CN106946049A - Container terminal mobile units automation traveling method - Google Patents
Container terminal mobile units automation traveling method Download PDFInfo
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- CN106946049A CN106946049A CN201610007819.XA CN201610007819A CN106946049A CN 106946049 A CN106946049 A CN 106946049A CN 201610007819 A CN201610007819 A CN 201610007819A CN 106946049 A CN106946049 A CN 106946049A
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- China
- Prior art keywords
- column
- laser scanner
- container
- tyre crane
- navigation vehicle
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
Abstract
Container terminal mobile units automation traveling method, by respectively installing a laser scanner on four door leg tire front-wheel supports of tyre crane, between the back side of two tires runway at a certain distance or container length bit interval install column, column is in a straight line, tyre crane laser scanner detects stud, realizes tyre crane automatically walk.Column is installed at a certain distance in main road track both sides simultaneously, column is in a straight line；One column is respectively installed in two door inboard legs of the tyre crane close to track；One column is respectively installed in bridge crane door inboard leg and outside.Automatic navigation vehicle is improved to using common truck, column higher than container top surface is housed on navigation vehicle, and camera and laser scanner are installed, datum line paint walk in ground lane center, navigation vehicle is shot to walking datum line by camera and carries out image procossing contraposition, and stud is detected by scanner, realize navigation vehicle automatically walk.
Description
Technical field
The present invention relates to automation packaging harbour, being automatically positioned for mobile units on container terminal is related specifically to, automatically walk,
It is especially suitable for tyre crane handling and truck transport container handling operation.
Background technology
At present, tyre crane and container truck automatically walk method mainly include GPS location automatic deviation correction method on container terminal,
Single-point laser rangefinder combination reflecting plate automatic deviation correction method, manual deviation rectification, but these methods all respectively have shortcoming.GPS location is easy
Caused corrupt data by artificial altered data and need regular calibration.Single-point laser rangefinder combination reflecting plate automatic deviation correction method,
Need that long reflecting plate is aside installed, and it is impracticable.Manual deviation rectification, i.e. driver adjust tyre crane and container truck direction of travel,
This method precision is low, easily causes tired driver.
The content of the invention
The present invention on four door leg tire front-wheel supports of tyre crane by respectively installing a laser scanner, in two tires crane
Between the back side in road at a certain distance or container length bit interval installs column, column is in a straight line, and big
Column is installed in bus road both sides at a certain distance, and column is in a straight line, laser scanner detection stud, realizes
Tyre crane automatically walk in stockyard is rectified a deviation.
Automation navigation vehicle using common truck transformation form, the car can self-navigation again can pilot steering, in common truck
Installed on head and exceed the high column (liftoff about 5 meters) of container, a camera and a laser scanner are installed on column,
Camera shooting direction is directed at ground, in front of truck headstock, rear and the tailstock one laser scanner is respectively installed；In Ground Vehicle
Road center, as walking datum line, is shot to datum line by the camera on column and aligned, controlled with paintbrush straight line
System navigation car direction of travel.One root post is respectively installed on the door leg of track side two in tyre crane, navigation vehicle is under tyre crane
During walking, laser scanner is by detecting that the side of column and container carries out automatically walk correction；Navigation vehicle is on main road track
During walking, laser scanner carries out automatically walk correction by detecting the column of road both sides；In bridge crane door inboard leg and outside
Each to install column, when navigation vehicle is driven under bridge crane, laser scanner carries out automatically walk correction by detecting column.Navigation vehicle
Be battery powered, meet energy-saving and emission-reduction concept, when the batteries are low, can self-navigation walking charged to juice point.
Column used could be arranged to different shapes and spacing, and as the position code of column, laser scanner passes through detection
To column shape and between spacing judge column position, so that it is determined that the position of tyre crane and automatic navigation vehicle.
