CN107089599A - The suspender safety anticollision system and method recognized based on container case area contoured three-dimensional - Google Patents
The suspender safety anticollision system and method recognized based on container case area contoured three-dimensional Download PDFInfo
- Publication number
- CN107089599A CN107089599A CN201710511211.5A CN201710511211A CN107089599A CN 107089599 A CN107089599 A CN 107089599A CN 201710511211 A CN201710511211 A CN 201710511211A CN 107089599 A CN107089599 A CN 107089599A
- Authority
- CN
- China
- Prior art keywords
- laser
- suspender
- embedded controller
- cells
- container
- Prior art date
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of suspender safety anticollision system recognized based on container case area contoured three-dimensional and method, CAS includes 3D laser cells and 2D laser scanners, 3D laser cells include embedded controller and the laser scanner, motor driver and the double DGPS differential position systems that are connected respectively with embedded controller, and embedded controller carries out two-way communication with RTG/RMG electric-control systems.The present invention utilizes the real-time 3D laser cells with positioning and orientation function, with reference to 2D laser scanners, pass through rapid feedback this Bei Weixiang of Real time identification area's profiles and the locus of suspender of the calculating to 3D laser point cloud datas, the identification of case area contoured three-dimensional, dolly positioning and 2D laser plane data, container terminal RTG/RMG is efficiently solved when place progress is grabbed and unloads casing working, suspender and the real time position of operating area Nei Benbei and adjacent shellfish position container heap are detected, the generation of suspender collision accident is avoided comprehensively.
Description
Technical field
The present invention relates to a kind of suspender safety anticollision system recognized based on container case area contoured three-dimensional and method, application
Rubber tyre gantry crane (lower abbreviation RTG) and track type container crane (lower abbreviation RMG) in container terminal, lead to
Cross and the judgement of RTG (or RMG) work condition state and spreader position identification are combined to the identification of container dock zone contoured three-dimensional, it is final real
Actual time safety collision prevention function in three dimensions of the existing suspender relative to whole container area.
Background technology
Current inland container harbour all runs into during automation is developed to be needed to carry out the container in stockyard
Accurately recognize and position.Although and using 2D laser scanners or existing 3D laser aids to describe to a certain extent
Go out scanning plane Nei Xiang areas profile, but the detection of the container position and attitude information of close position can not be realized.
In target object identification and position detecting process are carried out using 2D laser scanners, because 2D laser can only be one
Laser scanning is realized in individual scanning plane, so can only be detected to some section for scanning object.And under normal circumstances,
Target object surface and non-regular shape are scanned, if only some section is scanned and recognized, it is impossible to obtain complete table
Face information.And many line lasers of utilization or biprism reflection technology that existing 3D laser products all produce for offshore company are realized
The whole series product, if being identified and positioning to container using these 3D laser products, the Sparse of acquisition,
Target object is scanned and recognizes there is larger error, it is impossible to the need for meeting application.Or take long-time stationary scans
Mode, obtain accurate profile information, dock operation high efficiency, the suspender protection demand of high real-time can not be met again.
The content of the invention
In order to overcome the disadvantages mentioned above of prior art, the invention provides one kind based on the identification of container case area contoured three-dimensional
Suspender safety anticollision system and method.
The technical solution adopted for the present invention to solve the technical problems is：One kind is based on the identification of container case area contoured three-dimensional
Suspender safety anticollision system, including be arranged on 3D laser cells and 2D laser scanners below trolley platform, the 3D swashs
Light unit includes embedded controller and the laser scanner, motor driver and the double DGPS that are connected respectively with embedded controller
Differential position system, the motor driver is connected with servomotor, and the laser scanner is arranged on rotary platform, is rotated
Head is connected by the decelerator of shaft coupling and servomotor；Laser scanner is connected by data wire with embedded controller,
It is scanned for receiving the instruction that embedded controller is sent, and by the real-time data transmission of scanning to embedded controller；
The motor driver is connected by signal wire with embedded controller, for receiving the instruction control that embedded controller is sent
Servomotor drives cloud platform rotation；Described pair of DGPS differential position system is connected by data wire with embedded controller, is used for
By the overall change in location information of the 3D laser cells detected and attitudes vibration information transmission to embedded controller；
The 2D laser scanners are connected by data wire with the embedded controller of 3D laser cells, for RTG/
Profile scan is carried out below RMG, and by the real-time data transmission of scanning to embedded controller；
The embedded controller of the 3D laser cells carries out two-way communication with RTG/RMG electric-control systems, obtains RTG/RMG
Work state information, and to RTG/RMG electric-control systems send suspender container area guarded command.
