CN108946485B - Anti-collision box system for container yard loading and unloading operation - Google Patents
Anti-collision box system for container yard loading and unloading operation Download PDFInfo
- Publication number
- CN108946485B CN108946485B CN201811137501.9A CN201811137501A CN108946485B CN 108946485 B CN108946485 B CN 108946485B CN 201811137501 A CN201811137501 A CN 201811137501A CN 108946485 B CN108946485 B CN 108946485B
- Authority
- CN
- China
- Prior art keywords
- trolley
- lifting appliance
- box
- laser scanner
- distance
- 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
- 235000015170 shellfish Nutrition 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims description 15
- 238000009825 accumulation Methods 0.000 claims description 14
- 239000002131 composite material Substances 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 6
- 241000237509 Patinopecten sp. Species 0.000 claims 1
- 235000020637 scallop Nutrition 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 5
- 238000009434 installation Methods 0.000 description 8
- 238000005259 measurement Methods 0.000 description 8
- 230000001133 acceleration Effects 0.000 description 4
- 230000015572 biosynthetic process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000003786 synthesis reaction Methods 0.000 description 4
- ZMXDDKWLCZADIW-UHFFFAOYSA-N N,N-Dimethylformamide Chemical compound CN(C)C=O ZMXDDKWLCZADIW-UHFFFAOYSA-N 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000002194 synthesizing effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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
- B66C15/00—Safety gear
- B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
- B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a container yard loading and unloading operation anti-collision box system, which comprises a system controller, a front laser scanner and a rear laser scanner, wherein the system controller is arranged on a crane trolley; the system controller communicates with the laser scanner via an ethernet and with the crane control system via an industrial control bus. The system can solve the problem that the lifting appliance and the operation box block the box pile outline in the advancing direction of the trolley and the problem that the adjacent box pile with higher current shellfish position blocks the target box position outline, ensures the effectiveness and the integrity of the detection of the danger of the box collision, does not need to limit the normal lifting operation of a trolley driver, and can ensure the operation safety under the condition of not affecting the operation efficiency.
Description
Technical Field
The invention relates to a container yard loading and unloading operation anti-collision box system which is mainly used for detecting and protecting dangerous situations of a collision box in the process that crane equipment executes container lifting operation in a container yard, and ensuring operation safety.
Background
Two-dimensional laser scanner
The two-dimensional laser photoelectric scanner performs laser scanning ranging on the surrounding environment on a scanning plane through an internal rotating mechanism, and the ranging mode is 'flight time measurement':
1. emitting a laser pulse of a circular light spot in the current measuring direction;
2. receiving laser pulses reflected from the surface of the measured object;
3. measuring the time from the emission to the receiving of the laser pulse, and obtaining the distance of a measured object on the current measurement direction angle through 'time-distance conversion';
4. the measuring direction angle is continuously changed on one plane (laser scanning plane) through the rotating mechanism, so that the measurement of the cross section outline of the surrounding environment on the plane is realized, the measurement data is given in a polar coordinate representation mode, and the measurement data can be further converted into a two-dimensional rectangular coordinate representation under the coordinate system of scanner equipment.
The two-dimensional laser scanner (hereinafter referred to as laser scanner) based on the technology can effectively work under all-weather conditions, acquire accurate distance and two-dimensional shape data, and is an important sensor for realizing automatic safety operation of large-scale mechanical equipment.
