CN107892236A - A kind of container handling operation auxiliary equipment - Google Patents
A kind of container handling operation auxiliary equipment Download PDFInfo
- Publication number
- CN107892236A CN107892236A CN201711310022.8A CN201711310022A CN107892236A CN 107892236 A CN107892236 A CN 107892236A CN 201711310022 A CN201711310022 A CN 201711310022A CN 107892236 A CN107892236 A CN 107892236A
- Authority
- CN
- China
- Prior art keywords
- module
- crane hanger
- container
- crane
- auxiliary equipment
- 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
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- 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
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
- B66C13/44—Electrical transmitters
-
- 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
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
The invention discloses a kind of container handling operation auxiliary equipment, is made up of differential reference station module, suspender measurement module and display module；The camera of the suspender measurement module determines the relativeness between container and crane hanger by close-shot photography measure technique, high-precision positioning direction finding can be realized to container, crane hanger, shown with the digitlization guidance information such as relative distance, angle on display module, so as to which intuitively auxiliary hoist operator carries out handling operation, the efficiency and security of container handling process are improved.The equipment of the present invention can be transformed directly on original container crane, and transformation is low with the cost of operation maintenance, is widely used in the upgrading of port and pier.
Description
Technical field
The invention belongs to commercial measurement and field of machinery automation；More particularly to the measurement of GNSS dynamic RTK positioning and directings and closely
A kind of container handling operation Pilot Operational Equipment of scape photogrammetric technology.
Background technology
Related data shows that China's China's ports container quantity is in steady growth trend in recent years, and future it is several
Year will also maintain this trend.From the point of view of present case, the berth supply at China majority harbour is relatively nervous, and harbour packaging
The efficiency of loading and unloading of case is the principal element for influenceing ship in port berthing time.The container operation of traditional harbour mainly relies on people
Work operation is completed.Container crane driver is in tens meters away from ground high driver's cabins by naked eyes with ground control personnel's
Prompting, operation crane hanger carry out the operations such as the hanged of container, stacking.However, even veteran operating personnel,
Inevitably occur in operation process：1) suspender twist lock deviates container lockhole；2) container putting position inaccuracy etc.
Error.Debug repeatedly and not only cause operating efficiency low, it is also possible to container is collided and damage goods inside etc. and ask
Topic.
In correlation technique, container is accurately transported by automated guided vehicle using the harbour of automated job pattern
To specified location, directly carried out by the container crane of orbits controlling it is hanged, complete full-automatic operation, greatly lifted
Container handling efficiency.But the work pattern needs to carry out whole harbour planning upgrading, improvement project amount is big；Need to update
Large number quipments, cost are higher；Therefore all harbours are not suitable for it.
The content of the invention
In order to overcome the above-mentioned deficiencies of the prior art, can full-automatic operation, collection the embodiment provides one kind
The efficiency of loading and unloading of casing is high and scrap build cost is low, the extensive container handling operation Pilot Operational Equipment of applicability.
In order to solve the above technical problems, the technical scheme that the embodiment of the present invention uses is that a kind of container handling operation is auxiliary
Equipment, including differential reference station module, suspender measurement module and display module are helped, the differential reference station module receives base station
Satellite Observations, and transmit to the suspender measurement module；The suspender measurement module is installed on the crane hanger
On, including two cameras, two measurement antennas, positioning direction finding board and embedded computer, described two cameras are positioned at described
The real-time imaging of crane hanger underlying container is obtained on crane hanger, and the real-time imaging of acquisition is transmitted to described embedding
Enter formula computer, two measurement antennas receive the Satellite Observations of the crane hanger；The differential reference station mould
The Satellite Observations that block and the measurement antenna receive are transmitted to the positioning direction finding board, the positioning direction finding board pair
The Satellite Observations obtain position and the attitude information of crane hanger after making difference processing, and transmit to described embedded
Computer；The embedded computer according to the container real-time imaging of reception, the position of crane hanger and attitude information at
The absolute coordinate Value Operations director information of four angle points of container is obtained after reason, crane hanger loads and unloads corresponding container and needs to rotate
Angle and respective direction displacement simulation operations image；And operate director information and simulation operations image transmission by described
To the display module, the operation director information and simulation operations image are shown on the display module.