Present invention also offers a kind of suspender anticollision method recognized based on container case area contoured three-dimensional, including such as
Lower content：
First, in cart motion process, when cart moves to a new Bei Weihou, or a collection is sling in suspender locking
During vanning, the laser scanner of 3D laser cells is quickly scanned to carrying out 3D below cart；During moving of car, 3D laser
The embedded controller of unit carries out real time scan position adjustment according to spreader height to laser scanner, to suspender present level
The guard space position of upper dolly direct of travel carries out 3D and follows the trail of scanning；
2nd, 2D laser scanners are scanned along dolly direct of travel, obtain the 2D scan datas in container area section；
3rd, the embedded controller of 3D laser cells calculates and obtains 3D laser cells with dynamic origin during moving of car
3D point cloud data (xn, yn, zn), and the straight line and plane in cloud data are gathered using stochastical sampling uniformity split plot design
Class, obtains that the minimal convex polygon of all input points can be surrounded, and the summit for then extracting minimal convex polygon is used as container
The profile point in area and preservation；Meanwhile, the 2D in the container area section that embedded controller is obtained using 2D laser scanner scans
Scan data, which is calculated, obtains this Bei Weixiang area's section profile informations and suspender spatial positional information；
4th, the embedded controller of 3D laser cells utilizes the real-time space coordinate at suspender center, suspender in space two
The current job state of individual axial movement tendency and suspender judges whether suspender can collide with container area profile, and according to
It is judged that result sends guarded command of the suspender in container area to RTG/RMG electric-control systems to RTG/RMG electric-control systems.
Compared with prior art, the positive effect of the present invention is：The present invention utilizes the real-time 3D with positioning and orientation function
Laser cell, it is fixed by the calculating to 3D laser point cloud datas, the identification of case area contoured three-dimensional, dolly with reference to 2D laser scanners
Rapid feedback this Bei Weixiang of the Real time identification area's profiles and the locus of RTG/RMG suspenders of position and 2D laser plane data,
Efficiently solve container terminal RTG/RMG place carry out grab unload casing working when, suspender with operating area Nei Benbei with
And the real time position detection of adjacent shellfish position container heap, so as to avoid the generation of the collision accident of suspender comprehensively.
Brief description of the drawings
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein：
Fig. 1 is the logic diagram of this suspender safety anticollision system；
Each scanning plane top view of system when Fig. 2 is field bridge operation；
Fig. 3 is that 3D follows the trail of scanning schematic diagram；
Fig. 4 is the scan data schematic diagram of 2D laser scanners；
Fig. 5 is the scan data schematic diagram of 3D laser cells.
Embodiment
A kind of suspender safety anticollision system recognized based on container case area contoured three-dimensional, as shown in figure 1, including：2D swashs
Photoscanner, 3D laser cells, RTG/RMG electric-control system PLC, wherein：
3D laser cells include embedded controller and the laser scanner being connected respectively with embedded controller, motor drive
Dynamic device, double DGPS differential position systems etc.；The motor driver is connected with servomotor, and the laser scanner, which is arranged on, to be turned
On dynamic head, rotary platform is connected by the decelerator of shaft coupling and servomotor；Laser scanner passes through data wire and insertion
Formula controller is connected, for the 2-D data of the container of real time scan to be transferred into embedded controller, while by embedded
The control command that controller is sent carries out 3-D scanning；The motor driver is connected by signal wire with embedded controller,
Head is driven to rotate in vertical direction for receiving the instruction control servomotor that embedded controller is sent；Described couple of DGPS
Differential position system is connected by data wire with embedded controller, and the overall position of the 3D laser cells for that will detect becomes
Change information and attitudes vibration information transmission to embedded controller.
2D laser scanners are responsible for the frequency with 25hz, to carrying out profile scan below RTG/RMG, pass through 3D laser cells
The network switch scan data is sent to the embedded controllers of 3D laser cells.
RTG/RMG electric-control systems PLC be not less than 2hz frequency and 3D laser cells embedded controller carry out it is two-way
Communication, receives the Anticollision information and deceleration Stop message of current suspender, while being sent to the embedded controller of 3D laser cells
The information such as current RTG/RMG cart encoder, bogie encoder, suspender size and rotation lock status.
The 3D laser cells and 2D laser scanners are mounted on below RTG/RMG trolley platforms, 3D laser cells peace
At immediately ahead of suspender midline position from suspender edge 20CM, the laser scanning face and dolly direction for making 3D laser cells are hung down
Directly, 2D laser scanners are installed on the inclined 2 meters of right positions of suspender center line, and make the parallel dolly direction in 2D laser scanning faces and with ground
Face is vertical, and 2D laser can maximum magnitude scanning arrive underlying container and suspender, without being blocked by drivers' cab platform, such as scheme
Shown in 2.
All laser datas that the laser scanner scans of 2D laser scanners and 3D laser cells are obtained pass through 3D laser
The network switch built in unit is pooled in the embedded controller of 3D laser cells.Embedded controller passes through to 3D laser
The point data that interior laser scanner scans are obtained is handled in real time, the profile of pile container is obtained, while by external
The laser data of the 2D laser scanners in portion carries out the real-time spreader position of processing acquisition and swept with pile case in dolly direction laser
The relative position relation of face projection is retouched, so as to carry out the anticipation of anticollision；The embedded controller and RTG/RMG of 3D laser cells
Electric-control system PLC system carries out data exchange by network or other means of communication, obtains the work shapes of RTG/RMG currently
State, and guarded command of the suspender in container area is sent to its PLC, it is final to executing agency's (RTG/RMG cart frequency conversions from PLC
Device, dolly frequency converter, raising frequency converter etc.) send control instruction.
