use known locating device to lift position aligning time that 40 chi standard containers go on board is 35 to 40 seconds, complete 40 chi standard containers liftings and go on board an at least 80 seconds cycling time.Under similarity condition, when user uses locating device of the present invention to lift, position aligning time that 40 chi standard containers go on board is 8 seconds, completes 40 chi standard containers liftings and goes on board and only need 40 seconds a cycling time; In addition, the container utilizing locating device of the present invention to sling aloft does not swing substantially, thus embodies the technique effect that locating device of the present invention accurately locates.The work data of contrast laser scanning and ranging method, the position aligning time of the laser scanning and ranging method of open report is 25 seconds.
Accompanying drawing explanation
Fig. 1 is locating device figure of the invention process;
Fig. 2 is the positioning principle figure that apparatus of the present invention are implemented;
Fig. 3 is the embodiment schematic diagram of locating device of the present invention at harbour container handling system;
Fig. 4 is the process flow diagram of localization method of the present invention.
Part description in figure:
1 is container crane transverse slipway; 2 is that container crane track drives wheel;
3 is container trucks; 4 is apparatus of the present invention
5 is containers; 6 is container spreaders;
7 is harbours; 8 is freighters;
9 is container handling positions on ship; 10 is container crane moving tracks.
41 is carriers; 42 is first laser length meters;
43 is display screens; 44 is data processing units;
45 is second laser length meters; 46 is measure baseline;
47 is position lines;
48 is the second laser length meter illuminated laser spot on container truck;
49 is that the second laser length meter surveys long null position point;
410 is measure initial point;
411 is that the first laser length meter surveys long null position point;
412 is the first laser length meter illuminated laser spot on container truck;
413 is container truck longitudinal axis;
414 is container longitudinal axis;
S1 is that the first laser length meter measures container truck distance;
S2 is that the second laser length meter measures container truck distance;
L is two laser length meter optical axis spacing;
S measures former length;
θ is container truck and position line angle.
Embodiment
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
The schematic diagram of harbour container locating device 4 of the present invention is shown with Fig. 3 as shown in Figure 1, Figure 2, and the measurement mechanism shown in Fig. 1 comprises carrier 41, first laser length meter 42, second laser length meter 45, display screen 43 and data processing unit 44, wherein:
Carrier 41, rest on the ground;
First laser length meter 42 and the second laser length meter 45, be fixed on the surface level of carrier 41, the placement and the first laser length meter 42 and the second laser length meter 45 are parallel to each other in the same way, has a spacing between the first laser length meter 42 and the optical axis of the second laser length meter 45; Wherein:
First laser length meter 42 is surveyed long null position point and the second laser length meter 45 and is surveyed the line of long 0. 49 location points and extended line for measuring baseline 46; Two mid points surveying long null position point 49,411 line segments are for measuring initial point 410;
The fixing position line 47 in position is provided with between container truck 3 and measurement baseline 46; Described position line 47 is the best load/unload stations according to container truck 3, determines position line by adjustment carrier 41;
Adjustment carrier 41 makes measurement baseline 46 and position line 47 be parallel to each other, then the vertical range between position line 47 and measurement baseline 46 is for measure former long S;
First laser length meter 42 and the second laser length meter 45 are positioned at front or the rear of container truck 3, first laser length meter 42 and the second laser length meter 45 synchronously send laser beam, and two bundle laser beams are parallel to each other and are in same level and are radiated on the car body of container truck 3; First laser length meter 42 and the second laser length meter 45 are respectively used to obtain the first distance S1 between measurement baseline and container truck 3 and second distance S2;
Data processing unit 44, is fixed on carrier 41, the spacing L between the optical axis storing two described laser length meters 42,45 and measure former long S; Data processing unit 44 is the first distance S1 data of Real-time Collection first laser length meter 42 and the second distance S2 data of the second laser length meter 45 respectively;
Data processing unit 44 utilizes the first distance S1 and second distance S2 to calculate the distance difference (S2-S1) of the illuminated laser spot 48,412 on container truck 3 apart from measurement baseline 46, utilize the spacing L between two laser length meters 42,45 optical axis and distance difference (S2-S1), the line of 48,412 and the angle of position line 47 between the illuminated laser spot calculating container truck 3, and show the travel direction control information of container truck 3 and container truck 3 lowest distance value apart from position line 47;
Display screen 43, is fixed on carrier 41, for showing container truck 3 travel direction control information and container truck 3 that data processing unit 44 exports apart from the lowest distance value of position line; The control information of container truck 3 travel direction comprises the advance of requirement container card 3 car, retrogressing, left-hand rotation, right-hand rotation, halt instruction; Work as S2=S1, and when container truck 3 is null value apart from the minor increment of position line 47, display cutoff command; The driver of container truck is according to the driving instruction driving that display screen 43 provides, then a cycling start operate container truck 3 and adjusts, and realizes the location of container truck 3 and container spreader 6.