Preferably, the differential reference station module includes reference receiver, radio digital transmission module, and the base station connects
Receipts machine is located on the fixed observer pier of the base station of known location, the radio digital transmission module respectively positioned at the base station with
On the crane hanger；The reference receiver is connected with the radio digital transmission module by serial ports, the radio
Radio number is installed on digital transmission module and passes antenna, by the Satellite Observations transmission of coordinate website known to the base station at most
Positioning direction finding board on individual crane hanger.
Preferably, close to the side of base station installation radio digital transmission module, the nothing on the crane hanger
Radio number is installed on line electricity digital transmission module and passes antenna.
Preferably, two measurement antennas are respectively primary antenna and distinguish position from antenna, the primary antenna and from antenna
In on the diagonal both ends of the crane hanger, the Satellite Observations of the crane hanger are received.
Preferably, described two cameras are located at the centre position of the crane hanger two sides respectively.
Preferably, the embedded computer respectively with described two cameras, positioning direction finding board, display module it is wired or
Wireless connection.
Preferably, the display module includes touch display screen, on the operating platform in crane operation room；It is described
The operation director information that embedded computer obtains is transmitted to the touch display screen.
The beneficial effect brought of technical scheme that embodiments of the invention provide is：A kind of container handling of the present invention is made
Industry Pilot Operational Equipment, including differential reference station module, suspender measurement module and display module, are connect by differential reference station module
Receive and the Satellite Observations of transmission base station, the camera of suspender measurement module obtain the image below crane hanger in real time,
And transmit to embedded computer, the measurement antenna of suspender measurement module receives the Satellite Observations of crane hanger, and it is fixed
Direction finding board in position receives the Satellite Observations of base station and suspender and obtains position and the appearance of crane hanger as difference processing
State information, and transmit to the embedded computer；The embedded computer is hung by the relative position information, crane
Container operation director information and operational simulation image are obtained after the position of tool and attitude information processing, and is transmitted to the display
Module, shown on the display module；With the container handling operation model comparision in correlation technique, the embodiment of the present invention is led to
Succinct intuitively graphical guidance information is crossed, less important work personnel rapidly and accurately complete charge and discharge operations, overcome operating personnel certainly
The problem of influenceing efficiency caused by body false judgment and the fuzzy prompting of ground control personnel, to lift operating efficiency；And only need
The additional equipment on original container and crane, without carrying out large-scale upgrading, cost is low；It is adapted to widely use.
Brief description of the drawings
Fig. 1 is the equipment schematic block diagram of the embodiment of the present invention；
Fig. 2 is the crane hanger schematic diagram of the embodiment of the present invention；
Fig. 3 is the differential reference station module diagram of the embodiment of the present invention.
Wherein：Differential reference station module 1, suspender measurement module 2, embedded computer 3, display module 4, crane hanger
5th, base station 6,7, No. two cameras 8 of No.1 camera, positioning direction finding board 9, reference receiver 10, radio digital transmission module 11,
Primary antenna 12, from antenna 13.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is further described.
Fig. 1 is refer to, the embodiment provides a kind of container handling operation auxiliary equipment, including differential reference
Module of standing 1, suspender measurement module 2 and display module 4, the coordinate satellite that the differential reference station module 1 receives known sites are seen
Data are surveyed, and are transmitted to the suspender measurement module 2；The suspender measurement module 2 is installed on the crane hanger 5, bag
Include embedded computer 3,7, No. two cameras 8 of No.1 camera, primary antenna 12, from antenna 13, positioning direction finding board 9, the No.1
7, No. two cameras 8 of camera are located on the crane hanger 5, obtain the real-time imaging under crane hanger 5, and by the reality of acquisition
When image transmission to the embedded computer 3, the primary antenna 12, be located on the crane hanger 5 from antenna 13, receive
The Satellite Observations of crane hanger 5；The Satellite Observations transmission that the differential reference station module 1 and primary antenna 12 receive
To the positioning direction finding board 9, the positioning direction finding board 9 after Satellite Observations processing to obtaining crane hanger 5
Position and attitude information, and transmit to the embedded computer 3；The embedded computer 3 obtains according to the information of reception
To operation director information and simulation operations image, and transmit to the display module 4, on the display module 4 described in display
Operate director information and simulation operations image.It is described to operate the absolute coordinate that director information is four angle points of container, institute
Distance that simulation operations presentation content moves including the angle that crane hanger 4 need to rotate with some direction etc. is stated, and emulates behaviour
Make image to update with certain frequency, until crane hanger 4 is being moved precisely to container target area just by operating personnel
Top, it is hanged or untill placing operation to complete container, effectively provides operating efficiency, and equipment improve it is small, at most harbours
It is suitable for using scrap build, and improvement cost is low.
