CN108190754A - A kind of crane method of work and system based on augmented reality measuring technique - Google Patents
A kind of crane method of work and system based on augmented reality measuring technique Download PDFInfo
- Publication number
- CN108190754A CN108190754A CN201810046345.9A CN201810046345A CN108190754A CN 108190754 A CN108190754 A CN 108190754A CN 201810046345 A CN201810046345 A CN 201810046345A CN 108190754 A CN108190754 A CN 108190754A
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- container
- processing unit
- automaton
- short side
- long side
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- 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
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
- B66C19/007—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries for containers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The present invention relates to a kind of crane method of works and system based on augmented reality measuring technique, system includes photographic device, processing unit, automaton, manual overvide, photographic device is connect respectively with automaton and manual overvide, and processing unit is connect respectively with photographic device, automaton and manual overvide.The measurement of length, distance is carried out by augmented reality, and data processing and inversion is carried out, and manipulate according to the suspender that analysis result is automated according to measured value.
Description
Technical field
The present invention relates to quay transportation field and cargo handling fields more particularly to a kind of augmented reality that is based on to measure skill
The crane method of work and system of art.
Background technology
The thriving demand and China's container port throughput of world container transport constantly increase, and container handling technology is filled
Standby and handling technique technique proposes the higher requirement of update, there is an urgent need to develop designing efficient container handling device,
To meet the requirement of Container Transport scale, high speed and automation to stevedoring productivity.Since the nineties, with complete
Ball warp is helped and the growth of trade, container traffic volume increase sharply, in powerful transport requirement and the promotion of good technical economic benefit
Under, bank crane tool new and high technology particularly automated control technology has obtained development in an all-round way, still, the packaging used at present
In the handling system of box terminal, there is it is following the problem of.In general, container terminal can be divided into front of harbour (bank)
With harbour rear (stockyard) two parts, the bank crane in front of harbour is for container to be loaded and unloaded from container ship, harbour
The stockyard at rear is used for stacking container.For the arrangement of storage yard container, by two schemes, a kind of is the side of storage yard container
To the direction for being parallel to container on ship, container direction herein refers to the long axis direction of container.It is another in recent years when heap
Field container direction is different from the direction of container on ship, in recent years, in order to improve the utilization rate of stockyard crane, while also carries
The working efficiency in high stockyard, the following second method arrangement container of generally use, i.e.,：Container direction on container ship
Perpendicular to the container direction in stockyard.For stockyard to the transport between bank crane, at present, used method is by interior
The horizontal transport vehicle of combustion engine driving carries out the transport between harbour front and back, i.e., for unloading, bank crane will
Container is attached to from ship on horizontal transport vehicle, then container is transported to heap field areas by horizontal transport vehicle, by stockyard lifting
Machine slings container from vehicle, is aligned on stockyard.For container car, by stockyard crane by container from stockyard
It slings, is put on vehicle, then container is transported to below bank crane by horizontal transport vehicle, complete to fill by bank crane
Vehicle.
Invention content
Goal of the invention：
In view of the above-mentioned problems, the present invention provides a kind of crane method of work and system based on augmented reality measuring technique.
Technical solution：
A kind of crane method of work and system based on augmented reality measuring technique, the system comprises photographic device, processing
Device, automaton, manual overvide, the photographic device control respectively with the automaton and manually
Device connects, and the processing unit is connect respectively with the photographic device, automaton and manual overvide, described
Method includes the following steps：
S010：Operator controls the photographic device to shoot container long side and sets long side and surveys by the manual overvide
Measure starting point and terminal；
S020：Operator controls the photographic device to shoot container short side and sets short side and surveys by the manual overvide
Measure starting point and terminal；
S030：The processing unit measures starting point and terminal according to the long side and sends long side to the automaton
Measurement instruction；
S040：The automaton measures the long edge lengths according to the long side measurement instruction；
S050：The processing unit measures starting point and terminal according to the short side and sends short side to the automaton
Measurement instruction；
S060：The automaton measures the bond length according to the short side measurement instruction；
S070：The processing unit analyzes the container top surface according to the length of the long side and the length computation of short side
Face center；
S080：The processing unit sends control instruction according to the position of the end face center to the automaton；
S090：The automaton manipulates suspender according to the control instruction and slides into the corresponding position of end face center.