The present invention uses following technical scheme：Laser scanner, column, container, automatic navigation vehicle, siren, case position pipe
Manage display (i.e. driver's cabin management system interface terminal), display, computer, tyre crane PLC.Four laser scanner peaces
On four door leg tire front-wheel supports of tyre crane, horizontal sweep can be rotated with tyre rotation.Laser scanner is respectively mounted
In rain cover.Column is arranged on mistake between the back side of two tires runway at a certain distance or by interval of container length
On road medium line, the present invention is that, using column as Primary Reference, therefore institute's installation column should be on straight line.Tyre crane is in stockyard
During upper walking, while four laser scanners can detect the gap between container side and container on stockyard, wherein
Two laser scanners can detect column, be used as the positioning of tire box area shellfish position and the reference of deviation rectification.Tyre crane is big
When being walked on road, four scanners can detect the column of road both sides respectively, realize tyre crane in automatically walk on the broad road
Correction and anticollision.Display is arranged in driver's cabin, and real-time display of tyre is hung in position and deviation distance angle on stockyard etc..
Computer is arranged on electric panel room, and siren is arranged in tyre crane driver's cabin.Laser scanner, siren are connected with computer.
Computer is connected with tyre crane PLC, participates in tyre crane travelling control.
Laser scanner can also detect the seam between the side of opposite container and container in addition to it can detect column
Gap.So, the correction of tyre crane can be by measuring opposite container lateral plane with tyre crane direction of traffic away from walk-off angle in real time
Spend to realize.
Because laser scanner can detect opposite container row, this can be used as the basis for determining shellfish position.If column install away from
From being container length, then a column is equivalent to shellfish position, and this can also be used as the basis for determining shellfish position.When tyre crane reaches work
Make container row, driver is learnt by case position management display is currently located shellfish digit, presses determination key, computer memory is current
Bei Wei.Or confirm that offer is currently located shellfish digit by suspender opening and closing lock signal, driver's manual confirmation can be removed from.With current shellfish position
As origin, when tyre crane continues to move forward or backward, computer passes through acknowledgement key or the current shellfish position of open locking imformation memory
Shellfish digit and next parking shellfish digit of the tyre crane during traveling are drawn with the detection data of laser scanner, tire is obtained
It is hung in the positioning in stockyard.The travel distance information adjustable shellfish position that tyre crane encoder is provided, so can more accurately obtain shellfish
Digit and big truck position.This method of work can replace GPS location.
In tyre crane in walking process, four laser scanners being arranged on tire overhang-door leg detect that positive front and back are in real time
It is no to have barrier.Detection range is divided into far field, middle area and near region.Detecting has barrier on the track of far field, computer is considered as nothing
Obstacle, tyre crane is normally walked；Detecting has barrier on Zhong Qu tracks, computer hair slow speed signal gives tyre crane PLC, takes turns
Tire hangs low-speed running；Detecting has barrier on the track of near region, computer activating alarm signal is to siren, and hair control signal is to wheel
Tire hangs PLC stopping tyre cranes and moves ahead or retreat.
It is that horizontal transport navigation vehicle uses the improved automatic navigation vehicle of truck in harbour, a height is installed above truck headstock
More than the column of container top, about 5 meters or so from the ground, a camera and a laser scanner are installed on column,
In front of truck headstock, rear and the tailstock one laser scanner is respectively installed.When automatic navigation vehicle is walked on track, camera
Shooting direction is directed at ground running datum line, and walking datum line paintbrush is in ground lane center, and navigation vehicle passes through image procossing
Automatic aligning is carried out, walking path is planned.
The laser scanner on automatic navigation vehicle carries out real time scan, when navigation vehicle is walked under tyre crane, laser scanner simultaneously
The column and container installed on the inside of tyre crane can be detected sideways, by measuring Current vehicle direction of travel and column institute in real time
In straight line, deviation distance and angle with container lateral facial plane, realize that navigation vehicle automatically walk is rectified a deviation；Navigation vehicle is on the broad road
During walking, laser scanner can detect the column of track both sides, by measuring Current vehicle direction of travel in real time and two edge-on
The deviation of straight line and angle where post, realize that navigation vehicle automatically walk is rectified a deviation；When navigation vehicle is walked under bridge crane, laser scanner
The column installed on the inside of bridge crane can be detected, by measuring the inclined of Current vehicle direction of travel and two heel posts place straight line in real time
Walk-off angle degree, realizes that navigation vehicle automatically walk is rectified a deviation.When walking, laser scanner can also monitoring car in real time for automatic navigation vehicle
Whether there is barrier before and after road, if detecting barrier can slow down or stop immediately.