Wherein, the concrete grammar of adjustment carrier determination position line is: the suspender of the position will loaded and unloaded by the container on freighter and adjustment container crane, jointly determines container optimum position; Arrange the container longitudinal axes coincide on now container truck longitudinal axis and container truck, now the position of container truck is exactly the parking stall of the container handling on container truck; Apart from this container truck longitudinal axis front or 3 meters, rear, monitoring basic point is being set to 30 meters, carrier is utilized to make monitoring basic point overlap with measurement initial point and make measurement baseline vertical with container longitudinal axis, distance values S1, S2 that now the first laser length meter, the second laser length meter obtain are identical, measure former length exactly, now by measuring initial point towards container truck direction, numerical value equals the location point measuring former length, and is exactly position line by the horizontal line that this location point is vertical with container longitudinal axis; Position line is used for correcting container truck position, measures baseline position and realizes measurement baseline and position line is parallel to each other.
Line between the illuminated laser spot 48,412 of described container truck 3 and the angle θ value of position line are: tan (θ)=(S2-S1)/L, L is the spacing between two laser length meters 42,45 optical axis; S1, S2 are respectively the first Distance geometry second distance between the measurement baseline 46 of the first laser length meter 42, second laser length meter 45 acquisition and container truck 3.
The interpretation step of the travel direction of container truck 3 is as follows:
Steps A 1: setting be clockwise angle θ positive dirction, if second distance S2 is greater than the first distance S1, then angle θ is greater than+1 angle and divides, and data processing unit 44 sends and on display screen 43, shows the instruction of container truck 3 left-hand rotation;
Steps A 2: if the first distance S1 is greater than second distance S2, then angle θ is less than-1 angle and divides, and data processing unit 44 sends and on display screen 43, shows the instruction that container truck turns right;
Steps A 3: when angle θ calculated value is [-1 angle is divided, + 1 angle is divided] time, now approval is that second distance S2 is equal with the first distance S1, data processing unit 44 utilizes the former long S of the measurement stored to calculate the lowest distance value of container truck 3 Distance positioning line 47 for (S2-S), if lowest distance value is positive sign, show the instruction that moves ahead in real time; If lowest distance value is negative sign, display in real time retreats instruction; When lowest distance value is zero, instruction container truck 3 is slowly parked on parking stall.
Carrier 41 of the present invention utilizes automobile, battery truck, rickshaw or energy carrying appliance; When selecting carrier 41 for automobile, battery truck, then in automobile, battery truck front portion, such as, near preposition bumper, the installation laser length meter 42,45 of surface level, in car, installation data processing unit 44 and upper position install display screen 43.
When selecting carrier 41 for rickshaw or carrying appliance, 0.5 meter of horizontal plane position to 1.2 meters of height of rickshaw or carrying appliance installs laser length meter 42,45, and vertical support installs display screen 43, installation data processing unit 44 in car.Carrier 41 selects battery truck or trolley, and display screen 43 is erected in battery truck, and the first laser length meter 42, second laser length meter 45 and data processing unit 44 are arranged in battery truck.
First laser length meter 42, second laser length meter 45 is parts or the module with laser ranging function.Only have inputoutput data and the instruction of data and command protocols prescribed form, generally there is no display section, can not work independently.