As a kind of preferred embodiment of the present invention, the step S070 is further included：
S071：The processing unit calculates half length of long side and half length of short side；
S072：The processing unit measures starting point and terminal according to the long side and half length of long side determines the packaging
The midpoint of case top surface long side；
S073：The processing unit measures starting point and terminal according to the short side and half length of short side determines the packaging
The midpoint of case top surface short side；
S074：The processing unit determines the face center of the container top surface according to the long side midpoint and short side midpoint.
As a kind of preferred embodiment of the present invention, the step S090 is further included：
S091：The processing unit sends move to the automaton；
S092：The automaton controls suspender to move half length of short side along short side measurement starting point and terminal line
Spend corresponding distance；
S093：The automaton controls suspender to move long side along the face line of centres of suspender current location and above-mentioned top surface
The corresponding distance of half length.
As a kind of preferred embodiment of the present invention, the crane includes wheel, sliding rail, driving motor, and the wheel is set
The midline of the pallet foot plate surface is placed in, the sliding rail is set to the pedestal both sides, and the length of the sliding rail is the base
Twice of seat length, the wheel are set to the sliding rail, and described sliding rail one end is pedestal, and the other end is container packing area,
The container packing area is provided with parking stall, and the parking stall is longitudinal parking stall.
As a kind of preferred embodiment of the present invention, the method is further comprising the steps of：
S100：The processing unit sends driving instruction to the driving motor；
S110：The driving motor controls the wheel to be slided in the sliding rail according to the driving instruction；
S120：When the crane slides into the sliding rail tail end, the processing unit sends to the control device and controls
The container is loaded onto the container car for being stopped at parking stall according to the control instruction by instruction, the control device.
As a kind of preferred embodiment of the present invention, face on the basis of the pallet foot of the crane.
As a kind of preferred embodiment of the present invention, the method is further comprising the steps of：
S130：Operator controls the photographic device to be based on the datum level and shoots container car institute by the manual overvide
In position, and determine measurement basic point of the container car away from datum level distance；
S140：Operator controls the photographic device to be based on the datum level and shoots container institute by the manual overvide
In position, and determine measurement basic point of the container away from datum level distance；
S150：The processing unit measures the container car away from benchmark according to measurement basic point of the container car away from datum level distance
The distance in face；
S160：The processing unit sends control instruction to the automaton；
S170：The automaton controls suspender to slide according to the control instruction；
S180：The processing unit measures the container away from benchmark according to measurement basic point of the container away from datum level distance
The distance in face；
S190：The processing unit judge distance of the container car away from datum level whether with the container away from datum level away from
From consistent；
S200：If so, the processing unit drives the automaton to carry out container entrucking work.
The present invention realizes following advantageous effect：
1. carrying out the measurement of length, distance by augmented reality, and data processing and inversion, and root are carried out according to measured value
It is manipulated according to the suspender that analysis result is automated；
2. carrying out suspender operation by augmented reality, the precision of container operation is considerably increased, reduces operator
Operating pressure, reduce error.
Description of the drawings
Attached drawing herein is incorporated into specification and forms the part of this specification, shows the implementation for meeting the disclosure
Example, and in specification together for explaining the principle of the disclosure.
Fig. 1 is method of work block diagram of the present invention；
The step of Fig. 2 is and determines end face center is schemed；
Fig. 3 in order to control suspender the step of scheme；
Fig. 4 is two schematic diagram of embodiment；
Fig. 5 is three schematic diagram of embodiment；
Fig. 6 is system framework figure；
Fig. 7 is crane schematic diagram.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.
Embodiment one：
Reference chart is Fig. 1, Fig. 2, Fig. 3, Fig. 6.A kind of crane method of work and system based on augmented reality measuring technique, institute
State system include photographic device 1, processing unit 2, automaton 3, manual overvide 4, the photographic device 1 respectively with
The automaton 3 and manual overvide 4 connect, the processing unit 2 respectively with the photographic device 1, automatic
Control device 3 and manual overvide 4 connect, and the described method comprises the following steps：
S010：Operator controls the photographic device 1 to shoot container long side and sets long side by the manual overvide 4
Measure starting point and terminal；
S020：Operator controls the photographic device 1 to shoot container short side and sets short side by the manual overvide 4
Measure starting point and terminal；
S030：The processing unit 2 measures starting point and terminal and sent to the automaton 3 according to the long side to be grown
Side measurement instruction；
S040：The automaton 3 measures the long edge lengths according to the long side measurement instruction；
S050：The processing unit 2 sends short according to short side measurement starting point and terminal to the automaton 3
Side measurement instruction；
S060：The automaton 3 measures the bond length according to the short side measurement instruction；
S070：The processing unit 2 analyzes the container top surface according to the length of the long side and the length computation of short side
Face center；
S080：The processing unit 2 sends control instruction according to the position of the end face center to the automaton 3；
S090：The automaton 3 manipulates suspender according to the control instruction and slides into the corresponding position of end face center.