(II) working equipment and container yard layout
The basic application of the invention is that the container handling operation wharf of 20 feet/40 feet adopting a through type track portal crane is most common at present, and the operation elements are as follows:
1. and (3) a container: the metal box body is in a cuboid shape, and locking holes are formed in the upright posts at four corners of the upper bottom surface and the lower bottom surface and are used for hoisting and fixing on a flat plate. The container is provided with different 'box types', the box types related to the invention comprise 20 feet boxes, 40 feet boxes (common boxes and high boxes) and 45 feet boxes, the length, width and height of each box type are international standards, wherein the box widths are completely the same, and the length and the height are different;
2. gantry crane: the crane is of a frame structure and is operated by a driver, and the structural elements comprise:
1) And (3) a cart: the device consists of two sets of door legs and a pair of cross beams erected on the door legs, wherein wheel pairs are arranged on the door legs, and the device walks on the ground along the direction perpendicular to the cross beams during operation, and is called a large vehicle:
2) And (3) a trolley: the rail is paved on the beam, a wheel rail travelling mechanism is erected, and the wheel rail travelling mechanism can travel along the direction of the beam and is called a trolley;
3) Lifting appliance: the lifting appliance is hung on the trolley through a steel wire rope, lifting can be realized by winding and unwinding the steel wire rope, a main beam of the lifting appliance is provided with two pairs of telescopic horizontal lifting arms, two ends of the bottom surface of each lifting arm are provided with rotatable locking pins, the locking pins are inserted into locking holes of the container and can be fastened and connected with the container after rotating, and the lifting appliance can load and unload the container according to the requirement, so that the locking pins are aligned with the locking holes on the upper surface of the container, and lifting of the container is realized;
4) Cab: a cab is hung below the trolley, a crane driver operates the trolley and the trolley of the crane to walk in the cab facing the lifting appliance direction, and lifting of the lifting appliance, telescoping of a suspension arm and rotation of a lock pin are realized, so that the lifting operation of the container is realized;
3. and (3) a storage yard: the container stacking areas are orderly arranged according to rectangular grids, the row direction of the grids is the left-right direction, and the column direction is the front-back direction; stacking a group of container stacks with the same length and width and aligned up and down strictly in each grid; the containers in each row of grids are aligned along the left-right direction, and the container in each column of grids has the same length and is aligned along the front-back direction;
4. shellfish position: when the container lifting operation is executed, the cart is firstly aligned with the bin position where the operation box is located, and then the cart moves back and forth in the bin position, so that the lifting appliance reaches the target position of the operation box.
(III) workflow
The basic operation content of the operation mode is container exchange between a storage yard and a trailer, comprising boxing operation and unloading operation, and the typical flow is as follows:
1. boxing: the crane driver stretches the suspension arm according to the operation instruction and is matched with the length of the target box; the cart is operated to run to a specified shellfish position along the left-right direction, so that the lifting appliance is aligned with Bei Wei left and right; the operation trolley conveys the lifting appliance to the upper part of the target box group, so that the lifting appliance is aligned with the front and back of the target box; lowering the lifting appliance to grab the target box and locking the lifting appliance lock pin; operating the trolley to enable the lifting appliance to lift the target box to the position above the container trailer in the lane and to lower the target box to the trailer plate;
2. unloading: the crane driver operates the trolley to return to the position above the lane; the boom is stretched according to the operation instruction and matched with the box length of the target box; the cart is operated to run to the specified shellfish position, and the trailer reaches the lower part of the crane at the moment, and the flat plate of the cart is approximately aligned with the specified shellfish position; lowering the lifting appliance to grab the target box; lifting the lifting appliance; the operation trolley conveys the lifting appliance to the upper part of the target box group, so that the lifting appliance is aligned with the target box in front-back direction; lowering the lifting appliance to place the target box at the target phase; and operating the lifting appliance to unlock and lift the lifting appliance.
(IV) dangerous case and avoiding mode of operation
According to the loading and unloading operation flow, the main operation dangerous cases and the corresponding dangerous case avoiding modes of the container loading and unloading operation in the storage yard comprise:
1. horizontal bump box: when a trolley driver lifts a target box in a stacking yard shellfish position, the lifting height of a lifting appliance is insufficient, so that the target box collides with a box stack higher in the advancing direction; the corresponding dangerous case avoiding mode is that the trolley brakes;
2. vertical bump box: when a trolley driver lowers a target box above a target box in a storage yard shellfish position, the position of a lifting appliance is not aligned with the front and back of the target box, so that the bottom of the target box collides with the top of a higher box stack adjacent to the target box; the corresponding dangerous case avoiding mode is lifting appliance braking.