Further, the differential reference station module 1 includes reference receiver 10, radio digital transmission module 11, described
Reference receiver 10 is located on the fixed observer pier of the base station 6 of known location, continuous for a long time to receive satellite-signal, by two
The original observed data of the coordinate points of the base station 6 of system is converted into the observation data of CMR or the forms of RTCM 3, defeated by serial ports
Go out into the radio digital transmission module 11, the radio digital transmission module 11 is respectively positioned at the base station 6 and the lifting
On machine suspender 5；Radio number is installed on the radio digital transmission module 11 and passes antenna, antenna is passed by institute by the radio number
Differential data transmission is stated to the positioning direction finding board 9 of multiple crane hangers 5.The micro- place in inside of the positioning direction finding board 9
Manage device and decoding process carried out to the differential data of CMR or the forms of RTCM 3, respectively the pseudorange of each satellites in view to base station 6 and
Carrier phase observation data.
Further, radio digital transmission module 11 is installed close to the side of the base station 6 on the crane hanger 5,
Radio number is installed on the radio digital transmission module 11 and passes antenna.The information that reference receiver 10 receives is hung by crane
Radio digital transmission module 11 on tool 5 is transmitted to the positioning direction finding board 9.
Further, the primary antenna 12 and from antenna 13 respectively positioned at the crane hanger 5 diagonal both ends on,
Receive the Satellite Observations of crane hanger 5.By the satellite for positioning RTK algorithms and base station 6 built in direction finding board 9
Data structure double difference observational equation is observed, it is accurate that primary antenna 12 is estimated using least square method or Kalman filtering method in real time
Absolute coordinate, then the angle of antenna baseline and direct north is calculated by built-in orientation algorithm, gained angle subtracts measurement
Antenna baseline and the angle of the direction of motion of crane hanger 5 can obtain the yaw angle information acquisition primary antenna 12 of crane hanger 5
Absolute location information.
Further, described 7, No. two cameras 8 of No.1 camera are located at the interposition of the two sides of crane hanger 5 respectively
Put.The complete container image information of the down either side of crane hanger 5 can be obtained.Obtaining the absolute position of the primary antenna 12
Afterwards, the absolute position of 7, No. two cameras 8 of No.1 camera passes through the phase with 7, No. two cameras 8 of No.1 camera respectively of primary antenna 12
Position can be obtained.
Further, the embedded computer 3 respectively with described 7, No. two cameras 8 of No.1 camera, positioning direction finding board
9th, the wired connection of display module 4.Believed according to the absolute position of described 7, No. two cameras 8 of No.1 camera and its image shot respectively
Breath obtains the absolute coordinate of four angle points of container after embedded computer 3 in real time processing；The basis of embedded computer 3
Current crane hanger 5 and container is calculated in the absolute coordinate of four angle points in absolute position and container of primary antenna 12
Relative position, orthograph picture is simulated with reference to the attitude information of crane hanger 5, and with suitable renewal frequency, described aobvious
Show and shown in module 4.
Further, the display module 4 includes touch display screen, on the operating platform in crane operation room；
The operation director information that the embedded computer 3 obtains is transmitted to the touch display screen.Show in the touch display screen
Show that operation indicating, the guiding operating personnel such as the angle that need to be rotated of crane hanger 5 and the distance for needing to move toward some direction adjust
Whole crane hanger 5, it is complete until crane hanger 5 is moved precisely to the surface of container target area by operating personnel
Into container it is hanged or place operation untill.
Herein, the involved noun of locality such as forward and backward, upper and lower is to be located at parts in accompanying drawing in figure and zero
The mutual position of part is intended merely to the clear of expression technology scheme and conveniently come what is defined.It should be appreciated that the noun of locality
Use should not limit the claimed scope of the application.
In the case where not conflicting, the feature in embodiment and embodiment herein-above set forth can be combined with each other.Above institute
Only presently preferred embodiments of the present invention is stated, is not intended to limit the invention, within the spirit and principles of the invention, is made
Any modification, equivalent substitution and improvements etc., should be included in the scope of the protection.
