CN105731260A - Automatic driving system and method of rubber tyred gantry container crane - Google Patents
Automatic driving system and method of rubber tyred gantry container crane Download PDFInfo
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- CN105731260A CN105731260A CN201610037197.5A CN201610037197A CN105731260A CN 105731260 A CN105731260 A CN 105731260A CN 201610037197 A CN201610037197 A CN 201610037197A CN 105731260 A CN105731260 A CN 105731260A
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- crane
- door type
- container door
- cart
- driving system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/52—Details of compartments for driving engines or motors or of operator's stands or cabins
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses an automatic driving system and method of a rubber tyred gantry container crane. The system comprises a pose sensing module and a motion control module which are connected and communicate through a TCP/IP network. The pose sensing module is used for obtaining and transmitting the motion state of the rubber tyred gantry container crane, and the motion control module is used for adjusting the traveling direction and speed of the rubber tyred gantry container crane. Position information of the rubber tyred gantry container crane can be fed back to the motion control unit of the rubber tyred gantry container crane in real time, and therefore closed-loop control over traveling of the rubber tyred gantry container crane is achieved through the control unit of the rubber tyred gantry container crane, and the rubber tyred gantry container crane is automatically driven safely and reliably. The system is simple in structure, safe, reliable, wide in application range, and capable of effectively relieving the labor intensity of a driver of the rubber tyred gantry container crane.
Description
Technical field
The present invention relates to crane automated driving system and method, more particularly, it relates to a kind of tyred container door type crane automated driving system and method.
Background technology
Tyred container door type crane (hereinafter referred to as tyre crane) is the special-purpose machinery of Large-scale professional Container Yard.The major function of tyre crane is handling TEU (Twenty-foot Equivalent Unit)s, namely by the container stacking stockyard at harbour and it is loaded into container truck from stockyard according to certain rule, complete the management to container and control, it is applicable not only to the stockyard of container terminal, can equally be well applied to container dedicated storage yard.
At present, the efficiency of loading and unloading of tyre crane is proposed increasingly higher requirement by the fast development of containerized shipment, but, the container that high density is stacked in stockyard limits the walking space of tyre crane, particularly carry out after " oil changes electricity " technology, in order to adapt to rigidity trolley, the unsuitable sideslip excessive (more than 500mm) of tyre crane.Because not having fixing track, driver needs to bow for a long time in the driver's cabin of about 20 meters and manually rectifies a deviation, and eliminates the hidden danger of tyre crane and container or other automobile crash.Along with the increase (as heap six crosses seven) of the heap case number of plies, driver will feel the datum line being increasingly difficult to see runway, when travelling cart especially at night, careless slightly, will crash.Although tyre crane is walked and to the rear is not crashed, adjust the pose of huge tyre crane, typically require and completed by the mode repeatedly walked, which substantially increases the abrasion of the time of operation, the energy consumption of operation and tire, therefore, study of tire hangs automated driving system and method become the important channel solving the problems referred to above.Patent of the present invention proposes a kind of tyre crane automated driving system based on machine vision and method, the collision that this system can occur when being possible not only to solve tyre crane walking, accurate automatic Pilot reliably, can also alleviate the labor intensity of driver, reduction loss simultaneously, reduces pollution, improve efficiency.
Machine vision is the field of a multi-crossed disciplines, and it combines the multi-field knowledge such as optical engineering, electronic signal process, pattern recognition, artificial intelligence, mechanical engineering and soft project.Vision Builder for Automated Inspection is generally made up of equipment such as light source, camera lens, picture pick-up device, image memory bank, monitor and computer systems.Light source provides enough illumination for visual system；On the camera lens imaging surface by the target imaging in tested scene to vision sensor (i.e. picture pick-up device)；Image memory bank is responsible for the signal of telecommunication is changed into digital picture, is namely gray-scale data the brightness transition of every pixel, and stores one or more image；Computer system is responsible for image being processed, analyze, judge and identifying, finally provides testing result.