(sixth) application State
Aiming at the dangerous cases, some anti-collision box systems exist at present, a laser scanner is installed on a trolley, the box column outline in an operation shell position is scanned, the operation working conditions of the trolley and a lifting appliance are combined, the potential dangerous cases of the collision boxes are predicted, and a dangerous case avoiding instruction is sent to a control system of a crane.
Because the mounting position of the laser scanner on the trolley is limited by a plurality of structural conditions, and the mounting height is required to be higher than the highest lifting height of the lifting appliance, the lifting appliance and the operation box can form shielding on the scanning range of the scanner, meanwhile, the laser scanners mounted on any position of the trolley are likely to have higher box stacks shielding lower target box stacks due to different heights of the box stacks in the bin positions, and therefore complete box column profile information is difficult to acquire.
When the system is actually used, certain restrictions are required to be carried out on the operation mode of a trolley driver, for example, in the process of lifting a target box, in order to prevent the box from being horizontally bumped, the trolley driver is required to lift the target box to the highest height, then move the trolley to the position above a lane or the position above the target box, and then lower the target box, so that the operation efficiency is lower and the energy consumption is higher; meanwhile, due to the fact that adjacent box stacks are shielded, the problem that the height of the adjacent box stack on one side of the target box position is difficult to obtain all the time exists in a single laser scanner, and the occurrence of vertical collision of the box cannot be avoided, so that a trolley driver is required to switch into a speed-limiting descending mode when the target box is descended to a specific height, serious accidents caused by the fact that the box is vertically collided possibly happen are avoided, the operation efficiency is reduced, and the effectiveness of a protection system is insufficient.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the container handling operation anti-collision box system for the container yard, which provides comprehensive security protection for container handling operation executed by a manually operated gantry crane in the current shellfish position of a land yard, does not influence the operation efficiency and does not increase the operation energy consumption.
The technical scheme adopted by the invention is as follows: the container yard loading and unloading operation anti-collision box system comprises a system controller, a front laser scanner and a rear laser scanner, wherein the system controller is arranged on a crane trolley, and the front laser scanner and the rear laser scanner are arranged at the front and rear positions of the crane trolley in a vertical scanning mode; the system controller is communicated with the laser scanner through an Ethernet and is communicated with a crane control system through an industrial control bus; the front laser scanner and the rear laser scanner are respectively positioned at the two sides of the front and rear directions of the lifting appliance, are used for acquiring the real-time box column profile in the current shellfish position and are transmitted to the system controller; the system controller utilizes basic working condition parameters of the crane and the storage yard, real-time working condition parameters acquired from the crane control system and real-time bin profile in the current bin position acquired from the laser scanner to complete calculation of composite working condition parameters and judgment of operation danger, and sends a danger avoiding operation instruction to the crane control system.
Compared with the prior art, the invention has the following positive effects:
the system scans the box column outline in the current shellfish position through the front scanners and the rear scanners which are arranged at the front side and the rear side of the lifting appliance, so that in the lifting process of the operation box, one laser scanner always reaches any position on a lifting path before the operation box, and the real-time box column outline around the position is obtained in advance; in the travelling process of the trolley, the system controller performs accumulation synthesis on the real-time box column profiles according to the position of the trolley to generate time accumulation box column profiles below lifting appliance and operation box lifting paths; the system controller carries out horizontal collision box and vertical collision box dangerous case detection based on the time accumulation box column outline, can solve the shielding problem of a lifting appliance and an operation box on the box stack outline in the advancing direction of the trolley and the shielding problem of a higher adjacent box stack in the current shellfish position on the target box position outline, ensures the effectiveness and the integrity of operation dangerous case detection, does not need to limit the normal lifting operation of a trolley driver, and can ensure the operation safety under the condition of not affecting the operation efficiency.