Automatic navigation vehicle is controlled by microprocessor, by direction encoding motor control direction in truck steering gear, brake and oil
Door is respectively mounted stroke sensor control speed and parking, anticollision collision.Automatic navigation vehicle can realize pilot steering by switching
With self-navigation two ways.Automatic navigation vehicle is powered by the battery installed in headstock, when the batteries are low, can be passed through
Self-navigation walking is charged to juice point.
Column used could be arranged to different shapes and spacing, circular, rectangle or triangle as column position generation
Code, laser scanner by detect column shape and between spacing judge column position, so that it is determined that tyre crane with
The position of automatic navigation vehicle.
Due to using above-mentioned technical proposal, the beneficial effects of the invention are as follows：Realize container terminal mobile units tyre crane and automatic
Obstacle on the automation walking of navigation vehicle, automatic deviation correction, automatic detection walking path, automatic collision eliminates safe hidden trouble, subtracted
Light tired driver, effectively improves the handling container handling efficiency of Rubber-Tyred Gantry Crane.
Brief description of the drawings
The tyre crane automatically walk principle schematic of accompanying drawing 1
2 two tyre cranes of accompanying drawing and column install top view
Accompanying drawing 3 automates navigation vehicle horizontal transport plan
Automatic navigation vehicle walking schematic diagram under the bridge crane of accompanying drawing 4
The automatic navigation vehicle structural representation of accompanying drawing 5
The symbol description of critical piece in accompanying drawing
(1) tyre crane (2) laser scanner
(3) case position management display (4) alarm
(5) computer (6) tyre crane column
(7) container (8) driver's cabin
(9) display (10) track plotted line
(11) column (12) walking datum line
(13) laser scanning line (14) track
(15) automatic navigation vehicle (16) bridge crane
(17) bridge crane column (18) roof column
(19) camera (20) laser scanner
(21) battery
Embodiment
As shown in figure 1, being tyre crane (1) automatically walk principle schematic.Four laser scanners (2) are separately mounted to wheel
Tire is hung on (1) four door leg tire front-wheel support, can be rotated with tyre rotation.Computer (5) is arranged in electric panel room,
Display (9) be arranged on driver driving room (8) in, driver can recognize in real time position of the tyre crane (1) on stockyard and
Spacing between container (7) on deviation angle and stockyard.Column (11) is arranged on the passageway center at tyre crane (1) back side
On line, and column (11) is in a straight line, and rectifies a deviation and refers to as tyre crane (1).Laser scanner (2) can be examined
Measure the side and its gap of opposite container (7).Tyre crane column (6) is arranged close to the door inboard leg in track, walking
Datum line (12) on the lane center of ground, is used as automatic navigation vehicle (15) walking and the reference rectified a deviation with paintbrush.
It is that two tyre cranes (1) and column (11) install top view as shown in Figure 2.Two tyre cranes (1) share back side mistake
Road, therefore two tyre cranes (1) share the column (11) on the center line of passageway.The embodiment that Fig. 2 is shown, column (11)
Mounting distance is container (7) length, and column (11) mounting distance can provide shellfish position for tyre crane (7) and calculate
Basis.I.e. one column (11) represents a shellfish position.The side and its gap of opposite container (7) can also be pushed away as shellfish position
The container of the basis of calculation, i.e., one (4) is used as a shellfish position.
