CN107892236B - Container loading and unloading operation auxiliary equipment - Google Patents
Container loading and unloading operation auxiliary equipment Download PDFInfo
- Publication number
- CN107892236B CN107892236B CN201711310022.8A CN201711310022A CN107892236B CN 107892236 B CN107892236 B CN 107892236B CN 201711310022 A CN201711310022 A CN 201711310022A CN 107892236 B CN107892236 B CN 107892236B
- Authority
- CN
- China
- Prior art keywords
- crane
- lifting appliance
- module
- reference station
- 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.)
- Active
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 container loading and unloading operation auxiliary equipment, which consists of a differential reference station module, a lifting appliance measuring module and a display module; the camera of the lifting tool measuring module determines the relative relation between the container and the lifting tool of the crane through a close-range photogrammetry technology, can realize high-precision positioning direction finding on the container and the lifting tool of the crane, and displays digital guiding information such as relative distance, angle and the like on the display module, thereby intuitively assisting a crane operator in loading and unloading operations, and improving the efficiency and the safety of the container loading and unloading process. The equipment of the invention can be directly transformed on the original container crane, has low cost of transformation, operation and maintenance, and is widely applicable to upgrading and transformation of ports and wharfs.
Description
Technical Field
The invention belongs to the field of industrial measurement and mechanical automation; in particular to container handling operation auxiliary equipment of a GNSS dynamic RTK positioning orientation measurement and close-range photogrammetry technology.
Background
The related data show that the throughput of the port container in China has a stable increasing trend in recent years, and the trend is maintained in the next few years. In the current situation, berthing supply of most ports in China is relatively tense, and loading and unloading efficiency of port containers is a main factor influencing berthing time of ships in ports. The container owners of traditional wharfs are done by means of manual operations. The driver of the container crane operates the crane lifting appliance to lift and stack the container by naked eyes and prompts of ground commanders in a cab with a height of tens of meters away from the ground. However, even experienced operators, inevitably occur during the course of the operation: 1) The lifting appliance rotating lock deviates from a container lock hole; 2) And errors such as inaccurate placement position of the container. The repeated debugging not only causes low working efficiency, but also can cause the problems of damaging internal goods and the like due to collision of the container.
In the related art, after a port adopting an automatic operation mode accurately transports a container to a designated position through an automatic guiding transport vehicle, a container crane controlled by a track directly carries out lifting, so that full-automatic operation is completed, and the container loading and unloading efficiency is greatly improved. However, the operation mode needs to carry out planning and upgrading on the whole port, and the engineering quantity of transformation is large; a large amount of equipment needs to be updated, and the cost is high; and thus is not applicable to all ports.
Disclosure of Invention
In order to overcome the defects of the prior art, the embodiment of the invention provides auxiliary operation equipment for container loading and unloading operation, which can be operated automatically, has high container loading and unloading efficiency and low equipment transformation cost, and has wide applicability.
In order to solve the technical problems, the technical scheme adopted by the embodiment of the invention is that the container loading and unloading operation auxiliary equipment comprises a differential reference station module, a lifting appliance measuring module and a display module, wherein the differential reference station module receives satellite observation data of a reference station and transmits the satellite observation data to the lifting appliance measuring module; the lifting appliance measuring module is arranged on the lifting appliance of the crane and comprises two cameras, two measuring antennas, a positioning direction-finding board card and an embedded computer, wherein the two cameras are positioned on the lifting appliance of the crane to acquire real-time images of containers below the lifting appliance of the crane, the acquired real-time images are transmitted to the embedded computer, and the two measuring antennas receive satellite observation data of the lifting appliance of the crane; satellite observation data received by the differential reference station module and the measuring antenna are transmitted to the positioning direction-finding board card, and the positioning direction-finding board card carries out differential processing on the satellite observation data to obtain position and posture information of a crane lifting appliance and transmits the position and posture information to the embedded computer; the embedded computer obtains absolute coordinate value operation guide information of four corner points of the container, and simulation operation images of angles and corresponding direction movement distances of the crane lifting appliance for loading and unloading the corresponding container according to the received real-time images of the container and the position and gesture information of the crane lifting appliance; and transmitting the operation guide information and the simulation operation image to the display module, and displaying the operation guide information and the simulation operation image on the display module.