As a kind of preferred embodiment of the present invention, the step S070 is further included：
S071：The processing unit 2 calculates half length of long side and half length of short side；
S072：The processing unit 2 measures starting point and terminal according to the long side and half length of long side determines the collection
The midpoint for top surface long side of casing；
S073：The processing unit 2 measures starting point and terminal according to the short side and half length of short side determines the collection
The midpoint of vanning top surface short side；
S074：The processing unit 2 determines the face center of the container top surface according to the long side midpoint and short side midpoint.
As a kind of preferred embodiment of the present invention, the step S090 is further included：
S091：The processing unit 2 sends move to the automaton 3；
S092：The automaton 3 controls suspender to move short side half along short side measurement starting point and terminal line
The corresponding distance of length；
S093：The automaton 3 controls face line of centres moving long of the suspender along suspender current location and above-mentioned top surface
The corresponding distance of half length of side.
In specific implementation process, the processing unit 2 is provided with the measuring system of augmented reality, passes through optics school
Standard carries out the measurement of length and distance.Operator controls the photographic device 1 to shoot packaging by the manual overvide 4
Case long side, and the both ends of the long side are determined as starting point and terminal according to shooting image, the processing unit 2 to it is described from
Dynamic control device 3 sends long side measurement instruction, and the automaton 3 controls the camera shooting according to the long side measurement instruction
Device 1 is rotated since the starting point along straight line to the terminal, and the processing unit 2 is set in the photographic device 1
There is target point, the processing unit 2 is using augmented reality measuring system according to target point along the shifting of the starting point to terminal
Dynamic distance calculates the distance of the long side, and the processing unit 2 calculates the container by step same as mentioned above
The distance of short side.After the processing unit 2 has calculated long side and bond length, for example, long side is 40 feet, short side 8
Half length of foot, the calculating long side of processing unit 2 and short side, i.e., 20 feet, 4 feet, based on described 20 feet and 4 English
Half length of ruler, the processing unit 2 determines the midpoint of the long side and short side according to half length, so as to judge
The face center of container top surface is stated, face center is parallel with long side with the line at short side midpoint, and direction is consistent.The processing unit 2
Move is sent to the automaton 3, the automaton 3 controls suspender to measure starting point along the short side
And terminal line moves 4 feet of distance, it is described when the midpoint of described 4 feet of distances of lifting appliance moving to the short side
Automaton 3 control the suspender along suspender described in the direction controlling of long side to the face center move 20 feet away from
From, when described 20 feet of distances of lifting appliance moving are to the face center, the lifting appliance moving to target location, the target location
I.e. described suspender center position corresponding with the face center of the container top surface, in the target location, suspender can be complete
Cover the container.
Embodiment two：
Reference chart is Fig. 4, Fig. 7.For embodiment one, the difference of the present embodiment is：
As a kind of preferred embodiment of the present invention, the crane includes wheel 5, sliding rail 6, driving motor 7, and the wheel 5 is set
The midline of the pallet foot plate surface is placed in, the sliding rail 6 is set to the pedestal both sides, and the length of the sliding rail 6 is described
Twice of base length, the wheel 5 are set to the sliding rail 6, and described 6 one end of sliding rail is pedestal, and the other end is packaging box installed
Case area, the container packing area are provided with parking stall, and the parking stall is longitudinal parking stall.
As a kind of preferred embodiment of the present invention, the method is further comprising the steps of：
S100：The processing unit 2 sends driving instruction to the driving motor 7；
S110：The driving motor 7 controls the wheel 5 to be slided in the sliding rail 6 according to the driving instruction；
S120：When the crane slides into 6 tail end of sliding rail, the processing unit 2 sends to the control device and controls
The container is loaded onto the container car for being stopped at parking stall according to the control instruction by system instruction, the control device.