Tyre crane (1) enters before stockyard, when being walked on the broad road, if the tire of tyre crane (1) is rotated by 90 ° outwardly, and four
Individual laser scanner (2) can be used as walking anticollision before and after tyre crane (1).Laser scanner (2) detects front and back, by meter
The data analysis of calculation machine (5), it is known that whether tyre crane (1) front and back are specifically having barrier apart from upper.If barrier compared with
Remote distance, computer (5) sends alarm command to siren, to warn driver at a slow speed.If barrier is in nearer distance,
Computer (5) sends cutoff command, controls tyre crane (1) to stop walking by tyre crane PLC.
Tyre crane (1) enters behind stockyard, and column (11) can be detected all the time, and four laser scanners (2) just can detect
Gap in stockyard between the side of container (8) and container.In tyre crane (1) walking process, if tyre crane
(1) sideslip, the distance of laser scanner (2) to column (11) will become big or diminish, and computer (5) analyzing and processing is surveyed
Whether amount data just may know that tyre crane (1) whether the tire of run-off-road plotted line (10) or tyre crane (1) is turned to deviates
Track plotted line (10).When tyre crane (1) deviates road plotted line (10) in certain a small range, computer (5)
Send deceleration command and tyre crane PLC is given in adjustment order, adjustment control of slowing down is carried out to tyre crane (1).When tyre crane (1)
When run-off-road plotted line (10) exceedes certain large-scale, computer (5) sends alarm signal and gives siren (4),
At the same time send parking order and give tyre crane PLC, until tyre crane (1) stops walking.
When tyre crane (1) reach institute's work container (7) row nearby when, laser scanner (2) detection container (7) it
Between gap, reference is used as using gap.If adjacent container is had vacant position (i.e. no gap), arranged with the container that works (7)
Left or right face is reference, realizes that tyre crane (1) is aligned with work container (7) row.
In tyre crane (1) field in walking process, four laser scanners (2) detect whether positive front and back have barrier in real time,
If detecting has barrier on track plotted line (10), computer (5) activating alarm signal gives siren (4), sends out control signal
Stop tyre crane (1) to tyre crane PLC to move ahead, realize anticollision.
When tyre crane (1) reaches work container (7) row, driver is learnt by case position management display (3) is currently located shellfish
Digit, presses determination key, and computer (5) remembers current shellfish position.Current shellfish position data are i.e. as origin, when tyre crane (1)
When continuation is moved forward or backward, computer (5) passes through acknowledgement key or the current shellfish position of open locking imformation memory and laser scanner (2)
Detection data draw shellfish digit and next parking shellfish digit of the tyre crane (1) during traveling, obtain tyre crane (1)
Positioning in stockyard.The travel distance information adjustable shellfish position that tyre crane encoder is provided, so can more accurately obtain shellfish position
Number and big truck position.
It is automatic navigation vehicle horizontal transport plan as shown in Figure 3, automatic navigation vehicle (15) is harbour internal proprietary car, when certainly
When dynamic navigation vehicle (15) is walked on track (14), the camera (19) of (15) photographs track (14) on automatic navigation vehicle
The walking datum line (12) in center, is aligned by image processing system, along walking datum line (12) walking.Meanwhile, swash
Photoscanner (20) detects the column (11) of track both sides, in automatic navigation vehicle (15) walking process, if self-navigation
Car (15) sideslip, the distance of laser scanner (20) to column (11) will become big or diminish, navigation vehicle microprocessor point
Analysis processing measurement data just may know that automatic navigation vehicle (15) whether run-off-road walking datum line (12), and in time to leading automatically
The direction of travel and speed of boat car (15) are adjusted.
When automatic navigation vehicle (15) enters stockyard along walking datum line (12), laser scanner (20) detects packaging
Case (7) side, is rectified a deviation according to the deviation of Current vehicle direction of travel and container (7) lateral plane and angle.Simultaneously
Camera (19) carries out shooting contraposition to the walking datum line (12) on ground, so when not having container on stockyard also not
Influence automatic navigation vehicle (15) walking.When automatic navigation vehicle (15) is entered under tyre crane (1), laser scanner (20)
Detect container (7) sideways with tyre crane column (6), according to Current vehicle direction of travel and with column (6) where straight line,
Deviation and angle with container (7) lateral plane are rectified a deviation.