At present, existing tyre crane automatic Pilot method mainly has: based on the automatic Pilot method of GPS differential amplification, based on the automatic Pilot method of ground setting-out and image recognition, bury the automatic Pilot method of detection bodies underground and based on the automatic Pilot method of laser, ultrasound wave or infrared distance measurement based on ground.Based on GPS differential amplification automated driving system due to cost high, positioning precision and response speed are limited, and stability is not high, and the impact of weather, crane, beacon etc. also can be subject to signal blind zone occur and short-period beat, and its application has and has a serious limitation.Based on the automated driving system of ground setting-out and image procossing due to its datum line vulnerable to pollution, it is impossible to meet the requirement of stockyard all weather operations, and this system needs to increase extra cart location detecting apparatus, limits its application and popularization.The automated driving system burying detection bodies based on ground underground needs heap Ground is implemented civil engineering, and system also suffers from the interference of the metal fragment being scattered often in ground, also without being promoted and applying.Automated driving system based on laser, ultrasound wave or infrared distance measurement needs to position measurement by actual with reference to reflector, the reflectance of reflector is required higher by this system, and by serious interference such as extraneous lighies, sometimes it is difficult to correctly reflect the physical location of equipment.
Adopt based on the automated driving system of machine vision combine image recognition and utilize with reference to body examination from advantage, it is without the lines of vulnerable to pollution on ground, but integrated use is with reference to the bulk information in the picture of the mark on body.The quantity of information of this system institute foundation is the image information on two-dimensional space, namely extracts a positional information from entire image information, and therefore, it can overcome various interference signal, it is thus achieved that stable and reliable measurement result.
Summary of the invention
For the drawbacks described above existed in prior art, it is an object of the invention to provide a kind of tyred container door type crane automated driving system and method, present invention incorporates image recognition and utilize with reference to body examination from advantage, it is without the lines of vulnerable to pollution on ground, but integrated use is with reference to mark on body bulk information in the picture.The quantity of information of this system institute foundation is the image information on two-dimensional space, namely extracts a positional information from entire image information, and therefore, it can overcome various interference signal, it is thus achieved that stable and reliable measurement result.
For achieving the above object, the present invention adopts the following technical scheme that
A kind of tyred container door type crane automated driving system, including pose sensing module and motion-control module, and connect communication by TCP/IP network, pose sensing module is in order to obtain and to transmit the kinestate of crane tyre crane cart, and motion-control module is in order to adjust direction and the speed of the walking of crane tyre crane cart；
Described pose sensing module includes comparable device, sighting device and industrial computer, comparable device is located at the ground of crane tyre crane cart travel direction side, sighting device is located on crane tyre crane cart, its observation area corresponds to comparable device place, and the comparable device view data collected is transmitted to industrial computer, the image processing program run in industrial computer is by hanging the posture information of cart to the acquisition present tire that processes of view data；
Described motion-control module includes motion controller, motor driver and motor, motion controller control motor driver, and changes the input value of motor driver, in order to adjust the rotating speed of motor, it is achieved the motor control of crane tyre crane cart.
Described comparable device includes mark band and several support, and support is inverted T-shaped, and average setting is distributed in the side in crane running direction, and mark band is laterally perpendicular to ground and is located at pedestal upper end, and is fixed by fixture and support.
Described mark band is hard material or flexible material.
Described support is all also connected with being provided with lifting mechanism, and is located at the lower section of fixture, in order to realize adjusting the height of mark band.
Described mark band includes tag line and identification code, and tag line has two, is respectively arranged on the upper and lower end of mark band, and identification code is located between two tag lines.
Spacing between described tag line and identification code is definite value.
Described tag line and identification code are active marker or the passive marker with special reflecting ability.
Described sighting device is industrial camera or industrial camera.
Described industrial camera or industrial camera are at least two sets, often overlap and all include CCD image sensor, camera lens and luminaire, and the spacing of every set is not less than 5m.
Described motion controller is programmable logic controller (PLC) PLC.
Described motor driver is direct current, exchange or motor servo driver.
Described motor is direct current, exchange or servomotor.
A kind of tyred container door type crane automatic Pilot method, comprises the following steps:
S1, the installation of comparable device and debugging, be evenly distributed on the ground of expectation travel direction of tyre crane cart by support, and mark band is fixed on support by fixture, makes whole piece mark band be in sustained height again through regulating lifting mechanism；
S2, the installation of sighting device and debugging, be arranged on sighting device on tyre crane cart, and is arranged on the side being provided with mark band, need to guarantee that the observation area of sighting device is positioned at the position that mark band is corresponding；
S3, the installation of industrial computer and debugging；
S4, the installation of motion-control module and debugging；
S5, opens the automatic Pilot of tyre crane cart；
S6, tyre crane cart automatic Pilot checks the automatic Pilot situation of tyre crane cart after opening.