Between described illuminated laser spot, the line of 48,412 is the line on car body before container truck 3 after shell or front bumper or car body protecgulum or rear bumper or container truck 3 of the laser beam irradiation of the first laser length meter 42, second laser length meter 45 or vehicle-mounted container between application point or application point.
Described illuminated laser spot 48,412 for be radiated on the front bumper of container truck 3 or car body protecgulum or rear bumper or rear car envelope laser spots.
Usually in the width of container truck 3, set spacing L, generally in order to convenience of calculation, getting spacing L is that 2.2 meters to 2.5 meters scopes install the first laser length meter 42 and the second laser length meter 45 with the longitudinal axis of carrier 41 symmetry, such as, gets 2.2 meters in example.First laser length meter 42 and the second laser length meter 45 are arranged near the preposition bumper of battery truck of carrier 41, and ensure the laser beam that the first laser length meter 42 and the second laser length meter 45 send two bundles and be parallel to each other, two restraint the laser beam be parallel to each other is in surface level.
The maximum operating range of the first laser length meter 42, second laser length meter 45 is 100 meters, and laser spot diameter is less than 20 millimeters, and measuring accuracy is 2 millimeters.First laser length meter 42 and the second laser length meter 45 be arranged in parallel, laser beam axis spacing is L=2.2 rice, the height that first laser length meter 42 and the second laser length meter 45 are installed is 1.0 meters and parallel and ground, and difference in height is not more than 1 centimetre, and actual measurement angle precision is 1 jiao point.
Display screen 43 adopts LED lattice structure, and pixel number is 32 × 16, and size 0.384 meter × 0.192 meter, is connected to the display interface of data processing unit 44.
Data processing unit 44 is miniature data processing unit (Micro-processor Unit, MPU), data processing unit 44 selects ATmeg data processing unit and relevant perimeter circuit plate to be arranged on inside sealing instrument case, utilize ieee standard electrical engineering cable, then connect the first laser length meter 42, second laser length meter 45 and display screen 43.
Locating device 4 assay intervals of the present invention is one second, when container truck 3 appears within operating distance, can display distance, and indicate the direction that container truck 3 will travel simultaneously.
As Fig. 3 illustrates the embodiment schematic diagram utilizing apparatus of the present invention at harbour container handling system, harbour container handling system comprises container crane transverse slipway 1, container crane track drives container handling position 9, container crane moving track 10 on wheel 2, container truck 3, locating device of the present invention 4, container 5, container spreader 6, harbour 7, freighter 8, ship; Container crane track drives wheel 2 to be fixed on container crane moving track 10, container crane relies on container crane track to drive wheel 2, and move up and down according to the container handling position 9 on the freighter 8 of landing pier 7, determine the job position of container crane transverse slipway 1 simultaneously.
Position line 47 and measurement baseline 46 spacing are at 3 meters to 30 meters.The demarcating steps of position line 47 and measurement baseline 46:
(1) ship time is unloaded, container spreader 6 is located on container crane transverse slipway 1, container spreader 6 is sling from container handling position 9 ship the traversing top to container truck 3 of container, and the screens of container 5 on the fine setting doing upper and lower, left and right is aimed at below container crane transverse slipway 1 container truck 3, now the position of container truck 3 is exactly the parking stall of container truck container destuff; Apart from this 10 meters, container truck longitudinal axis 413 front, monitoring basic point is being set, utilize carrier 41 to make monitoring basic point overlap with measurement initial point 410 and make measurement baseline 46 vertical with container longitudinal axis 414, namely make measurement baseline 46 be parallel to each other with the position line 47 of container truck 3; Now the first distance S1 of obtaining of laser length meter 42 or 45 or second distance S2, measuring former long S exactly, at the horizontal line that container truck 3 is vertical with container longitudinal axis 414, is exactly position line 47; Be used in position line 47 practical operation correcting the position of container truck 3 and the position of laser length meter measurement baseline 46;