Present invention also offers a kind of real-time avoiding collision of suspender recognized based on container case area contoured three-dimensional, including such as
Lower content：
First, in cart motion process, when cart moves to a new Bei Weihou, the comprehensive of current shellfish position is not completed also
Before scanning profile, or suspender locking is when slinging a container, the laser scanners of 3D laser cells to RTG/RMG near
All containers (each 18 meters of laser both sides) of 3 40 chi shellfishes positions carry out 3D and quickly scanned, and can complete to put down in its 1 second time
Scanning angle of the row in cart direction is maximum up to 180 degree, and the scanning angle in its dolly direction is maximum up to 60 degree.And with every
40 milliseconds of time (25Hz) processing single pass data (including cart underlying container profile, suspender and institute's box profile
Cloud data).
During moving of car, the embedded controller of 3D laser cells is carried out according to spreader height to laser scanner
Real time scan position adjustment, 3D tracking scannings are carried out to the guard space position of dolly direct of travel on suspender present level, real
When observation on suspender direct of travel, the adjacent shellfish position in 3, height performance box area where it (current shellfish position and left and right adjacent shellfish
Position) whether there is course formation of the container to suspender to interfere：
3D follows the trail of scanning and refers to that the profile in current shellfish position profile and adjacent shellfish position has all been obtained in quick scanning process
Afterwards, as long as current shellfish invariant position, just no longer sustained oscillation is scanned the laser scanner of 3D laser cells, but tilts scanning plane
One preposition angle, θ is to suspender front, Anti-bumping protection detection is carried out to the container profile in front of suspender.
As shown in figure 3, during moving of car, 3D laser cells are followed the trail of scan mode with 3D and worked, can be according to suspender
Height Δ h, calculate the cloud platform rotation angle, θ of 3D laser cells：
Make laser keep being scanned suspender anticollision apart from D, obtain dolly direct of travel, the Ben Bei in Anti-bumping protection region
Position and the laser scanning point of adjacent shellfish position.
During 3D laser cells carry out 3D data acquisitions, the posture torsion of 3D laser cells and change in location are all the time
Completed by its integrated double DGPS differential position system.
2nd, 2D laser scanners are scanned with 25hz frequency along moving of car direction, obtain 2D laser scanners and
Dolly calculates relative to cart and the real time position of container and obtains this Bei Weixiang area's section profile informations and suspender locus
Information；
3rd, the laser scanner of the embedded controller controls 3D laser cells of 3D laser cells was with the time of every 1 second
Complete once to 3D laser cells longitudinal direction 0 °~60 ° of (i.e. parallel to dolly travel direction), -5 ° of transverse direction (i.e. cart travel direction)
The 3-D scanning of~185 ° of scopes.
Its initial data is two dimensional laser scanning ranging data of the 3D laser cells in different rotational planes.If to swash
Optical scan angle resolution ratio is 0.1667 degree, then in a 3D laser cell scan period, will obtain -5 ° of laser scanning scope
In~185 °, totally 1141 laser spots, its acquisition form is：
{d0, d1, d2…d1141} (2)
According to polar coordinates and rectangular coordinate system transfer principle, coordinate of each scanning element in this laser scanning plane
For：
x’n=dn×cos(n×0.1667-5) (3)
y’n=dn×sin(n×0.1667-5) (4)
If now, 3D laser rotary platform have rotated θ ° relative to initial position, then 3D laser encoder data are merged
Afterwards, origin can be obtained for laser center, cart travel direction is x-axis, dolly travel direction is y-axis, suspender raising direction z-axis
3D data：
x”n=x 'n； (5)
y”n=y 'n×sinθ； (6)
z”n=y 'n×cosθ； (7)
Double DGPS differential position systems of 3D laser cells are integrated in, by two gps antennas for being installed on car top,
Obtain space coordinate { x of two gps antennas in earth coordinatesg1, yg1, zg1And { xg2, yg2, zg2}.In space, wherein
One antenna is used to position, and another is used for direction finding.Antenna is positioned in each two gps data cycle (100ms), mobile position is obtained
It is poor to move, and initially installs displacement according to positioning antenna and 3D laser cells, can be scaled 3D laser cells displacement difference { Δ x, Δ y, Δ
z}.And with each axial angle of the direction-finder antenna coordinate with positioning antenna coordinate in space, according to positioning antenna to direction finding
The initial settling angle degree of the straight line and 3D laser cells of antenna connection is poor, is scaled { Δ α, Δ β, Δ γ }.