Drawings
The invention will now be described by way of example and with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of the installation of the present monitoring system;
FIG. 2 is a process flow diagram of the present monitoring system;
FIG. 3 is a schematic illustration of a real-time bin profile synthesis time accumulation bin profile acquired by a front scanner and a rear scanner;
FIG. 4 is a schematic diagram of a horizontal touch box operation hazard determination;
FIG. 5 is a schematic diagram of a vertical bump operation hazard determination.
Detailed Description
1. Working condition information and spatial data definition
In order to realize effective discovery of dangerous cases of horizontal and vertical collision of the working box in the lifting process of the working box, the system needs to acquire a series of working condition information and spatial data, comprehensively analyze and judge the working condition information and the spatial data according to the data, and control the crane operation based on the judging result.
In order to clearly describe such operating condition information and spatial data, the following definitions are specifically made.
1. Azimuth definition
The direction in the invention is defined according to the driving gesture of the crane driver, therefore, the traveling direction of the cart is the left/right direction, the traveling direction of the cart is the front/back direction, the lifting appliance is positioned in front of the driver, and the moving direction is the up/down direction.
2. Cart coordinate System and related definition
The scale, position, direction, speed and acceleration are expressed by using the following cart coordinate system: the X axis points to the right, the Y axis points to the front, and the Z axis points to the upper; the YZ plane passes through left and right central lines of the lifting appliance and is vertical to the ground; the origin of coordinates is a vertical projection point of the center of the lifting appliance on the ground of the storage yard when the trolley is positioned at the limit position of the rear door leg;
the definition of the spatial data used is:
1) Scale: the "length" as described herein is defined in the X-direction, the "width" is defined in the Y-direction, and the "height" is defined in the Z-direction;
2) Position: pos (Pos) X ,Pos Y ,Pos Z ) Representing coordinates as (Pos X ,Pos Y ,Pos Z ) Is a point of (2);
3) Two-dimensional projection coordinates: pos XY (x, y) represents the coordinates of the projection point of Pos on the XY plane; pos YZ (y, z) represents the projection point coordinates of Pos in the YZ plane; pos ZX (z, x) represents the projection point coordinates of Pos in the ZX plane;
4) The direction is: 0 means "stationary", -1 means "left row/back/down", and 1 means "right row/forward/up".
The definition of the geometric symbols used is:
1)Seg(Pos 1 ,Pos 2 ): end point is Pos 1 And Pos 2 Is a line segment of (2);
2)from Pos 1 To Pos 2 Is a vector of (2);
3)Rect YZ (Pos YZ w, H): the opposite sides on the YZ plane are respectively parallel to the rectangles of the Y axis and the Z axis, and the center point is Pos YZ The width is W, and the height is H;
4)Ω(Rect YZ LD): a subset of current scan data points of the laser scanner LD, wherein the vertical projection of the scan data points onto the YZ plane falls into Rect YZ And (3) inner part.
3. Basic operating parameters
The definition, symbology and acquisition modes of the basic working condition parameters related in the invention are summarized as follows:
1) Container
Length, width and height C of each box L /C W /C H Is of international standard, wherein C W The height symbols of the boxes are exactly the same:
(1) Common box: height of C H ；
(2) High box: height of C HH 。
2) Trolley
(1) Maximum walking distance of trolley between front and back door legs: TMR (TMR) W ；
(2) Braking acceleration: TKA (TKA) X Acceleration at full braking.
3) Lifting appliance
(1) Overall width: d (D) W Obtaining a design drawing;
(2) Distance between the lower bottom surface of the main girder of the lifting appliance and the top surface of the lifted operation box: DMCofs H Obtaining a design drawing;
(3) Braking acceleration: DKA (DKA) Z And the technical specification of the crane is obtained.