In described S3, the developing operation environment of the image processing program of industrial computer is WinXP+VisualStudio2010.
Described image processing program it be also possible to use third party's image procossing storehouse OpenCV2.20.
In described S5, the longitudinally and laterally control of tyre crane cart is PID control method.
Checking the automatic Pilot situation of tyre crane cart in described S6, if tyre crane cart is in a safe condition, system uses motor speed control law that tyre crane cart is carried out longitudinally and laterally motor control, and otherwise system will report to the police, and slow down or stop to travel.
In technique scheme, the present invention have the advantage that into, the present invention can feed back to cart motor control unit real-time for the positional information of tyre crane cart, it is achieved thereby that the closed loop control that tyre crane control unit is to large vehicle walking, safety and reliability complete tyre crane cart automatic Pilot, present configuration is simple, safe and reliable, applied widely, it is possible to effectively reduce the labor intensity of tyre crane driver.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the operating diagram of the present invention；
Fig. 3 is the schematic diagram of support of the present invention；
Fig. 4 is the schematic diagram of mark band of the present invention；
Fig. 5 is the flow chart of the inventive method.
Detailed description of the invention
Technical scheme is further illustrated below in conjunction with drawings and Examples.
Shown in Fig. 1, a kind of tyred container door type crane automated driving system of the present invention, including pose sensing module 1 and motion-control module 2, and connect communication by TCP/IP network, pose sensing module 1 is in order to obtain and to transmit the kinestate of crane tyre crane cart 3, and motion-control module 2 is in order to adjust direction and the speed of crane tyre crane cart 3 walking；
Described pose sensing module 1 includes comparable device 101, sighting device 102 and industrial computer 103, comparable device 101 is located at the ground of crane tyre crane cart 3 travel direction side, sighting device 102 is located on crane tyre crane cart 3, its observation area corresponds to comparable device 101 place, and the view data of the comparable device 101 collected is transmitted to industrial computer 103, the image processing program run in industrial computer 103 is by hanging the posture information of cart 3 to the acquisition present tire that processes of view data；
Described motion-control module 2 includes motion controller 201, motor driver 202 and motor 203, motion controller 201 controls motor driver 202, and change the input value of motor driver 202, in order to adjust the rotating speed of motor 203, it is achieved the motor control of crane tyre crane cart 3.
Incorporated by reference to shown in Fig. 2 to Fig. 4, a kind of tyred container door type crane automated driving system of the present invention, described comparable device 101 includes mark band 1011 and several support 1012, support 1012 is inverted T-shaped, average stationary distribution of erectting is in the side in the expectation travel direction stockyard of crane tyre crane cart 3, mark band 1011 is hard material or flexible material, mark band 1011 is laterally perpendicular to ground and is located at support 1012 upper end, and fixed by fixture 1013 and support 1012, support 1012 is all also connected be provided with lifting mechanism 1014, and it is located at the lower section of fixture 1013, in order to realize adjusting the height of mark band 1011.
Described mark band 1011 includes tag line 11 and identification code 12, tag line 11 has two, it is respectively arranged on the upper and lower end of mark band 1011, identification code 12 is located between two tag lines 11, and the present invention by being processed to the acquisition tyre crane cart 3 posture information in stockyard to the image with tag line 11 and identification code 12.
It is also preferred that the left the spacing between described tag line 11 and identification code 12 is definite value.
It is also preferred that the left described tag line 11 is active marker or the passive marker with special reflecting ability with identification code 12.
It is also preferred that the left described sighting device 102 is industrial camera or industrial camera.
It is also preferred that the left described industrial camera or industrial camera are at least two sets, often overlap and all include CCD image sensor, camera lens and luminaire, and the spacing of every set is not less than 5m.
It is also preferred that the left described motion controller 201 is programmable logic controller (PLC) PLC.
It is also preferred that the left described motor driver 202 is direct current, exchange or motor servo driver.