During RTG actual jobs, due to the motion in cart and dolly direction, laser is kept in motion all the time.For
Solution laser origin movement problem, double DGPS differential position systems for being internally integrated by 3D laser scanners, realization is to 3D
The high accuracy positioning of laser cell determines appearance, and the three-shaft displacement { Δ x, Δ y, Δ z } of 3D laser cells is obtained within every 100ms times
And three axle rotational angles { Δ α, Δ β, Δ γ }.Obtain 3D point cloud number of the 3D laser cells with dynamic origin during moving of car
According to：
xn=(x "n+Δx)cosΔα (8)
yn=(y "n+Δy)cosΔβ (9)
zn=(z "n+Δz)cosΔγ (10)
2D laser scanners are scanned along moving of car direction, obtain the 2D scan datas in container area section, and root
According to formula (2) to (4), coordinate under the rectangular coordinate system that converts.By PLC bogie encoder, it is positioned, it is completed and moves
State coordinate system is translated and alignment of data.
In plc data：The position of dolly absolute value encoder combines the position of suspender raising absolute value encoder and hung
The installation site relation of tool and 3D laser cells, calculates the real-time space coordinate at suspender center；Dolly speed encoder and suspender
Lifting velocity encoder, obtains the movement tendency of suspender two axial directions in space；By suspender locking and case sensor, obtain
Obtain the current job state of suspender.
4th, under present system working condition, during 3D laser cells are to case area real time scan, case area profile is obtained
Cloud data.Algorithm is filtered to a cloud initial data first, prevents it from being caused to follow-up data processing to remove disordered point
Influence, it is concretely comprised the following steps：
The first step：K (neighbor point number) average of input point cloud (total points N) is calculated, wherein i-th of point piK averages di
Calculation formula be
Second step：Calculate the K average value standard deviations of input point cloud
3rd step：According to the coefficient of standard deviation μ of setting and neighbouring points K, test point p is judgediWhether it is that wild point (peels off
Point), it is then wild point to meet condition, is filtered out.
di>μσ (13)
Afterwards again according to the step switched laser cloud data in upper one section, to obtain each laser under absolute coordinate system
{ the x of pointn, yn, zn}。
On this basis, the point cloud segmentation in space is proceeded by, according to stochastical sampling uniformity split plot design, to a cloud number
Straight line and plane in are clustered.
Segmentation plane method：
The first step：Plane is determined from input point cloud stochastical sampling minimum data amount (3 data points), and calculates the plane
Coefficient A, B, C, D；Wherein 3 data points are respectively p1(x1,y1,z1)、p2(x2,y2,z2)、p3(x3,y3,z3)；Then
Ax+By+Cy+D=0
Second step：Calculate corresponding with the plane that the first step is obtained internal point set and outside point set, point piMeet and plane
Apart from diIt is internal point M less than given threshold d；
3rd step：First two steps are iteratively repeated, the plane with enough internal points is found；To improve precision, PCL adds in storehouse
Add the error evaluation parameter to finding optimal planar, and determined after optimal planar, can be again with internal point to floor coefficient
Further estimated.
Split linear method：
The first step：Stochastical sampling minimum data amount (2 data points) determines straight line from input point cloud, and calculates the straight line
Coefficient A, B, C, D, E, F；Wherein 2 data points are respectively p1(x1,y1,z1)、p2(x2,y2,z2)；Then
Second step：Calculate the inside point set and outside point set of the line correspondences obtained with the first step, point piMeet and straight line
Apart from diIt is internal point M less than given threshold d；
3rd step：First two steps are iteratively repeated, the straight line with enough internal points is found；To improve precision, PCL adds in storehouse
Add the error evaluation parameter to finding optimal straight line, and determined after optimal straight line, can be again with internal point to straight line coefficient
Further estimated.
Eventually through calculate can surround input minimal convex polygon a little, then extracting polygonal summit is
The profile point of point cloud.Preserve each case position profile point of container area.
During 3D laser is calculated, 2D laser remains real-time scanning state, and current work shellfish position is cut
Face carries out profile description, makes up in the state of the container stacking number of plies is higher, 3D laser cells can not in time obtain and complete shellfish
The situation of position data, real-time supplement is carried out to the outline identification of 3D laser cells.See Fig. 4.
The real time dynamic location at suspender center is obtained by plc data, in space, suspender is entered using mathematics cube
Row modeling, and the speed of the current dolly axial direction of suspender and raising axial direction is combined, judge whether suspender can be sent out with container area profile
Raw collision.According to the result judged, the embedded controller in 3D laser cells sent to RTG/RMG PLC system slow down or
Parking order, to reach the function of suspender anticollision in case area.
Claims (6)
1. a kind of suspender safety anticollision system recognized based on container case area contoured three-dimensional, it is characterised in that：Including being arranged on
3D laser cells and 2D laser scanners below trolley platform, the 3D laser cells include embedded controller and respectively with
Embedded controller connection laser scanner, motor driver and double DGPS differential position systems, the motor driver with
Servomotor is connected, and the laser scanner is arranged on rotary platform, and rotary platform is subtracted by shaft coupling and servomotor
Fast device connection；Laser scanner is connected by data wire with embedded controller, for receiving the finger that embedded controller is sent
Order is scanned, and by the real-time data transmission of scanning to embedded controller；The motor driver by signal wire with it is embedding
Enter the connection of formula controller, cloud platform rotation is driven for receiving the instruction control servomotor that embedded controller is sent；It is described double
DGPS differential position systems are connected by data wire with embedded controller, the overall position of the 3D laser cells for that will detect
Change information and attitudes vibration information transmission are put to embedded controller；
The 2D laser scanners are connected by data wire with the embedded controller of 3D laser cells, under RTG/RMG
Fang Jinhang profile scans, and by the real-time data transmission of scanning to embedded controller；
The embedded controller of the 3D laser cells carries out two-way communication with RTG/RMG electric-control systems, obtains RTG/RMG work
Make status information, and guarded command of the suspender in container area is sent to RTG/RMG electric-control systems.