(2), during shipment, by the container handling position 9 on freighter 8, the job position of container crane transverse slipway 1 to be determined equally.Container spreader 6 is positioned on container crane transverse slipway 1, and along the traversing top to container truck 3 of container crane transverse slipway 1, the screens of the container 5 on the container truck 3 below container crane transverse slipway 1 is aimed in the fine setting that container spreader 6 does upper and lower, left and right, container truck driver can be allowed to move forward and backward coordinate, so that container 5 is accurately sling, now the position of container truck 3 is exactly the parking stall of wanting container on destuff truck 3; Apart from this 10 meters, container truck 3 longitudinal axis 413 front, monitoring basic point is being set, utilize carrier 41 to make monitoring basic point overlap with measurement initial point 410 and make measurement baseline 46 vertical with container longitudinal axis 414, namely make measurement baseline 46 be parallel to each other with the position line 47 of container truck 3; Now the distance S1 that obtains of laser length meter 42 or 45 or S2 measures former long S exactly, is exactly position line 47 at the horizontal line that container truck 3 is vertical with container longitudinal axis 414; Be used in position line 47 practical operation correcting container truck 3 position and laser length meter measurement baseline 46 position;
Fig. 4 illustrates that the present invention uses the harbour container localization method of described harbour container locating device, and the step of its location is as follows:
Step C0: starter gear 4;
Step C1: the position 9 will loaded and unloaded according to the container on freighter 8, the container spreader 6 of moving containers crane, then determine the position of the container on container truck 3, arrange now container truck longitudinal axis 413 to overlap with container longitudinal axis 414 on car, now the position of container truck 3 is exactly the parking stall of the container handling on container truck 3; Apart from described container truck longitudinal axis 413 front or 3 meters, rear, monitoring basic point is being set to 30 meters, is utilizing carrier that monitoring basic point and measurement initial point 410 are overlapped;
Step C2: repeatedly adjust carrier 41, until monitoring basic point and measure initial point 410 and to overlap and to measure baseline 46 vertical with container longitudinal axis 414; Now to measure the first distance S1 identical with second distance S2 for the first laser length meter 42 and the second laser length meter 45, measures former long S exactly;
Step C3: data processing unit 44 collects measures former long S, and S=S1=S2;
Step C4: two laser length meter 42,45 synchronized transmissions laser;
Step C5: data processing unit 44 Real-time Collection first is apart from S1 and second distance S2;
Step C6: data processing unit 44 controls the smaller value that display screen 43 shows (S2-S) and (S1-S), i.e. lowest distance value;
Step C7: data processing unit 44 calculates angle θ;
Step C8: angle θ in [-1 angle is divided, and+1 angle is divided], perform step C9, and whether interpretation angle θ is in [-1 angle is divided, and+1 angle is divided];
Step C8a: divide if θ is less than-1 angle, then display screen 43 shows " right-hand rotation ", and returns C4;
Step C8b: divide if θ is greater than+1 angle, then display screen 43 shows " left-hand rotation ", and returns C4;
Step C9: display screen 43 shows advance " craspedodrome ";
Step C10: judge whether lowest distance value is zero; Lowest distance value is non-vanishing, returns C4; Lowest distance value is zero, performs step C11;
Step C11: display screen 43 shows " STOP ";
Step C12: " shutdown " whether interpretation; If do not have " shutdown " to order, return C4; If there be " shutdown " to order, then perform step C13;
Step C13: stopping device 4.
The above; be only the embodiment in the present invention, but protection scope of the present invention is not limited thereto, any people being familiar with this technology is in the technical scope disclosed by the present invention; the conversion or replacement expected can be understood, all should be encompassed in of the present invention comprising within scope.