As shown in figure 4, when automatic navigation vehicle (15) is entered under bridge crane (16) along walking datum line (12), laser is swept
Instrument detection (20) is retouched to the bridge crane column (17) of both sides, the deviation of straight line according to where Current vehicle direction of travel and two heel posts
Rectified a deviation with angle.
It is automatic navigation vehicle structural representation as shown in Figure 5, automatic navigation vehicle (15) is improved by common truck and formed, in truck
Roof column (18) is installed, column is higher than container top, and camera (19) and laser scanner are installed on column on headstock
(20) one laser scanner (20) respectively, is installed in the front, rear and the tailstock of headstock, camera (19) is all the time to ground
Walking datum line (12) is shot.Automatic navigation vehicle (15) is powered by the battery (21) installed in headstock, works as electricity
When pond electricity is low, it can be charged by self-navigation walking to juice point.
Claims (6)
1. container terminal mobile units automates traveling method, laser scanner, tyre crane, bridge crane, column, self-navigation
Car, camera, ground running datum line, container, it is characterised in that including：
A., one laser scanner, the back side in two tires runway are respectively installed on four door leg tire front-wheel supports of tyre crane
Between at a certain distance or container length bit interval installs column, column is in a straight line, and in main road track two
Column is installed on side at a certain distance, and column is in a straight line；Respectively installed in two door inboard legs of the tyre crane close to track
One column；One column is respectively installed in bridge crane door inboard leg and outside；Described column can be used as position by different shapes
Code is put to express the position of column；
B. described automatic navigation vehicle is improved by common truck and formed, and a height is installed above truck headstock and exceedes container
The column on case top, installs a camera and a laser scanner on column, in front of truck headstock, rear and the tailstock it is each
One laser scanner is installed；Lane center one walking datum line of paintbrush on ground.
2. container terminal mobile units as claimed in claim 1 automates traveling method, it is characterised in that described tyre crane
It is by measuring the distance between many adjacent described columns in real time and described vertical when laser scanner detects the stud
Distance and angle between post plane and the current direction of traffic of tyre crane carry out correction and shellfish position positions.
3. container terminal mobile units as claimed in claim 1 automates traveling method, it is characterised in that described walking base
Directrix is that alignedly line of face,mounting is shot described automatic navigation vehicle camera, passes through image procossing in lane center with paintbrush
Automatic deviation correction contraposition is carried out, walking path is planned.
4. container terminal mobile units as claimed in claim 1 automates traveling method, it is characterised in that described leads automatically
When boat car is walked on main road track, laser scanner detects the column of both sides on automatic navigation vehicle, is led automatically by measuring in real time
The distance between straight line is rectified a deviation with drift angle where the boat current direction of traffic of car and the adjacent column.
5. container terminal mobile units as claimed in claim 1 automates traveling method, it is characterised in that described leads automatically
When boat car is walked under tyre crane, automatic navigation vehicle laser scanner is by detecting that the side of tyre crane column and container is carried out certainly
Dynamic deviation rectification；When described automatic navigation vehicle is walked under bridge crane, automatic navigation vehicle laser scanner is by detecting bridge crane column
Carry out automatically walk correction.