2. the suspender safety anticollision system according to claim 1 recognized based on container case area contoured three-dimensional, its feature
It is：The 3D laser cells are installed on immediately ahead of suspender midline position at from suspender edge 20CM, the 2D laser scanners
It is installed on the inclined 2 meters of positions of suspender center line.
3. the suspender safety anticollision system according to claim 1 recognized based on container case area contoured three-dimensional, its feature
It is：The laser scanning face of the 3D laser cells is vertical with dolly direction；Put down in the laser scanning face of the 2D laser scanners
Row dolly direction and perpendicular to the ground.
4. the suspender safety anticollision system according to claim 1 recognized based on container case area contoured three-dimensional, its feature
It is：Described pair of DGPS differential position system includes two gps antennas for being installed on car top, and one of antenna is used for fixed
Position, another is used for direction finding.
5. a kind of suspender anticollision method recognized based on container case area contoured three-dimensional, it is characterised in that：In following
Hold：
First, in cart motion process, when cart moves to a new Bei Weihou, or a container is sling in suspender locking
When, the laser scanner of 3D laser cells is quickly scanned to carrying out 3D below cart；During moving of car, 3D laser cells
Embedded controller according to spreader height to laser scanner carry out real time scan position adjustment, to small on suspender present level
The guard space position of car direct of travel carries out 3D and follows the trail of scanning；
2nd, 2D laser scanners are scanned along dolly direct of travel, obtain the 2D scan datas in container area section；
3rd, the embedded controller of 3D laser cells calculates and obtains 3D point of the 3D laser cells with dynamic origin during moving of car
Cloud data (xn, yn, zn), and the straight line and plane in cloud data are clustered using stochastical sampling uniformity split plot design, obtain
To that can surround the minimal convex polygon of all input points, the summit for then extracting minimal convex polygon is used as the wheel of container area
Exterior feature is put and preserved；Meanwhile, the 2D scanning numbers in the container area section that embedded controller is obtained using 2D laser scanner scans
This Bei Weixiang area's section profile informations and suspender spatial positional information are obtained according to calculating；
4th, the embedded controller of 3D laser cells utilizes the real-time space coordinate at suspender center, suspender two axles in space
To the current job state of movement tendency and suspender judge whether suspender can collide with container area profile, and according to sentencing
Disconnected result sends guarded command of the suspender in container area to RTG/RMG electric-control systems to RTG/RMG electric-control systems.
6. the suspender anticollision method according to claim 5 recognized based on container case area contoured three-dimensional, its feature
It is：3D laser cells with dynamic origin during moving of car 3D point cloud data (xn, yn, zn) computational methods be：
The first step, 3D quickly scanned acquisition each laser scanning point polar coordinates dnBe converted in this laser scanning plane
In rectangular co-ordinate (x 'n, y 'n)；
Second step, be calculated as follows by origin of laser center, cart travel direction be x-axis, dolly travel direction be y
Axle, suspender raising direction are the 3D coordinates (x " of z-axisn, y "n, z "n)：
x”n=x 'n；
y”n=y 'n×sinθ；
z”n=y 'n×cosθ；
Wherein, θ is the rotary platform of 3D laser cells relative to the angle that initial position rotates；
3rd step, 3D point cloud data (x of the 3D laser cells with dynamic origin during moving of car is calculated as followsn, yn,
zn)：
xn=(x "n+Δx)cosΔα
yn=(y "n+Δy)cosΔβ
zn=(z "n+Δz)cosΔγ
Wherein, { Δ x, Δ y, Δ z } is the displacement difference of 3D laser cells, and { Δ α, Δ β, Δ γ } is the angle of 3D laser cells
Difference.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710511211.5A CN107089599B (en) | 2017-06-29 | 2017-06-29 | Suspender safety anticollision system and method based on the identification of container case area contoured three-dimensional |
| PCT/CN2017/116803 WO2019000859A1 (en) | 2017-06-29 | 2017-12-18 | Safe anti-collision system and method for lifting appliance based on three-dimensional recognition of container area outline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710511211.5A CN107089599B (en) | 2017-06-29 | 2017-06-29 | Suspender safety anticollision system and method based on the identification of container case area contoured three-dimensional |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107089599A true CN107089599A (en) | 2017-08-25 |