4. Real-time operating parameters
The definition, symbology and acquisition modes of the real-time working condition parameters related in the invention are summarized as follows:
1) Time of
T: the residence time of the cart in the present beta;
t (i): the time of the ith scanning of the front scanner and the rear scanner in the beta position is t (i) epsilon [0, T ];
2) Trolley
(1) Walking direction: TMDir Y Acquiring from a crane control system;
(2) Walking speed: TV set Y Obtained from a crane control system.
3) Lifting appliance
(1) Height of the lower bottom surface of the main girder: DMH (dimethyl formamide) Z ；
(2) Distance DCen between current position of sling center point and front-back direction of back door leg limit position Y ；
(3) Lifting direction: DVDir Z Acquiring from a crane control system;
(4) Real-time lifting speed: DV (distance vector) Z Acquiring from a crane control system;
(5) Height of lifted box: DCH (dedicated channel) H Obtained from a crane control system.
2. System architecture
1. Device composition and function
As shown in fig. 1, the device composition, the installation mode and the basic functions of the system include:
1) Laser scanner: and 2, namely a front scanner and a rear scanner, which are arranged at the front and rear positions of the crane trolley in a vertical scanning mode and positioned at the two sides of the front and rear directions of the lifting appliance, so as to acquire the real-time box column profile of the trolley at the current position in the position of the crane trolley and provide real-time scanning data for calculating the time accumulation box column profile of the position of the crane trolley.
2) And (3) a system controller: and 1, which is arranged at a proper position of the crane trolley, is communicated with the laser scanner through the Ethernet and is communicated with a crane control system through an industrial control bus. The system controller utilizes the basic working condition parameters of the crane, the real-time working condition parameters acquired from the crane control system and the real-time scanning data acquired from the laser scanner to synthesize the time accumulation box column profile of the beta position, so as to finish the judgment of the operation dangerous case and send a dangerous case avoiding operation instruction to the crane control system.
2. Laser scanner mounting mode and real-time scanning data coordinate transformation
The mounting positions of the 2 laser scanners of the system are described as follows:
1) Front scanner (FLD): the ideal installation position is on the left and right direction central position of the front surface of the trolley, and the laser scanning surface is vertical to the ground and parallel to the travelling direction of the trolley, so that the scanning origin coordinates are as follows: FLDPos (FLDPos) x ,FLDPos y ,FLDPos z ) Wherein:
(1)FLDPos x the left-right direction distance between the origin and the center point of the lifting appliance is measured for the front scanner, and the distance is adjustable;
(2)FLDPos y the front-back direction distance from the origin to the center point of the lifting appliance is measured for the front-mounted scanner, and the front-back direction distance is adjustable;
(3)FLDPos z the height of the origin from the ground of the storage yard is measured for the front scanner and is adjustable.
The conversion mode of the scanning data points of the front scanner from the equipment coordinates (X, Y) to the cart coordinates (X, Y, Z) is as follows:
2) Post scanner (RLD): the ideal mounting position is the right and left direction proper position of the rear surface of the trolley, the shielding of the cab to the scanning surface is needed to be avoided, the laser scanning surface is perpendicular to the ground and parallel to the travelling direction of the trolley, and therefore, the scanning origin coordinates are as follows: RLDPos (RLDPos) x ,RLDPos y ,RLDPos z ) Wherein:
(1)RLDPos x the left-right direction distance between the origin and the center point of the lifting appliance is measured for a rear scanner, and the distance is adjustable;
(2)RLDPos y the distance between the origin and the front-rear direction of the center point of the lifting appliance is measured for a rear scanner, and the distance is adjustable;
(3)RLDPos z the height of the origin from the ground of the storage yard is measured for the rear scanner, and the height can be adjusted.