Preferably, the differential reference station module comprises a reference station receiver and a radio data transmission module, wherein the reference station receiver is positioned on a fixed observation pier of a reference station with a known position, and the radio data transmission module is respectively positioned on the reference station and the crane lifting appliance; the reference station receiver is connected with the radio data transmission module through a serial port, and a radio data transmission antenna is arranged on the radio data transmission module to transmit satellite observation data of a coordinate station known by the reference station to positioning direction-finding board cards on a plurality of crane slings.
Preferably, a radio data transmission module is arranged on one side, close to the reference station, of the crane sling, and a radio data transmission antenna is arranged on the radio data transmission module.
Preferably, the two measuring antennas are a master antenna and a slave antenna, and the master antenna and the slave antenna are respectively positioned at two ends of a diagonal line of the crane sling and are used for receiving satellite observation data of the crane sling.
Preferably, the two cameras are respectively positioned at the middle positions of the two sides of the crane sling.
Preferably, the embedded computer is connected with the two cameras, the positioning direction-finding board card and the display module in a wired or wireless mode respectively.
Preferably, the display module comprises a touch display screen, and is positioned on an operation platform in the crane operation chamber; and transmitting the operation guide information obtained by the embedded computer to the touch display screen.
The technical scheme provided by the embodiment of the invention has the beneficial effects that: the invention relates to auxiliary operation equipment for container handling operation, which comprises a differential reference station module, a lifting tool measuring module and a display module, wherein satellite observation data of a reference station are received and transmitted through the differential reference station module, a camera of the lifting tool measuring module acquires images below a crane lifting tool in real time and transmits the images to an embedded computer, a measuring antenna of the lifting tool measuring module receives the satellite observation data of the crane lifting tool, and a positioning direction-finding board card receives the satellite observation data of the reference station and the lifting tool, performs differential processing to obtain position and posture information of the crane lifting tool and transmits the position and posture information to the embedded computer; the embedded computer obtains container operation guide information and operation simulation images through the relative position information and the position and posture information of the crane lifting appliance after processing, and transmits the container operation guide information and the operation simulation images to the display module to display on the display module; compared with the container loading and unloading operation modes in the related art, the embodiment of the invention assists the operators to rapidly and accurately finish the loading and unloading operation through concise and visual graphical guide information, overcomes the problem of influencing the efficiency caused by the error judgment of the operators and the fuzzy prompt of ground commanders, and improves the operation efficiency; and only the equipment is required to be added on the original container and crane, so that large-scale upgrading and reconstruction are not required, and the cost is low; is suitable for wide application.
Drawings
FIG. 1 is a schematic block diagram of an apparatus of an embodiment of the present invention;
FIG. 2 is a schematic diagram of a crane spreader according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a differential reference station module according to an embodiment of the present invention.