| CN107089599B CN107089599B (en) | 2018-10-19 |
Family
ID=59641524
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710511211.5A Active CN107089599B (en) | 2017-06-29 | 2017-06-29 | Suspender safety anticollision system and method based on the identification of container case area contoured three-dimensional |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107089599B (en) |
| WO (1) | WO2019000859A1 (en) |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107986161A (en) * | 2017-11-14 | 2018-05-04 | 大连理工大学 | A kind of large-scale workpiece hoisting process attitude monitoring and positioner |
| CN108229568A (en) * | 2018-01-09 | 2018-06-29 | 上海海事大学 | Gantry crane metal structure loaded-up condition detection method based on K mean cluster algorithm |
| CN108275575A (en) * | 2018-02-05 | 2018-07-13 | 上海振华重工(集团)股份有限公司 | The adjacent shellfish position of gantry crane is anti-to hit intelligent secondary speed-reducing system |
| WO2019000859A1 (en) * | 2017-06-29 | 2019-01-03 | 北京国泰星云科技有限公司 | Safe anti-collision system and method for lifting appliance based on three-dimensional recognition of container area outline |
| CN109141285A (en) * | 2018-09-14 | 2019-01-04 | 上海川丰机电科技发展有限公司 | Ship type outline detection system and its detection method |
| CN110182620A (en) * | 2019-05-10 | 2019-08-30 | 大连华锐重工集团股份有限公司 | A kind of the scanning recognition system and working method of unmanned bucket continuous ship unloader |
| CN110255384A (en) * | 2019-07-17 | 2019-09-20 | 招商局邮轮制造有限公司 | A kind of interior dock anti-collision system |
| CN110422764A (en) * | 2019-06-20 | 2019-11-08 | 江苏航运职业技术学院 | A kind of research harbour container attitude control method |
| CN110673183A (en) * | 2019-09-24 | 2020-01-10 | 南通润邦重机有限公司 | Container identification and positioning method combined with GPS/INS |
| CN111268566A (en) * | 2020-03-30 | 2020-06-12 | 北京国泰星云科技有限公司 | Automatic container landing system and method on container truck lane based on laser |
| CN111496795A (en) * | 2020-04-29 | 2020-08-07 | 福建通力达实业有限公司 | Method and device for grabbing multilayer materials |
| CN111880195A (en) * | 2020-07-10 | 2020-11-03 | 中科智云科技有限公司 | Tower crane anti-collision method and system based on laser radar |
| CN112764044A (en) * | 2020-12-21 | 2021-05-07 | 宁波大榭招商国际码头有限公司 | Laser radar-based accurate alignment method for unmanned truck unloading box |
| CN113291845A (en) * | 2020-09-27 | 2021-08-24 | 中冶长天国际工程有限责任公司 | Anti-collision method and system for stacker-reclaimer |
| CN113376654A (en) * | 2020-03-09 | 2021-09-10 | 长沙智能驾驶研究院有限公司 | Three-dimensional laser-based truck collection anti-smashing detection method and device and computer equipment |
| CN113687365A (en) * | 2021-06-30 | 2021-11-23 | 云南昆钢电子信息科技有限公司 | Multi-height layer contour recognition and coordinate calculation method and system based on similar plane |
| CN113800401A (en) * | 2020-06-12 | 2021-12-17 | 中冶宝钢技术服务有限公司 | Anti-collision control method for crane |
| CN115984195A (en) * | 2022-12-16 | 2023-04-18 | 秦皇岛燕大滨沅科技发展有限公司 | Three-dimensional point cloud-based carriage contour detection method and system |
| CN116750526A (en) * | 2023-08-16 | 2023-09-15 | 武汉煜炜光学科技有限公司 | Method and system for realizing dynamic connection |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114241799B (en) * | 2021-12-30 | 2022-12-20 | 北京经纬恒润科技股份有限公司 | Vehicle dispatching method and device |
| CN114972541B (en) * | 2022-06-17 | 2024-01-26 | 北京国泰星云科技有限公司 | Tire crane stereoscopic anti-collision method based on fusion of three-dimensional laser radar and binocular camera |
| CN116605772B (en) * | 2023-07-20 | 2023-10-03 | 武汉大学 | Tower crane collision early warning method based on multiple integrated systems |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201161875Y (en) * | 2007-11-13 | 2008-12-10 | 上海明路绳网索具有限公司 | Collection card laser contraposition and spreader control installation under travelling bridge |
| JP4295591B2 (en) * | 2003-09-30 | 2009-07-15 | 三井造船株式会社 | Container collision prevention method and apparatus |
| CN101891117A (en) * | 2009-11-03 | 2010-11-24 | 南通通镭软件有限公司 | Container loading and unloading automatic control system under shore bridge |
| CN205034977U (en) * | 2015-09-08 | 2016-02-17 | 上海海镭激光科技有限公司 | Multilayer laser scanning collection card and hoist tapered end counterpoint system |
| CN205825912U (en) * | 2016-07-20 | 2016-12-21 | 北京国泰星云科技有限公司 | A kind of 3D data collecting system for container identification location |