Claims (9)
1. a harbour container locating device, is characterized in that, in described locating device:
There is a carrier, rest on the ground;
Have the first laser length meter and the second laser length meter, be fixed on the surface level of carrier, the placement and the first laser length meter and the second laser length meter are parallel to each other in the same way, has a spacing between the optical axis of the first laser length meter and the second laser length meter; Wherein:
First laser length meter is surveyed long null position point and the second laser length meter and is surveyed the line of long null position point and extended line for measuring baseline; Two mid points surveying line segment between long null position point are for measuring initial point;
The fixing position line in position is provided with between container truck and measurement baseline; Described position line is the best load/unload stations according to container truck, by adjustment carrier determination position line;
Adjustment carrier makes measurement baseline and position line be parallel to each other, then the vertical range between position line and measurement baseline is for measure former long S;
First laser length meter and the second laser length meter are positioned at front or the rear of container truck, first laser length meter and the second laser length meter synchronously send laser beam, and two bundle laser beams are parallel to each other and are in same level and are radiated on container truck car body; First laser length meter and the second laser length meter are respectively used to obtain the first Distance geometry second distance measured between baseline and container truck;
There is a data processing unit, be fixed on carrier, store the spacing L between two described laser length meter optical axises and measure former long S; First distance S1 data of difference Real-time Collection first laser length meter of data processing unit and the second distance S2 data of the second laser length meter;
Data processing unit utilizes the first distance S1 and second distance S2 to calculate the distance difference (S2-S1) of the illuminated laser spot on container truck apart from measurement baseline, utilize the spacing L between two laser length meter optical axises and distance difference (S2-S1), line between the illuminated laser spot calculating container truck and the angle of position line, and show the travel direction control information of container truck and the container truck lowest distance value apart from position line;
There is a display screen, be fixed on carrier, for showing the control information of container truck travel direction and container truck that data processing unit exports apart from the lowest distance value of position line; The control information of container truck travel direction comprises the advance of requirement container truck, retrogressing, left-hand rotation, right-hand rotation, halt instruction; Work as S2=S1, and when the minor increment of container truck distance position line is null value, display cutoff command; The driver of container truck is according to the driving instruction driving that display screen provides, then a cycling start has operated container truck adjustment, realizes the location of container truck and container spreader.
2. harbour container locating device as claimed in claim 1, it is characterized in that, the concrete grammar of adjustment carrier determination position line is: the suspender of the position will loaded and unloaded by the container on freighter and adjustment container crane, jointly determines container optimum position; Arrange the container longitudinal axes coincide on now container truck longitudinal axis and container truck, now the position of container truck is exactly the parking stall of the container handling on container truck; Apart from this container truck longitudinal axis front or 3 meters, rear, monitoring basic point is being set to 30 meters, carrier is utilized to make monitoring basic point overlap with measurement initial point and make measurement baseline vertical with container longitudinal axis, distance values S1, S2 that now the first laser length meter, the second laser length meter obtain are identical, measure former length exactly, now by measuring initial point towards container truck direction, numerical value equals the location point measuring former length, and is exactly position line by the horizontal line that this location point is vertical with container longitudinal axis; Position line is used for correcting container truck position, measures baseline position and realizes measurement baseline and position line is parallel to each other.
3. harbour container locating device as claimed in claim 1, it is characterized in that, line between the illuminated laser spot of described container truck and the angle value of the position line spacing that to be tan (θ)=(S2-S1)/L, L be between two laser length meter optical axises; The first Distance geometry second distance between the measurement baseline that S1, S2 are respectively the first laser length meter, the second laser length meter obtains and container truck.
4. harbour container locating device as claimed in claim 1, it is characterized in that, the interpretation step of the travel direction of container truck is as follows:
Steps A 1: setting be clockwise angle θ positive dirction, if second distance S2 is greater than the first distance S1, then angle θ is greater than+1 angle and divides, and data processing unit sends and shows the instruction of container truck left-hand rotation on a display screen;
Steps A 2: if the first distance S1 is greater than second distance S2, then angle θ is less than-1 angle and divides, and data processing unit sends and shows the instruction that container truck turns right on a display screen;
Steps A 3: when angle θ calculated value is [-1 angle is divided, + 1 angle is divided] time, now approval is that second distance S2 is equal with the first distance S1, data processing unit utilizes the former long S of the measurement stored to calculate the lowest distance value of container truck Distance positioning line for (S2-S), if lowest distance value is positive sign, show the instruction that moves ahead in real time; If lowest distance value is negative sign, display in real time retreats instruction; When lowest distance value is zero, instruction container truck is slowly parked on parking stall.
5. harbour container locating device as claimed in claim 1, is characterized in that, described carrier is automobile, battery truck, rickshaw or energy carrying appliance.