It is also preferred that the left described motor 203 is direct current, exchange or servomotor.
Shown in Fig. 5, a kind of tyred container door type crane automatic Pilot method of the present invention, comprise the following steps:
S1, the installation of comparable device 101 and debugging, mark band 1011 is when dispatching from the factory, the machining accuracy of necessary strict guarantee tag line 11 and identification code 12, tag line 11 and identification code 12 all adopt the passive marker with special reflecting ability in the present embodiment, article two, the spacing between tag line 11 is 100mm, support 1012 is fixed on the ground in stockyard, and it is evenly distributed on the ground of expectation travel direction of tyre crane cart 3, mark band 1011 is fixed on support 1012 by fixture 1013, whole piece mark band 1011 is made to be in sustained height again through regulating lifting mechanism 1014；
S2, the installation of sighting device 102 and debugging, the present embodiment is two set sighting devices 102, all adopt industrial camera, it is arranged on tyre crane cart 3, and it is arranged on the side being provided with mark band 1011, and they are apart not less than 5m, often set industrial camera adopts the infrared light supply of 850nm, resolution is the CCD of 656*494, focal length is the camera lens of 16mm and infrared filter disc, visible ray can be filtered and eliminate interference, adjust the relevant parameter of industrial camera, guarantee that the observation area of sighting device 102 is positioned at the position of mark band 1011 correspondence, and mark band 1011 can in the central area of imaging plane blur-free imaging；
S3, the installation of industrial computer 103 and debugging, the present embodiment adopt the industrial computer 103 being arranged on tyre crane electrical house as graphics processing unit, the developing operation environment of image processing program is WinXP+VisualStudio2010, and image processing program it be also possible to use third party's image procossing storehouse OpenCV2.20；
S4, the installation of motion-control module 201 and debugging, in the present embodiment, motion controller 201 adopts the programmable logic controller (PLC) PLC being arranged on tyre crane electrical house, and motor driver 202 adopts AC converter, and motor 203 adopts alternating current generator；
S5, open the automatic Pilot of tyre crane cart 3, tyre crane cart 3 desired trajectory is meet industrial camera to obtain arbitrary trajectory in the stockyard of picture rich in detail (with tag line 11 and identification code 12), in the present embodiment, the desired trajectory of tyre crane cart 3 being set to the straight line (being positioned at the side of tyre crane cart 3) that the spacing between mark band 1011 is 1000mm, longitudinally and laterally the controlling of tyre crane cart 3 all adopts the PID control method of classics；
nullS6，After tyre crane cart 3 automatic Pilot is opened，Check the automatic Pilot situation of tyre crane cart 3，First system obtains comparable device 101 and overlaps the gray level image in industrial camera two，Then from image, extract tag line 11 and identification code 12，And then calculate the posture information that tyre crane cart 3 is current，If this posture information is effective，System is then according to the deviation between current posture information and expectation driving trace，Calculate the motor 203 rotating speed control law of tyre crane cart 3，Otherwise when the invalid duration of information is not less than the threshold value set，System will adopt the motor 203 rotating speed control law in a upper moment，When the invalid duration of information has exceeded the threshold value set，System will be reported to the police、Slow down or stop travelling，If tyre crane cart 3 is in a safe condition，System uses motor 203 rotating speed control law that tyre crane cart 3 is carried out longitudinally and laterally motor control，Otherwise system will be reported to the police、Slow down or stop travelling，Repeat the above steps，Until tyre crane cart 3 stops automatic Pilot.
Those of ordinary skill in the art will be appreciated that, above embodiments is intended merely to the explanation present invention, and it is not used as limitation of the invention, as long as in the spirit of the present invention, to the change of embodiment described above, modification all by the Claims scope dropping on the present invention.
Claims (17)
1. a tyred container door type crane automated driving system, it is characterized in that, including pose sensing module and motion-control module, and connect communication by TCP/IP network, pose sensing module is in order to obtain and to transmit the kinestate of crane tyre crane cart, and motion-control module is in order to adjust direction and the speed of the walking of crane tyre crane cart；
Described pose sensing module includes comparable device, sighting device and industrial computer, comparable device is located at the ground of crane tyre crane cart travel direction side, sighting device is located on crane tyre crane cart, its observation area corresponds to comparable device place, and the view data collected on comparable device is transmitted to industrial computer, the image processing program run in industrial computer is by hanging the posture information of cart to the acquisition present tire that processes of view data；
Described motion-control module includes motion controller, motor driver and motor, motion controller control motor driver, and changes the input value of motor driver, in order to adjust the rotating speed of motor, it is achieved the motor control of crane tyre crane cart.