Wherein: the device comprises a differential reference station module 1, a lifting appliance measuring module 2, an embedded computer 3, a display module 4, a crane lifting appliance 5, a reference station 6, a first camera 7, a second camera 8, a positioning direction-finding board card 9, a reference station receiver 10, a radio data transmission module 11, a main antenna 12 and a secondary antenna 13.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1, an embodiment of the present invention provides auxiliary equipment for container handling operations, including a differential reference station module 1, a spreader measurement module 2 and a display module 4, where the differential reference station module 1 receives coordinate satellite observation data of a known station and transmits the coordinate satellite observation data to the spreader measurement module 2; the lifting appliance measuring module 2 is arranged on the lifting appliance 5 and comprises an embedded computer 3, a first camera 7, a second camera 8, a main antenna 12, a secondary antenna 13 and a positioning direction-finding board card 9, wherein the first camera 7 and the second camera 8 are positioned on the lifting appliance 5 to acquire real-time images under the lifting appliance 5 and transmit the acquired real-time images to the embedded computer 3, and the main antenna 12 and the secondary antenna 13 are positioned on the lifting appliance 5 to receive satellite observation data of the lifting appliance 5; satellite observation data received by the differential reference station module 1 and the main antenna 12 are transmitted to the positioning direction-finding board card 9, and the positioning direction-finding board card 9 processes the satellite observation data to obtain position and posture information of the crane sling 5 and transmits the position and posture information to the embedded computer 3; the embedded computer 3 obtains operation guide information and simulation operation images according to the received information, transmits the operation guide information and the simulation operation images to the display module 4, and displays the operation guide information and the simulation operation images on the display module 4. The operation guidance information is the absolute coordinate values of four corner points of the container, the content of the simulation operation image comprises the angle of rotation of the crane sling 4, the moving distance in a certain direction and the like, the simulation operation image is updated with a certain frequency until an operator accurately moves the crane sling 4 to the position right above a container target area, and the operation of lifting or placing the container is completed, so that the operation efficiency is effectively improved, the equipment improvement is small, the simulation operation image is suitable for equipment reconstruction in most ports, and the reconstruction cost is low.
Further, the differential reference station module 1 comprises a reference station receiver 10 and a radio data transmission module 11, wherein the reference station receiver 10 is positioned on a fixed observation pier of a reference station 6 with a known position, continuously receives satellite signals for a long time, converts original observation data of coordinate points of the binary reference station 6 into observation data in a CMR or RTCM 3 format, outputs the observation data to the radio data transmission module 11 through a serial port, and the radio data transmission module 11 is respectively positioned on the reference station 6 and the crane sling 5; and a radio data transmission antenna is arranged on the radio data transmission module 11, and the differential data is transmitted to the positioning direction-finding board cards 9 of the crane slings 5 through the radio data transmission antenna. The internal microprocessor of the positioning and direction-finding board card 9 decodes the differential data in CMR or RTCM 3 format, and respectively observes the pseudo-range and carrier phase from each visible satellite to the reference station 6.
Further, a radio data transmission module 11 is installed on one side, close to the reference station 6, of the crane sling 5, and a radio data transmission antenna is installed on the radio data transmission module 11. The information received by the reference station receiver 10 is transmitted to the positioning direction-finding board card 9 through a radio data transmission module 11 on the crane sling 5.
Further, the main antenna 12 and the auxiliary antenna 13 are respectively positioned at two ends of a diagonal line of the crane sling 5, and receive satellite observation data of the crane sling 5. The dual-difference observation equation is constructed by an RTK algorithm built in the positioning direction-finding board card 9 and satellite observation data of the reference station 6, the accurate absolute coordinates of the main antenna 12 are estimated in real time by a least square method or a Kalman filtering method, then the included angle between the antenna base line and the north direction is calculated by the built-in orientation algorithm, and the measured included angle between the antenna base line and the movement direction of the crane sling 5 is subtracted from the obtained included angle to obtain yaw angle information of the crane sling 5 so as to obtain absolute position information of the main antenna 12.
Further, the first camera 7 and the second camera 8 are respectively positioned at the middle positions of the two side surfaces of the crane sling 5. The complete container image information below the two sides of the crane sling 5 can be obtained. After the absolute positions of the main antenna 12 are obtained, the absolute positions of the first camera 7 and the second camera 8 are obtained through the relative positions of the main antenna 12 and the first camera 7 and the second camera 8 respectively.