| CN206915592U (en) * | 2017-06-29 | 2018-01-23 | 北京国泰星云科技有限公司 | Suspender safety anticollision system based on the identification of container case area contoured three-dimensional |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3606363C2 (en) * | 1986-02-27 | 1995-04-13 | Vulkan Kocks Gmbh | Device for determining the position of a vehicle relative to a container lifting device |
| JP2007254086A (en) * | 2006-03-23 | 2007-10-04 | Mitsui Eng & Shipbuild Co Ltd | Position detection device for twin spreader |
| CN203439940U (en) * | 2013-09-04 | 2014-02-19 | 贾来国 | Automatic control system for RTG/RMG dual-laser sling crash-proof box at container terminal |
| CN104477779B (en) * | 2014-12-31 | 2016-07-13 | 北京国泰星云科技有限公司 | The para-position of truck and safety control system and method under Property in Container Terminal Bridge Crane Through |
| CN106495000B (en) * | 2015-09-08 | 2017-12-15 | 上海海镭激光科技有限公司 | Multilayer laser scanning truck and suspender tapered end alignment method under bridge crane |
| CN105819341B (en) * | 2016-06-02 | 2017-08-22 | 北京国泰星云科技有限公司 | Ship outline identification and suspender CAS and method under container dock bridge |
| CN106017351B (en) * | 2016-07-20 | 2018-08-07 | 北京国泰星云科技有限公司 | A kind of 3D data collecting systems and method for container identification positioning |
| CN107089599B (en) * | 2017-06-29 | 2018-10-19 | 北京国泰星云科技有限公司 | Suspender safety anticollision system and method based on the identification of container case area contoured three-dimensional |
-
2017
- 2017-06-29 CN CN201710511211.5A patent/CN107089599B/en active Active
- 2017-12-18 WO PCT/CN2017/116803 patent/WO2019000859A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4295591B2 (en) * | 2003-09-30 | 2009-07-15 | 三井造船株式会社 | Container collision prevention method and apparatus |
| CN201161875Y (en) * | 2007-11-13 | 2008-12-10 | 上海明路绳网索具有限公司 | Collection card laser contraposition and spreader control installation under travelling bridge |
| CN101891117A (en) * | 2009-11-03 | 2010-11-24 | 南通通镭软件有限公司 | Container loading and unloading automatic control system under shore bridge |
| CN205034977U (en) * | 2015-09-08 | 2016-02-17 | 上海海镭激光科技有限公司 | Multilayer laser scanning collection card and hoist tapered end counterpoint system |
| CN205825912U (en) * | 2016-07-20 | 2016-12-21 | 北京国泰星云科技有限公司 | A kind of 3D data collecting system for container identification location |
| CN206915592U (en) * | 2017-06-29 | 2018-01-23 | 北京国泰星云科技有限公司 | Suspender safety anticollision system based on the identification of container case area contoured three-dimensional |
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019000859A1 (en) * | 2017-06-29 | 2019-01-03 | 北京国泰星云科技有限公司 | Safe anti-collision system and method for lifting appliance based on three-dimensional recognition of container area outline |
| CN107986161A (en) * | 2017-11-14 | 2018-05-04 | 大连理工大学 | A kind of large-scale workpiece hoisting process attitude monitoring and positioner |
| CN108229568A (en) * | 2018-01-09 | 2018-06-29 | 上海海事大学 | Gantry crane metal structure loaded-up condition detection method based on K mean cluster algorithm |
| CN108275575A (en) * | 2018-02-05 | 2018-07-13 | 上海振华重工(集团)股份有限公司 | The adjacent shellfish position of gantry crane is anti-to hit intelligent secondary speed-reducing system |
| CN109141285A (en) * | 2018-09-14 | 2019-01-04 | 上海川丰机电科技发展有限公司 | Ship type outline detection system and its detection method |
| CN110182620B (en) * | 2019-05-10 | 2023-09-26 | 大连华锐重工集团股份有限公司 | Scanning identification system of unmanned chain bucket type continuous ship unloader and working method |
| CN110182620A (en) * | 2019-05-10 | 2019-08-30 | 大连华锐重工集团股份有限公司 | A kind of the scanning recognition system and working method of unmanned bucket continuous ship unloader |
| CN110422764A (en) * | 2019-06-20 | 2019-11-08 | 江苏航运职业技术学院 | A kind of research harbour container attitude control method |
| CN110255384A (en) * | 2019-07-17 | 2019-09-20 | 招商局邮轮制造有限公司 | A kind of interior dock anti-collision system |
| CN110673183A (en) * | 2019-09-24 | 2020-01-10 | 南通润邦重机有限公司 | Container identification and positioning method combined with GPS/INS |
| CN113376654B (en) * | 2020-03-09 | 2023-05-26 | 长沙智能驾驶研究院有限公司 | Method and device for detecting anti-smashing of integrated card based on three-dimensional laser and computer equipment |
| CN113376654A (en) * | 2020-03-09 | 2021-09-10 | 长沙智能驾驶研究院有限公司 | Three-dimensional laser-based truck collection anti-smashing detection method and device and computer equipment |
| WO2021179988A1 (en) * | 2020-03-09 | 2021-09-16 | 长沙智能驾驶研究院有限公司 | Three-dimensional laser-based container truck anti-smashing detection method and apparatus, and computer device |
| CN111268566A (en) * | 2020-03-30 | 2020-06-12 | 北京国泰星云科技有限公司 | Automatic container landing system and method on container truck lane based on laser |