The conversion mode of the scanning data points of the post scanner from the equipment coordinates (X, Y) to the cart coordinates (X, Y, Z) is as follows:
the installation positions of the laser scanners are ideal positions, the adjustable position parameters are required to be determined according to the actual installation conditions, and the actual measurement data points of the laser scanners can be converted into the coordinate system of the laser scanner equipment in an ideal installation mode through coordinate translation without affecting the following description.
The real-time measurement data points acquired by each laser scanner are required to be converted from a laser scanner equipment coordinate system to a cart coordinate system according to the installation mode and the installation position of the laser scanner, and the coordinates of the real-time measurement data points of the laser scanner refer to the coordinates in the cart coordinate system.
3. Main control program processing flow
As shown in fig. 2, the main control program of the system runs on the system controller to sequentially complete the following processing flows:
1) Acquiring real-time scanning data from each laser scanner;
2) Acquiring real-time working condition parameters from a crane controller, and calculating and generating composite working condition parameters;
3) Synthesizing a real-time box column outline at the current position of the trolley by the scanning data of the front scanner and the scanning data of the rear scanner;
4) Updating the time accumulation box column profile by using the real-time box column profile to obtain the time accumulation box column profile at the current position of the trolley;
5) Detecting possible dangerous situations in the current operation state;
6) If some operation dangerous case is found, a corresponding dangerous case avoiding operation instruction is sent to the crane control system.
4. Composite operating mode parameter calculation
1) Distance of braking of trolley
The trolley braking distance composite working condition parameters are matched with the time accumulation box column outline and are used for detecting the 'horizontal collision box' dangerous case, and the calculation method is as follows:
2) Combined working condition parameters of lifting appliance
The composite working condition parameters of the lifting appliance comprise a descending braking distance and the height of the lower bottom surface of the working box, are matched with the outline of the time accumulation box row and are used for detecting dangerous cases of horizontal box collision and vertical box collision, and the calculation method is as follows:
5. time accumulation bin profile synthesis
The method comprises the steps of integrating time of real-time bin profile scanning data acquired in the bin position by a front scanner and a rear scanner to acquire known bin profile information in the bin position at the current time, wherein the calculation method comprises the following steps:
fig. 3 shows a synthesis process of the time-cumulative bin profile.
6. Dangerous case judging logic and dangerous case avoiding operation instruction
The judging method of various operation dangerous cases and the dangerous case avoiding operation instruction to be adopted are as follows:
1) Horizontal touch box
The method for judging the horizontal collision case danger comprises the following steps: in the shortest braking distance range in the current travelling direction of the trolley, if there is a contour point of the time accumulated box column contour, there is a horizontal collision box danger. The horizontal collision box dangerous case detection logic and the dangerous case avoiding operation instruction are as follows:
fig. 4 shows a method of determining a horizontal touch box hazard.
2) Vertical touching box
The method for judging the dangerous case of the vertical collision box comprises the following steps: in the shortest braking distance range of the lifting appliance descending, if a time accumulated outline point of the box column outline exists, a vertical box collision dangerous situation exists, and a vertical box collision dangerous situation detection logic and a dangerous situation avoidance operation instruction are as follows:
fig. 5 illustrates a method of determining a vertical crash box hazard.