Further, the embedded computer 3 is connected with the first camera 7, the second camera 8, the positioning direction-finding board card 9 and the display module 4 in a wired manner. The absolute coordinates of four corner points of the container are obtained after the real-time processing of the embedded computer 3 according to the absolute positions of the first camera 7 and the second camera 8 and the image information shot by the first camera and the second camera respectively; the embedded computer 3 calculates the relative position of the current crane sling 5 and the container according to the absolute position of the main antenna 12 and the absolute coordinates of the four corner points of the container, simulates an orthographic image by combining the attitude information of the crane sling 5, and displays the orthographic image on the display module 4 at a proper updating frequency.
Further, the display module 4 comprises a touch display screen, and is positioned on an operation platform in the crane operation chamber; and transmitting the operation guide information obtained by the embedded computer 3 to the touch display screen. The touch display screen displays operation prompts such as the angle of the crane sling 5 to be rotated, the distance to be moved in a certain direction and the like, and guides an operator to adjust the crane sling 5 until the operator accurately moves the crane sling 5 to the position right above a container target area, and the container lifting or placing operation is completed.
In this document, terms such as front, rear, upper, lower, etc. are defined with respect to the positions of the components in the drawings and with respect to each other, for clarity and convenience in expressing the technical solution. It should be understood that the use of such orientation terms should not limit the scope of the protection sought herein.
The embodiments described above and features of the embodiments herein may be combined with each other without conflict.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (5)
1. A container handling operation auxiliary device, characterized by: the system comprises a differential reference station module, a lifting appliance measuring module and a display module, wherein the differential reference station module receives satellite observation data of a known coordinate station and transmits the satellite observation data to the lifting appliance measuring module; the lifting appliance measuring module is arranged on the lifting appliance of the crane and comprises two cameras, two measuring antennas, a positioning direction-finding board card and an embedded computer, wherein the two cameras are positioned on the lifting appliance of the crane to acquire real-time images of containers below the lifting appliance of the crane, the acquired real-time images are transmitted to the embedded computer, and the two measuring antennas are used for receiving satellite observation data of the lifting appliance of the crane; satellite observation data received by the differential reference station module and the measuring antenna are transmitted to the positioning direction-finding board card, and the positioning direction-finding board card carries out differential processing on the satellite observation data to obtain position and posture information of a crane lifting appliance and transmits the position and posture information to the embedded computer; the embedded computer obtains absolute coordinate value operation guide information of four corner points of the container, and simulation operation images of angles and corresponding direction movement distances of the crane lifting appliance for loading and unloading the corresponding container according to the received real-time images of the container and the position and gesture information of the crane lifting appliance; and transmitting the operation guide information and the simulation operation image to the display module, displaying the operation guide information and the simulation operation image on the display module, wherein the two cameras are respectively positioned at the middle positions of the two sides of the crane lifting appliance, and the embedded computer is respectively connected with the two cameras, the positioning direction-finding board card and the display module in a wired or wireless way.
2. A container handling auxiliary device according to claim 1, wherein: the differential reference station module comprises a reference station receiver and a radio data transmission module, wherein the reference station receiver is positioned on a fixed observation pier of a reference station with a known position, and the radio data transmission module is respectively positioned on the reference station and the crane lifting appliance; the reference station receiver is connected with the radio data transmission module through a serial port, and a radio data transmission antenna is arranged on the radio data transmission module to transmit received satellite observation data of the coordinate station of the known reference station to positioning direction-finding board cards on a plurality of crane slings.
3. A container handling auxiliary device according to claim 2, wherein: and a radio data transmission module is arranged on one side, close to the reference station, of the crane lifting appliance, and a radio data transmission antenna is arranged on the radio data transmission module.
4. A container handling auxiliary device according to claim 1, wherein: the two measuring antennas are a main antenna and a secondary antenna respectively, and the main antenna and the secondary antenna are respectively positioned at two ends of a diagonal line of the crane lifting appliance and are used for receiving satellite observation data of the crane lifting appliance.