Claims (7)
1. a kind of container handling operation auxiliary equipment, it is characterized in that：Including differential reference station module, suspender measurement module and show
Show module, the differential reference station module receives the Satellite Observations of known coordinate website, and transmits to the suspender and measure
Module；The suspender measurement module is installed on the crane hanger, including two cameras, two measurement antennas, positioning survey
To board and embedded computer, described two cameras are located at the packaging obtained on the crane hanger below crane hanger
Case real-time imaging, and the real-time imaging of acquisition is transmitted to the embedded computer, two measurement antennas and is used to receive
The Satellite Observations of the crane hanger；The moonscope that the differential reference station module and the measurement antenna receive
Data transfer to the positioning direction finding board, the positioning direction finding board obtains after making difference processing to the Satellite Observations
The position of crane hanger and attitude information, and transmit to the embedded computer；The embedded computer is according to reception
Container real-time imaging, crane hanger position and attitude information processing after obtain the absolute coordinate of four angle points of container
The emulation that Value Operations director information, crane hanger load and unload angle and respective direction displacement that corresponding container need to rotate is grasped
Make image；And by the operation director information and simulation operations image transmission to the display module, on the display module
Show the operation director information and simulation operations image.
2. a kind of container handling operation auxiliary equipment according to claim 1, it is characterized in that：The differential reference station mould
Block includes reference receiver, radio digital transmission module, and the reference receiver is located at the fixation of the base station of known location
In observation pier, the radio digital transmission module is respectively on the base station and the crane hanger；The base station connects
Receipts machine is connected with the radio digital transmission module by serial ports, and radio number is installed on the radio digital transmission module and passes antenna,
The coordinate website Satellite Observations at the known reference station of reception are transmitted to the positioning direction finding board on multiple crane hangers.
3. a kind of container handling operation auxiliary equipment according to claim 2, it is characterized in that：On the crane hanger
Radio number is installed close to the side of base station installation radio digital transmission module, on the radio digital transmission module and passes day
Line.
4. a kind of container handling operation auxiliary equipment according to claim 1, it is characterized in that：Described two measurement days
Line, respectively primary antenna and from antenna, the primary antenna and from antenna respectively be located at the crane hanger diagonal both ends
On, receive the Satellite Observations of the crane hanger.
5. a kind of container handling operation auxiliary equipment according to claim 1, it is characterized in that：Described two camera difference
Positioned at the centre position of the crane hanger two sides.
6. a kind of container handling operation auxiliary equipment according to claim 1, it is characterized in that：The embedded computer
Respectively with described two cameras, positioning direction finding board, the wired or wireless connection of display module.
7. a kind of container handling operation auxiliary equipment according to claim 1, it is characterized in that：The display module includes
Touch display screen, on the operating platform in crane operation room；Operation director information that the embedded computer obtains,
In simulation operations image transmission to the touch display screen.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711310022.8A CN107892236B (en) | 2017-12-11 | 2017-12-11 | Container loading and unloading operation auxiliary equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711310022.8A CN107892236B (en) | 2017-12-11 | 2017-12-11 | Container loading and unloading operation auxiliary equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107892236A true CN107892236A (en) | 2018-04-10 |
| CN107892236B CN107892236B (en) | 2023-08-04 |
Family
ID=61806195
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711310022.8A Active CN107892236B (en) | 2017-12-11 | 2017-12-11 | Container loading and unloading operation auxiliary equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107892236B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108910701A (en) * | 2018-08-09 | 2018-11-30 | 三海洋重工有限公司 | Suspender attitude detection system and method |
| CN110488321A (en) * | 2018-05-14 | 2019-11-22 | 北京图森未来科技有限公司 | Positioning system, hatchway cover positioning system and automatic driving control system |
| CN112374079A (en) * | 2020-11-23 | 2021-02-19 | 上海振华重工(集团)股份有限公司 | System for guiding the positioning of a handling device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110488321A (en) * | 2018-05-14 | 2019-11-22 | 北京图森未来科技有限公司 | Positioning system, hatchway cover positioning system and automatic driving control system |
| CN110488321B (en) * | 2018-05-14 | 2021-09-03 | 北京图森智途科技有限公司 | Positioning system, cabin cover plate positioning system and automatic driving control system |
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| CN112374079A (en) * | 2020-11-23 | 2021-02-19 | 上海振华重工(集团)股份有限公司 | System for guiding the positioning of a handling device |
| CN112374079B (en) * | 2020-11-23 | 2022-03-04 | 上海振华重工(集团)股份有限公司 | System for guiding the positioning of a handling device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107892236B (en) | 2023-08-04 |
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