6. container terminal mobile units as claimed in claim 1 automates traveling method, it is characterised in that described leads automatically
Boat car is powered by the battery installed in headstock, when the batteries are low, can be carried out by self-navigation walking to juice point
Charging.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610007819.XA CN106946049A (en) | 2016-01-07 | 2016-01-07 | Container terminal mobile units automation traveling method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610007819.XA CN106946049A (en) | 2016-01-07 | 2016-01-07 | Container terminal mobile units automation traveling method |
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| CN106946049A true CN106946049A (en) | 2017-07-14 |
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ID=59465893
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| CN201610007819.XA Pending CN106946049A (en) | 2016-01-07 | 2016-01-07 | Container terminal mobile units automation traveling method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108016892A (en) * | 2017-12-26 | 2018-05-11 | 中冶京诚工程技术有限公司 | Bulk cargo bin stock system and method |
| CN108981684A (en) * | 2018-06-06 | 2018-12-11 | 苏州智加科技有限公司 | Container truck positioning system and method |
| CN109019345A (en) * | 2018-08-06 | 2018-12-18 | 武汉港迪智能技术有限公司 | A kind of train locating method of railway gantry crane container yard |
| CN109213172A (en) * | 2018-09-26 | 2019-01-15 | 同济大学 | A kind of more sensor stream navigation system based on optical navigation device |
| CN109828577A (en) * | 2019-02-25 | 2019-05-31 | 北京主线科技有限公司 | The opposite automation field bridge high accuracy positioning parking method of unmanned container truck |
| CN111094159A (en) * | 2017-09-15 | 2020-05-01 | 科尼起重机全球公司 | Method for controlling the travel of a transport vehicle in a container terminal within the transit area of a container, control system therefor and terminal comprising such a control system |
| CN111273656A (en) * | 2019-12-20 | 2020-06-12 | 青岛港国际股份有限公司 | Intelligent ladder way inspection equipment |
| CN111487918A (en) * | 2020-04-26 | 2020-08-04 | 天地科技股份有限公司 | Bulk material unmanned loading control method, system and device based on multi-line laser radar |
| CN111508023A (en) * | 2020-04-23 | 2020-08-07 | 畅加风行(苏州)智能科技有限公司 | Laser radar assisted container alignment method for port unmanned container truck |
| CN112661016A (en) * | 2020-12-16 | 2021-04-16 | 西南交通大学 | Container transportation control method and system |
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| CN111094159A (en) * | 2017-09-15 | 2020-05-01 | 科尼起重机全球公司 | Method for controlling the travel of a transport vehicle in a container terminal within the transit area of a container, control system therefor and terminal comprising such a control system |
| US11518627B2 (en) | 2017-09-15 | 2022-12-06 | Konecranes Global Corporation | Method for controlling travel within a transfer zone for containers of transport vehicles in a terminal for containers, control system for same, and terminal comprising a control system of this kind |
| CN111094159B (en) * | 2017-09-15 | 2022-02-22 | 科尼起重机全球公司 | Method for controlling the travel of a transport vehicle in a container terminal within the transit area of a container, control system therefor and terminal comprising such a control system |
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| CN109019345B (en) * | 2018-08-06 | 2020-01-07 | 武汉港迪智能技术有限公司 | Train positioning method for railway gantry crane container yard |
| CN109213172B (en) * | 2018-09-26 | 2021-06-04 | 同济大学 | Multi-sensor logistics navigation system based on optical navigation device |
| CN109213172A (en) * | 2018-09-26 | 2019-01-15 | 同济大学 | A kind of more sensor stream navigation system based on optical navigation device |
| CN109828577A (en) * | 2019-02-25 | 2019-05-31 | 北京主线科技有限公司 | The opposite automation field bridge high accuracy positioning parking method of unmanned container truck |
| CN109828577B (en) * | 2019-02-25 | 2022-02-18 | 北京主线科技有限公司 | High-precision positioning parking method for unmanned container truck relative to automatic field bridge |
| CN111273656A (en) * | 2019-12-20 | 2020-06-12 | 青岛港国际股份有限公司 | Intelligent ladder way inspection equipment |
| CN111273656B (en) * | 2019-12-20 | 2023-10-24 | 青岛港国际股份有限公司 | Intelligent stair opening checking equipment |
| CN111508023A (en) * | 2020-04-23 | 2020-08-07 | 畅加风行(苏州)智能科技有限公司 | Laser radar assisted container alignment method for port unmanned container truck |
| CN111508023B (en) * | 2020-04-23 | 2023-09-12 | 畅加风行(苏州)智能科技有限公司 | Laser radar auxiliary container alignment method for unmanned collection card of port |
| CN111487918A (en) * | 2020-04-26 | 2020-08-04 | 天地科技股份有限公司 | Bulk material unmanned loading control method, system and device based on multi-line laser radar |
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Application publication date: 20170714 |