5. A container handling auxiliary device according to claim 1, wherein: the display module comprises a touch display screen and is positioned on an operation platform in the crane operation chamber; and the operation guide information and the simulation operation image obtained by the embedded computer are transmitted 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 CN107892236A (en) | 2018-04-10 |
| CN107892236B true 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) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108910701B (en) * | 2018-08-09 | 2019-11-26 | 三一海洋重工有限公司 | Suspender attitude detection system and method |
| 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 |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003232888A (en) * | 2001-12-07 | 2003-08-22 | Global Nuclear Fuel-Japan Co Ltd | Integrity confirmation inspection system and integrity confirmation method for transported object |
| US8060283B2 (en) * | 2007-10-15 | 2011-11-15 | Deere & Company | Method and system for controlling the loading of a container associated with a vehicle |
| CN103029727A (en) * | 2013-01-05 | 2013-04-10 | 陕西西北铁道电子有限公司 | Shunting service risk control system |
| CN103863948B (en) * | 2014-03-24 | 2015-09-30 | 合肥工业大学 | A kind of crane works in coordination with the Navigation Control Unit of carrying and the method for Navigation Control |
| SE1650520A1 (en) * | 2016-04-19 | 2017-10-20 | Scania Cv Ab | Method and control unit for loading a vehicle |
| CN106629399A (en) * | 2016-12-23 | 2017-05-10 | 上海电机学院 | Container aligning guide system for containers |
| CN207903775U (en) * | 2017-12-11 | 2018-09-25 | 中国地质大学（武汉） | A kind of container handling operation ancillary equipment |
-
2017
- 2017-12-11 CN CN201711310022.8A patent/CN107892236B/en active Active
Non-Patent Citations (1)
| Title |
|---|
| 《集装箱倒箱问题的模型与启发式算法研究》;郭瑞智;《数学杂志》;第37卷(第4期);805-810 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107892236A (en) | 2018-04-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107892236B (en) | Container loading and unloading operation auxiliary equipment | |
| CN100537402C (en) | Container-truck positioning system and method for container crane | |
| CN107905275B (en) | Digitlization auxiliary construction system of excavator and auxiliary construction method thereof | |
| CN108873904B (en) | Unmanned parking method and device for mining vehicle and readable storage medium | |
| Barnes et al. | Indoor industrial machine guidance using Locata: A pilot study at BlueScope Steel | |
| CN103737433B (en) | Large-size components combined type accuracy measurement method | |
| JP2011157187A (en) | Raw material heap measuring system of raw material yard, raw material heap measuring method of raw material yard and computer program | |
| CN205950750U (en) | Transformer station inspection robot control system that navigates based on inertial navigation | |
| US20210209800A1 (en) | Calibration device for imaging device, monitoring device, work machine and calibration method | |
| CN107830832A (en) | Workpiece profile scanning system and method | |
| JP2019020131A (en) | Raw material mountain measurement method and raw material mountain measurement system | |
| CN112835081A (en) | Intelligent control method and system for tower crane | |
| CN111891927A (en) | First floor container placement method and computer readable storage medium | |
| EP3190081B1 (en) | Target positioning method and system for construction machine operation | |
| CN207903775U (en) | A kind of container handling operation ancillary equipment | |
| WO2021126748A1 (en) | System and method for aligning a laser scanning device for measurement of a volume of a container | |
| JP2003239328A (en) | Measuring device of earthwork construction surface | |
| CN216583872U (en) | Lifting appliance positioning control system and engineering machinery | |
| US8477987B2 (en) | Method for repositioning a numerically controlled device | |
| CN207675158U (en) | One kind being based on anallatic inclination measuring device | |
| CN114890280A (en) | Detection alignment method and device for lifting appliance | |
| JP2020136876A (en) | Base station selection device and base station selection method | |
| CN113845064B (en) | Positioning method and system for material bearing device with round support legs | |
| KR101259463B1 (en) | System and method for block setting | |
| CN107809744B (en) | Vehicle transferring device, positioning device and method |
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 |