6. harbour container locating device as claimed in claim 1, it is characterized in that, the line between described illuminated laser spot is the line on the first laser length meter, the car body of laser beam irradiation before container truck after shell or front bumper or car body protecgulum or rear bumper or container truck of the second laser length meter or vehicle-mounted container between application point or application point.
7. use a harbour container localization method for harbour container locating device described in claim 1, the step of its location is as follows:
Step C0: starter gear, system starts;
Step C1: the position will loaded and unloaded according to the container on freighter, the suspender of moving containers crane, then determine the position of the container on container truck, arrange now container longitudinal axes coincide on container truck longitudinal axis and car, now the position of container truck is exactly the parking stall of the container handling on container truck; Apart from described container truck longitudinal axis front or 3 meters, rear, monitoring basic point is being set to 30 meters, is utilizing carrier to make monitoring basic point and measure initial point coincidence;
Step C2: repeatedly adjust carrier, until monitoring basic point and measure initial point overlap and measurement baseline vertical with container longitudinal axis; Now to measure the first distance s1 identical with second distance S2 for the first laser length meter and the second laser length meter, measures former long S exactly;
Step C3: data processing unit collects measures former long S, and S=S1=S2;
Step C4: two laser length meter synchronized transmissions laser;
Step C5: data processing unit Real-time Collection first is apart from S1 and second distance S2;
Step C6: data processing unit controls the smaller value of display screen display (S2-S) and (S1-S), i.e. lowest distance value;
Step C7: data processing unit calculates angle θ;
Step C8: angle θ in [-1 angle is divided, and+1 angle is divided], perform step C9, and whether interpretation angle θ is in [-1 angle is divided, and+1 angle is divided];
Step C8a: divide if θ is less than-1 angle, then display screen display " right-hand rotation ", and return C4;
Step C8b: divide if θ is greater than+1 angle, then display screen display " left-hand rotation ", and return C4;
Step C9: " craspedodrome " is advanced in display screen display;
Step C10: judge whether lowest distance value is zero; Lowest distance value is non-vanishing, returns C4; Lowest distance value is zero, performs step C11
Step C11: display screen display " STOP ";
Step C12: " shutdown " whether interpretation; If do not have " shutdown " to order, return C4; If there be " shutdown " to order, then perform step C13;
Step C13: stopping device.
8. harbour container localization method as claimed in claim 7, it is characterized in that, line between described container truck illuminated laser spot and the angle value of the position line spacing that to be tan (θ)=(S2-S1)/L, L be between two laser length meter optical axises; The illuminated laser spot of the container truck that S1, S2 are respectively the first laser length meter, the second laser length meter obtains and the vertical distance measuring baseline.
9. harbour container localization method as claimed in claim 7, it is characterized in that, the concrete grammar of described adjustment carrier is: the suspender of the position will loaded and unloaded by the container on freighter and adjustment container crane, jointly determines container optimum position; Arrange the container longitudinal axes coincide on now container truck longitudinal axis and container truck, now the position of container truck is exactly the parking stall of the container handling on container truck; Apart from this container truck longitudinal axis front or 3 meters, rear, monitoring basic point is being set to 30 meters, carrier is utilized to make monitoring basic point overlap with measurement initial point and make measurement baseline vertical with container longitudinal axis, distance values S1, S2 that now the first laser length meter, the second laser length meter obtain are identical, measure former length exactly, now by measuring initial point towards container truck direction, numerical value equals the location point measuring former length, and is exactly position line by the horizontal line that this location point is vertical with container longitudinal axis; Position line is used for correcting container truck position, measures baseline position and realizes measurement baseline and position line is parallel to each other.
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| CN201210035473.6A CN103196434B (en) | 2012-01-04 | 2012-02-16 | Device and method for positioning container in port |
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| CN2012100014664 | 2012-01-04 | ||
| CN201210001466 | 2012-01-04 | ||
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| CN201210035473.6A CN103196434B (en) | 2012-01-04 | 2012-02-16 | Device and method for positioning container in port |
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| CN103196434B true CN103196434B (en) | 2015-06-10 |
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