2. a kind of tyred container door type crane automated driving system as claimed in claim 1, it is characterized in that, described comparable device includes mark band and several support, support is inverted T-shaped, average setting is distributed in the side in crane running direction, mark band is laterally perpendicular to ground and is located at pedestal upper end, and is fixed by fixture and support.
3. a kind of tyred container door type crane automated driving system as claimed in claim 2, it is characterised in that described mark band is hard material or flexible material.
4. tyred container door type crane automated driving system as claimed in claim 2 a kind of, it is characterised in that be all also connected with being provided with lifting mechanism on described support, and it is located at the lower section of fixture, in order to realize adjusting the height of mark band.
5. a kind of tyred container door type crane automated driving system as claimed in claim 2, it is characterized in that, described mark band includes tag line and identification code, and tag line has two, being respectively arranged on the upper and lower end of mark band, identification code is located between two tag lines.
6. a kind of tyred container door type crane automated driving system as claimed in claim 4, it is characterised in that the spacing between described tag line and identification code is definite value.
7. a kind of tyred container door type crane automated driving system as claimed in claim 4, it is characterised in that described tag line and identification code are active marker or the passive marker with special reflecting ability.
8. a kind of tyred container door type crane automated driving system as claimed in claim 1, it is characterised in that described sighting device is industrial camera or industrial camera.
9. a kind of tyred container door type crane automated driving system as claimed in claim 7, it is characterized in that, described industrial camera or industrial camera are at least two sets, often overlap and all include CCD image sensor, camera lens and luminaire, and the spacing of every set is not less than 5m.
10. a kind of tyred container door type crane automated driving system as claimed in claim 1, it is characterised in that described motion controller is programmable logic controller (PLC) PLC.
11. a kind of tyred container door type crane automated driving system as claimed in claim 1, it is characterised in that described motor driver is direct current, exchange or motor servo driver.
12. a kind of tyred container door type crane automated driving system as claimed in claim 1, it is characterised in that described motor is direct current, exchange or servomotor.
13. a tyred container door type crane automatic Pilot method, it is characterised in that comprise the following steps:
S1, the installation of comparable device and debugging, be evenly distributed on the ground of expectation travel direction of tyre crane cart by support, and mark band is fixed on support by fixture, makes whole piece mark band be in sustained height again through regulating lifting mechanism；
S2, the installation of sighting device and debugging, be arranged on sighting device on tyre crane cart, and is arranged on the side being provided with mark band, need to guarantee that the observation area of sighting device is positioned at the position that mark band is corresponding；
S3, the installation of industrial computer and debugging；
S4, the installation of motion-control module and debugging；
S5, opens the automatic Pilot of tyre crane cart；
S6, tyre crane cart automatic Pilot checks the automatic Pilot situation of tyre crane cart after opening.
14. a kind of tyred container door type crane automatic Pilot method as claimed in claim 11, it is characterised in that in described S3, the developing operation environment of the image processing program of industrial computer is WinXP+VisualStudio2010.
15. a kind of tyred container door type crane automatic Pilot method as claimed in claim 12, it is characterised in that described image processing program it be also possible to use third party's image procossing storehouse OpenCV2.20.
16. a kind of tyred container door type crane automatic Pilot method as claimed in claim 11, it is characterised in that in described S5, the longitudinally and laterally control of tyre crane cart is PID control method.
17. a kind of tyred container door type crane automatic Pilot method as claimed in claim 11, it is characterized in that, described S6 checks the automatic Pilot situation of tyre crane cart, if tyre crane cart is in a safe condition, system uses motor speed control law that tyre crane cart is carried out longitudinally and laterally motor control, and otherwise system will report to the police, and slow down or stop to travel.
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| CN201610037197.5A CN105731260A (en) | 2016-01-20 | 2016-01-20 | Automatic driving system and method of rubber tyred gantry container crane |
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Application publication date: 20160706 |