In specific implementation process, when the processing unit 2 judge container hoisting complete when, the processing unit 2 to
The driving motor 7 sends driving instruction, and the driving motor 7 controls the wheel 5 to be slided, and slide on the sliding rail 6
To 6 tail end of sliding rail, the pallet face is slid into above the parking stall.
Embodiment three：
Reference chart is Fig. 5.For embodiment one, the difference of the present embodiment is：
As a kind of preferred embodiment of the present invention, face on the basis of the pallet foot of the crane.
As a kind of preferred embodiment of the present invention, the method is further comprising the steps of：
S130：Operator controls the photographic device 1 to be based on the datum level and shoots container car by the manual overvide 4
Position, and determine measurement basic point of the container car away from datum level distance；
S140：Operator controls the photographic device 1 to be based on the datum level and shoots container by the manual overvide 4
Position, and determine measurement basic point of the container away from datum level distance；
S150：The processing unit 2 measures the container car away from base according to measurement basic point of the container car away from datum level distance
The distance in quasi- face；
S160：The processing unit 2 sends control instruction to the automaton 3；
S170：The automaton 3 controls suspender to slide according to the control instruction；
S180：The processing unit 2 measures the container away from base according to measurement basic point of the container away from datum level distance
The distance in quasi- face；
S190：The processing unit 2 judge distance of the container car away from datum level whether with the container away from datum level
Distance is consistent；
S200：If so, the processing unit 2 drives the automaton 3 to carry out container entrucking work.
In specific implementation process, for carrying out optical correction, operator is filled the datum level by the manual control
It puts the 4 controls photographic device 1 and shoots the image for including container car and datum level, operator determines the goods on the image
Cabinet vehicle and the measurement basic point on datum level, the processing unit 2 are driven according to the basic point of the container car and the basic point of datum level
The dynamic control instruction control the photographic device 1 along the measurement basic point measure the container car to the datum level away from
From.The processing unit 2 sends control instruction to the automaton 3, and the automaton 3 controls the suspender
It slides, meanwhile, operator controls the shooting of photographic device 1 to include container and datum level by the manual overvide 4
Image, operator determines the measurement basic point on the container and datum level, 2 basis of processing unit on the image
The container judges with the distance for measuring basic point and measuring the container and datum level on datum level, the processing unit 2
Whether distance of the container car away from datum level be consistent with distance of the container away from datum level, if it is not, then continuing to control institute
State suspender slip；If then the processing unit 2 drives the automaton 3 to carry out container entrucking work.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow be familiar with the skill of the technical field
Art personnel can understand present disclosure and implement according to this, can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, should be covered by the protection scope of the present invention.
Claims (7)
1. a kind of crane method of work and system based on augmented reality measuring technique, the system comprises photographic device, places
Device, automaton, manual overvide are managed, the photographic device is controlled respectively with the automaton and manually
Device connection processed, the processing unit are connect respectively with the photographic device, automaton and manual overvide,
It is characterized in that：It the described method comprises the following steps：
S010：Operator controls the photographic device to shoot container long side and sets long side and surveys by the manual overvide
Measure starting point and terminal；
S020：Operator controls the photographic device to shoot container short side and sets short side and surveys by the manual overvide
Measure starting point and terminal；
S030：The processing unit measures starting point and terminal according to the long side and sends long side to the automaton
Measurement instruction；
S040：The automaton measures the long edge lengths according to the long side measurement instruction；
S050：The processing unit measures starting point and terminal according to the short side and sends short side to the automaton
Measurement instruction；
S060：The automaton measures the bond length according to the short side measurement instruction；
S070：The processing unit analyzes the container top surface according to the length of the long side and the length computation of short side
Face center；
S080：The processing unit sends control instruction according to the position of the end face center to the automaton；
S090：The automaton manipulates suspender according to the control instruction and slides into the corresponding position of end face center.
2. a kind of crane method of work and system based on augmented reality measuring technique according to claim 1, special
Sign is：The step S070 is further included：
S071：The processing unit calculates half length of long side and half length of short side；
S072：The processing unit measures starting point and terminal according to the long side and half length of long side determines the packaging
The midpoint of case top surface long side；
S073：The processing unit measures starting point and terminal according to the short side and half length of short side determines the packaging
The midpoint of case top surface short side；
S074：The processing unit determines the face center of the container top surface according to the long side midpoint and short side midpoint.
3. a kind of crane method of work and system based on augmented reality measuring technique according to claim 1, special
Sign is：The step S090 is further included：
S091：The processing unit sends move to the automaton；
S092：The automaton controls suspender to move half length of short side along short side measurement starting point and terminal line
Spend corresponding distance；
S093：The automaton controls suspender to move long side along the face line of centres of suspender current location and above-mentioned top surface
The corresponding distance of half length.
4. a kind of crane method of work and system based on augmented reality measuring technique according to claim 1, special
Sign is：The crane includes wheel, sliding rail, driving motor, and the wheel is set to the midline of the pallet foot plate surface,
The sliding rail is set to the pedestal both sides, and the length of the sliding rail is twice of the base length, and the wheel is set to
The sliding rail, described sliding rail one end are pedestal, and the other end is container packing area, and the container packing area is provided with parking stall,
The parking stall is longitudinal parking stall.
5. a kind of crane method of work and system based on augmented reality measuring technique according to claim 4, special
Sign is：The method is further comprising the steps of：
S100：The processing unit sends driving instruction to the driving motor；
S110：The driving motor controls the wheel to be slided in the sliding rail according to the driving instruction；
S120：When the crane slides into the sliding rail tail end, the processing unit sends to the control device and controls
The container is loaded onto the container car for being stopped at parking stall according to the control instruction by instruction, the control device.
6. a kind of crane method of work and system based on augmented reality measuring technique according to claim 4, special
Sign is：Face on the basis of the pallet foot of the crane.
7. a kind of crane method of work and system based on augmented reality measuring technique according to claim 6, special
Sign is：The method is further comprising the steps of：
S130：Operator controls the photographic device to be based on the datum level and shoots container car institute by the manual overvide
In position, and determine measurement basic point of the container car away from datum level distance；
S140：Operator controls the photographic device to be based on the datum level and shoots container institute by the manual overvide
In position, and determine measurement basic point of the container away from datum level distance；
S150：The processing unit measures the container car away from benchmark according to measurement basic point of the container car away from datum level distance
The distance in face；
S160：The processing unit sends control instruction to the automaton；
S170：The automaton controls suspender to slide according to the control instruction；
S180：The processing unit measures the container away from benchmark according to measurement basic point of the container away from datum level distance
The distance in face；
S190：The processing unit judge distance of the container car away from datum level whether with the container away from datum level away from
From consistent；
S200：If so, the processing unit drives the automaton to carry out container entrucking work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810046345.9A CN108190754A (en) | 2018-01-17 | 2018-01-17 | A kind of crane method of work and system based on augmented reality measuring technique |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810046345.9A CN108190754A (en) | 2018-01-17 | 2018-01-17 | A kind of crane method of work and system based on augmented reality measuring technique |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08101008A (en) * | 1994-09-29 | 1996-04-16 | Asia Marine Kk | Device for positioning vehicle |
| EP1043262A1 (en) * | 1999-04-09 | 2000-10-11 | NFM Technologies | Method for loading a container on a platform of a transport means and installation for stocking and handling of containers |
| CN101096262A (en) * | 2006-06-28 | 2008-01-02 | 上海振华港口机械（集团）股份有限公司 | Container-truck positioning system and method for container crane |
| CN101289156A (en) * | 2008-05-30 | 2008-10-22 | 浙江工业大学 | Intelligent container sling based on omniberaing vision sensor |
| CN201172588Y (en) * | 2007-12-17 | 2008-12-31 | 中国国际海运集装箱(集团)股份有限公司 | RFID read/write device for container lifting device |
-
2018
- 2018-01-17 CN CN201810046345.9A patent/CN108190754A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08101008A (en) * | 1994-09-29 | 1996-04-16 | Asia Marine Kk | Device for positioning vehicle |
| EP1043262A1 (en) * | 1999-04-09 | 2000-10-11 | NFM Technologies | Method for loading a container on a platform of a transport means and installation for stocking and handling of containers |
| CN101096262A (en) * | 2006-06-28 | 2008-01-02 | 上海振华港口机械（集团）股份有限公司 | Container-truck positioning system and method for container crane |
| CN201172588Y (en) * | 2007-12-17 | 2008-12-31 | 中国国际海运集装箱(集团)股份有限公司 | RFID read/write device for container lifting device |
| CN101289156A (en) * | 2008-05-30 | 2008-10-22 | 浙江工业大学 | Intelligent container sling based on omniberaing vision sensor |
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