| CN111496795B (en) * | 2020-04-29 | 2022-05-24 | 福建通力达实业有限公司 | Method and device for grabbing multilayer materials |
| CN111496795A (en) * | 2020-04-29 | 2020-08-07 | 福建通力达实业有限公司 | Method and device for grabbing multilayer materials |
| CN113800401A (en) * | 2020-06-12 | 2021-12-17 | 中冶宝钢技术服务有限公司 | Anti-collision control method for crane |
| CN111880195A (en) * | 2020-07-10 | 2020-11-03 | 中科智云科技有限公司 | Tower crane anti-collision method and system based on laser radar |
| CN113291845A (en) * | 2020-09-27 | 2021-08-24 | 中冶长天国际工程有限责任公司 | Anti-collision method and system for stacker-reclaimer |
| CN112764044A (en) * | 2020-12-21 | 2021-05-07 | 宁波大榭招商国际码头有限公司 | Laser radar-based accurate alignment method for unmanned truck unloading box |
| CN112764044B (en) * | 2020-12-21 | 2023-11-24 | 宁波大榭招商国际码头有限公司 | Laser radar-based precise alignment method for unmanned integrated card unloading box |
| CN113687365A (en) * | 2021-06-30 | 2021-11-23 | 云南昆钢电子信息科技有限公司 | Multi-height layer contour recognition and coordinate calculation method and system based on similar plane |
| CN113687365B (en) * | 2021-06-30 | 2023-12-22 | 云南昆钢电子信息科技有限公司 | Multi-height layer contour recognition and coordinate calculation method and system based on quasi-plane |
| CN115984195A (en) * | 2022-12-16 | 2023-04-18 | 秦皇岛燕大滨沅科技发展有限公司 | Three-dimensional point cloud-based carriage contour detection method and system |
| CN115984195B (en) * | 2022-12-16 | 2023-09-29 | 秦皇岛燕大滨沅科技发展有限公司 | Carriage contour detection method and system based on three-dimensional point cloud |
| CN116750526A (en) * | 2023-08-16 | 2023-09-15 | 武汉煜炜光学科技有限公司 | Method and system for realizing dynamic connection |
| CN116750526B (en) * | 2023-08-16 | 2023-11-03 | 武汉煜炜光学科技有限公司 | Method and system for realizing dynamic connection |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107089599B (en) | 2018-10-19 |
| WO2019000859A1 (en) | 2019-01-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107089599B (en) | Suspender safety anticollision system and method based on the identification of container case area contoured three-dimensional | |
| CN106516990B (en) | Container terminal field bridge anti-collision control system and method based on object contour tracking | |
| CN109650089B (en) | Anti-collision method for material piling and taking machine and material pile of storage yard | |
| CN104085794B (en) | Intelligent detection system and method for distribution profile and position of container | |
| CN111634636B (en) | Full-automatic material taking control system of bucket wheel machine | |
| CN104477779A (en) | System and method for alignment and safety control of trucks under bridge cranes of container wharves | |
| CN107522114B (en) | Automatic change front and hang | |
| CN111891927B (en) | First floor container placement method and computer readable storage medium | |
| CN104528531A (en) | Container wharf RTG and RMG lower container truck alignment guide system and method | |
| JP7051468B2 (en) | Unloading device | |
| JP6801040B2 (en) | Unloading device | |
| CN108828518A (en) | A kind of boxcar inside carrier-and-stacker localization method | |
| CN206915592U (en) | Suspender safety anticollision system based on the identification of container case area contoured three-dimensional | |
| CN112141734A (en) | Material taking control system and material taking method for scraper reclaimer | |
| CN111487964A (en) | Robot trolley and autonomous obstacle avoidance method and device thereof | |
| Kim et al. | Autonomous mobile robot localization and mapping for unknown construction environments | |
| CN115432572A (en) | Gantry crane and hoisting path planning method of hoisting tool of gantry crane | |
| CN111328318B (en) | Unloading device | |
| CN113610910B (en) | Obstacle avoidance method for mobile robot | |
| JP7011480B2 (en) | Unloading device | |
| CN206502529U (en) | Container terminal bridge anti-collision control system based on object contour tracking | |
| CN113819844A (en) | Method, device and equipment for identifying traveling materials and readable storage medium | |
| Beinschob et al. | Strategies for 3D data acquisition and mapping in large-scale modern warehouses | |
| CN212355740U (en) | Bucket wheel machine system of full-automatic material of getting | |
| CN113218384B (en) | Indoor AGV self-adaptive positioning method based on laser SLAM |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191218 Address after: Shenzhen City, Guangdong province Nanshan District 518000 China Merchants Shekou Street Chiwan Maritime Building eleven floor Patentee after: Chiwan Container Terminal Co., Ltd. Address before: 100027 Beijing City, Chaoyang District Wangjing Park 401 building 28 room 3219 Patentee before: Cathay Nebula Science & Technology Co., Ltd. |