Claims (3)
1. The utility model provides a container yard loading and unloading operation prevents bumping case system which characterized in that: the system comprises a system controller, a front laser scanner and a rear laser scanner, wherein the system controller is arranged on a crane trolley, and the front laser scanner and the rear laser scanner are arranged at the front and rear positions of the crane trolley in a vertical scanning mode; the system controller is communicated with the laser scanner through an Ethernet and is communicated with a crane control system through an industrial control bus; the front laser scanner and the rear laser scanner are respectively positioned at the two sides of the front and rear directions of the lifting appliance, are used for acquiring the real-time box column profile in the current shellfish position and are transmitted to the system controller; the system controller utilizes basic working condition parameters of the crane and the storage yard, real-time working condition parameters acquired from a crane control system and real-time bin profile in the current bin position acquired from the laser scanner to complete calculation of composite working condition parameters and judgment of operation danger, and sends a danger avoiding operation instruction to the crane control system; the front laser scanner is arranged at the central position of the left and right directions of the front surface of the trolley, and the laser scanning surface is vertical to the ground and parallel to the travelling direction of the trolley; the rear laser scanner is arranged on the left and right directions of the rear surface of the trolley and needs to avoid shielding of a scanning surface by a cab, and the laser scanning surface is perpendicular to the ground and parallel to the travelling direction of the trolley;
the composite working condition parameters include:
1) Minimum braking distance of the trolley;
2) The minimum lowering braking distance of the lifting appliance and the height of the lower working surface;
3) The time accumulation box column profile of the section of the scallop in the front-rear direction;
the method for judging the operation dangerous case by the system controller and the corresponding dangerous case avoiding operation instruction are as follows:
1) When the profile point of the time accumulation box column profile exists in the shortest braking distance range in the lifting appliance descending direction is detected, judging that a vertical box collision operation dangerous situation exists, and sending a lifting appliance braking instruction to a crane control system by the system controller;
2) And in the forward or backward process of the trolley, when the contour point of the time accumulation box column contour exists in the shortest braking distance range in the current running direction of the lifting appliance, judging that the horizontal box collision operation dangerous situation exists, and sending a trolley braking instruction to a crane control system by the system controller.
2. A container yard loading and unloading operation anti-collision system as claimed in claim 1, wherein: the XYZ coordinates of the scanning origin of the front laser scanner are respectively the left-right direction distance from the measuring origin to the center point of the lifting appliance, the front-back direction distance from the center point of the lifting appliance when the distance trolley is positioned at the limit position of the rear door leg, and the height from the ground of the storage yard, and the distance between the measuring origin and the front-back direction distance from the center point of the lifting appliance and the height from the front-back direction distance from the center point of the lifting appliance are adjustable.
3. A container yard loading and unloading operation anti-collision system as claimed in claim 1, wherein: the XYZ coordinates of the scanning origin of the rear laser scanner are respectively the left-right direction distance from the measuring origin to the center point of the lifting appliance, the front-back direction distance from the center point of the lifting appliance when the distance trolley is positioned at the limit position of the rear door leg, and the height from the ground of the storage yard, and the distance between the measuring origin and the front-back direction distance from the center point of the lifting appliance and the height from the center point of the lifting appliance are adjustable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811137501.9A CN108946485B (en) | 2018-09-28 | 2018-09-28 | Anti-collision box system for container yard loading and unloading operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811137501.9A CN108946485B (en) | 2018-09-28 | 2018-09-28 | Anti-collision box system for container yard loading and unloading operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108946485A CN108946485A (en) | 2018-12-07 |
| CN108946485B true CN108946485B (en) | 2024-03-12 |
Family
ID=64472066
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811137501.9A Active CN108946485B (en) | 2018-09-28 | 2018-09-28 | Anti-collision box system for container yard loading and unloading operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108946485B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130077239A (en) * | 2011-12-29 | 2013-07-09 | 주식회사 포스코아이씨티 | Apparatus and method for controlling mevement of crane |
| CN203284078U (en) * | 2013-05-08 | 2013-11-13 | 北京国泰星云科技有限公司 | Container collision prevention automatic control system for RTG/RMG lifting appliance in container wharf |
| 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 |
| CN208980201U (en) * | 2018-09-28 | 2019-06-14 | 蛇口集装箱码头有限公司 | A kind of Container Yard handling operation anti-collision case system |
-
2018
- 2018-09-28 CN CN201811137501.9A patent/CN108946485B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130077239A (en) * | 2011-12-29 | 2013-07-09 | 주식회사 포스코아이씨티 | Apparatus and method for controlling mevement of crane |
| CN203284078U (en) * | 2013-05-08 | 2013-11-13 | 北京国泰星云科技有限公司 | Container collision prevention automatic control system for RTG/RMG lifting appliance in container wharf |
| 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 |
| CN208980201U (en) * | 2018-09-28 | 2019-06-14 | 蛇口集装箱码头有限公司 | A kind of Container Yard handling operation anti-collision case system |
Non-Patent Citations (1)
| Title |
|---|
| 轮胎吊装卸作业防撞箱系统设计与实现;王飞;周强;柳广良;单宇;;港口装卸(03);第12-15页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108946485A (en) | 2018-12-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104085794B (en) | Intelligent detection system and method for distribution profile and position of container | |
| CN103030063B (en) | For determining method and the container spreader of target position for container spreader | |
| CN107089599B (en) | Suspender safety anticollision system and method based on the identification of container case area contoured three-dimensional | |
| CN104477779B (en) | The para-position of truck and safety control system and method under Property in Container Terminal Bridge Crane Through | |
| CN108584716B (en) | Portal crane safety protection and operation auxiliary system | |
| CN104812692B (en) | Crane runs auxiliary device | |
| CN203439940U (en) | Automatic control system for RTG/RMG dual-laser sling crash-proof box at container terminal | |
| JP4295591B2 (en) | Container collision prevention method and apparatus | |
| CN104528531A (en) | Container wharf RTG and RMG lower container truck alignment guide system and method | |
| CN111268566A (en) | Automatic container landing system and method on container truck lane based on laser | |
| WO2019024172A1 (en) | Automatic container landing and lift prevention method for automatic loading and unloading operation | |
| CN110431101A (en) | The monitoring of container transfer device when dropping to shipping platform by container or promote container far from shipping platform | |
| CA2842144A1 (en) | System and method for determining location and skew of crane grappling member | |
| CN109179213A (en) | Container pier storage yard automated system | |
| KR20190078984A (en) | Monitoring system for preventing lift objects collision against crane | |
| CN210558950U (en) | Crane operation system based on multi-sensor fusion | |
| CN109179212A (en) | Container terminal automates straddle type two-way traffic detection identification and stockyard automation control method in track bridge | |
| KR102438943B1 (en) | Container crane comprising reference marker | |
| JP6513544B2 (en) | Collision prevention device for cargo handling crane | |
| CN108946485B (en) | Anti-collision box system for container yard loading and unloading operation | |
| CN208166413U (en) | A kind of protection of safety of gantry crane and operation auxiliary system | |
| CN109502484B (en) | Control method and system for crane operation area | |
| CN111606200B (en) | Sensor trolley and corresponding container crane | |
| CN208980201U (en) | A kind of Container Yard handling operation anti-collision case system | |
| CN206915592U (en) | Suspender safety anticollision system based on the identification of container case area contoured three-dimensional |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20181204 Address after: 518067 Harbour Avenue, Shekou Industrial Zone, Nanshan District, Shenzhen City, Guangdong Province Applicant after: SHEKOU CONTAINER TERMINALS Ltd. Applicant after: SHENZHEN LIAN YUNJIE CONTAINER TERMINALS Ltd. Applicant after: ANXUNJIE CONTAINER TERMINAL (SHENZHEN) CO.,LTD. Applicant after: BEIJING JINGHENG WEISHI TECHNOLOGY Co.,Ltd. Applicant after: WUHAN University OF TECHNOLOGY Address before: 518067 Harbour Avenue, Shekou Industrial Zone, Nanshan District, Shenzhen City, Guangdong Province Applicant before: SHEKOU CONTAINER TERMINALS LTD. Applicant before: SHENZHEN LIAN YUNJIE CONTAINER TERMINALS Ltd. Applicant before: ANXUNJIE CONTAINER TERMINAL (SHENZHEN) CO.,LTD. Applicant before: BEIJING JINGHENG WEISHI TECHNOLOGY Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |