CN109019334A - A kind of railway goods yard gantry crane is to compartment localization method - Google Patents
A kind of railway goods yard gantry crane is to compartment localization method Download PDFInfo
- Publication number
- CN109019334A CN109019334A CN201810883045.6A CN201810883045A CN109019334A CN 109019334 A CN109019334 A CN 109019334A CN 201810883045 A CN201810883045 A CN 201810883045A CN 109019334 A CN109019334 A CN 109019334A
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- Prior art keywords
- scanner
- compartment
- coordinate
- gantry crane
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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
- B66C13/16—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
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a kind of railway goods yard gantry cranes to compartment localization method: obtaining the contour edge two o'clock coordinate in target compartment by scanner, obtains center compartment point coordinate according to coordinate；According to the container lot quantity on center compartment point coordinate and single compartment, the center point coordinate of each container placement location is obtained；The center point coordinate of container placement location is transformed into using gantry sling center as under the coordinate system of origin；Suspender center line and scanner zero point are obtained in the distance difference in rail length direction, only and as gantry crane needs mobile distance value to the center point coordinate X-axis numerical value and distance difference of container placement location.Gantry crane Exact Travelling can be guided to go to above the container lot to operation through the invention to be grabbed, put case operation, aligned without artificially adjusting gantry crane, saved human cost and improve operating efficiency.The accuracy rate for improving gantry sling and compartment positioning simultaneously, also saves time cost while saving human cost.
Description
Technical field
The invention belongs to railway containers to ship technical field, and in particular to a kind of railway goods yard gantry crane is to compartment
Localization method.
Background technique
The lifting equipment that the train handling operation of railway goods yard uses is orbit type gantry, and gantry crane is needed in operation
It runs cart and finds target compartment, then suspender is run to the surface in target compartment again, then be manually operated by driver
At the grabbing of container, put case movement.
It blocks and the collimation error since driver has when train below driver's indoor observation, may go out in operation process
Now for a long time can not accurate contraposition the case where, therefore current work pattern is all gantry crane driver drawing by goods yard commander's hand
It leads to complete to grab, put casing working.And the frequent progress changing shifts in torridity summer operation goods yard commander's hand needs the short time, increase
Operating efficiency is also reduced while human cost.
Summary of the invention:
In order to overcome the defect of above-mentioned background technique, the present invention provides a kind of railway goods yard gantry crane and positions to compartment
Method realizes that automatic job provides necessary condition for railway goods yard gantry crane.
In order to solve the above-mentioned technical problem used technical solution of the invention are as follows:
A kind of railway goods yard gantry crane is to compartment localization method, it is characterised in that:
Step 1, the contour edge two o'clock coordinate (X in target compartment is obtained by scanner1,Y1) and (X2,Y2), according to seat
Mark (X1,Y1) and (X2,Y2) obtain center compartment point coordinate
Step 2, it according to the container lot quantity on center compartment point coordinate and single compartment, obtains each container and places
The center point coordinate of position；
Step 3, the center point coordinate of container placement location is transformed into using gantry sling center as the coordinate of origin
Under system；
Step 4, suspender center line and scanner zero point are obtained in the distance difference Δ X in rail length direction, container is put
Only and as gantry crane needs mobile distance value to the center point coordinate X-axis numerical value and distance difference Δ X of seated position.
Preferably, gantry crane includes front side girder and rear side girder, front side girder is the girder close to railway approach segment, preceding
Side girder is equipped with the first scanner, and rear side girder is equipped with the second scanner, and the first scanner and the second scanner are all set in iron
The surface of road central axes；
Using the first scanner and the second scanner line midpoint as boundary, the first scanner, which obtains, is located at line midpoint close to the
The coordinate values of scanner side, the second scanner, which obtains, is located at line midpoint close to the number of coordinates of the second scanner side
Value, coordinate system where the coordinate values that the second scanner obtains are transformed into the first scanner.
Preferably, in step 2: setting two container lots on rail cars, then the central point of two container lots is sat
Mark is respectivelyWith
Preferably, suspender is respectively moved to two central points for needing mobile two container lots of distance value by gantry crane
The distance moved needed for right above coordinate is respectivelyWith
Preferably, the first scanner is set to the underface of front side girder, the second scanner is being set to rear side girder just
Lower section.
The beneficial effects of the present invention are: gantry crane Exact Travelling can be guided to go to the container to operation through the invention
Position top is grabbed, puts case operation, is aligned without artificially adjusting gantry crane, is saved human cost and is improved operating efficiency.Simultaneously
The accuracy rate for improving gantry sling and compartment positioning, also saves time cost while saving human cost.
Detailed description of the invention
Fig. 1 is the overall structure stereogram of the embodiment of the present invention；
Fig. 2 is the overall structure side view of the embodiment of the present invention；
Fig. 3 is the compartment top view of the embodiment of the present invention.
In figure: 1- target compartment, 2- railway, the front side 3- girder, 4- rear side girder, the first scanner of 5-, 6- second are scanned
Instrument, 7,8- target compartment contour edge point.
Specific embodiment
The present invention is described further with reference to the accompanying drawings and examples.
A kind of 2 goods yard gantry crane of railway is to compartment localization method, comprising:
Gantry crane includes front side girder 3 and rear side girder 4, and front side girder 3 is the girder close to 2 approach segment of railway, front side
Girder 3 is equipped with the first scanner 5, and rear side girder 4 is equipped with the second scanner 6, and the first scanner 5 and the second scanner 6 are respectively provided with
In the surface of 2 central axes of railway；First scanner 5 is set to the underface of front side girder 3, after the second scanner 6 is set to
The underface of side girder 4.
Using the first scanner 5 and 6 line midpoint of the second scanner as boundary, the first scanner 5 is obtained to be leaned on positioned at line midpoint
The coordinate values of nearly first scanner, 5 side, the second scanner 6, which obtains, is located at line midpoint close to 6 side of the second scanner
The coordinate values that second scanner 6 obtains are transformed into 5 place coordinate system of the first scanner by coordinate values.
Step 1, contour edge two o'clock 7, the 8 coordinate (X in target compartment 1 are obtained by scanner1,Y1) and (X2,Y2), according to
According to coordinate (X1,Y1) and (X2,Y2) obtain center compartment point coordinate
Step 2, it according to the container lot quantity on center compartment point coordinate and single compartment, obtains each container and places
The center point coordinate of position；Two container lots are set on rail cars, then the center point coordinate of two container lots is respectivelyWith
Step 3, the center point coordinate of container placement location is transformed into using gantry sling center as the coordinate of origin
Under system；
Step 4, suspender center line and scanner zero point are obtained in the distance difference Δ X in rail length direction, container is put
Only and as gantry crane needs mobile distance value to the center point coordinate X-axis numerical value and distance difference Δ X of seated position.Gantry crane will
Suspender be respectively moved to move needed for right above the center point coordinate that two need mobile two container lots of distance value away from
From respectivelyWith
Since the crossbeam of gantry crane is in suspender two sides, it is not the institute right above suspender that scanner, which is mounted on crossbeam,
It is blocked with when having container or vehicle on compartment is open-top car, some profile, to be unable to get accurate center
Position.A laser scanner is installed on the crossbeam of two sides right above the track respectively, the scan data of two scanners is carried out
The same coordinate system is converted and is spliced, and the integrity profile in target compartment 1 is obtained.The present embodiment is by being mounted on gantry crane girder
Laser scanner is scanned compartment below gantry crane, after the profile for obtaining compartment, is calculated by centralized positioning functional block
The centre coordinate in the compartment below gantry crane out, then the coordinate is transformed under the same coordinate system of suspender movement, as suspender
The surface of goal box position is run to the benchmark guidance cart of case.
The laser scanner being mounted below gantry crane girder, scanning surface parallel orbit direction, the projection on compartment
For center compartment line, effective scanning angle is 190 °, can obtain the height profile data in the compartment below scanner.
The outline data of laser scanner output is sent to centralized positioning functional block, which is mounted on industrial personal computer or control
In device processed, centralized positioning functional block is according to outline data and the contour feature of different automobile types, using scanner as coordinate origin, meter
Calculate center compartment coordinate.The calculated centre coordinate of centralized positioning functional block, then converse gantry sling operation coordinate system
Lower coordinate, is sent to the control system of gantry crane, the target position as portal crane compact car and cart automatic running.Gantry crane is small
After vehicle and cart operation in place, just in the surface in target compartment 1, operator directly can carry out grabbing case or put suspender
Case movement.
Since the crossbeam of gantry crane is in suspender two sides, it is not the institute right above suspender that scanner, which is mounted on crossbeam,
It is blocked with when having container or vehicle on compartment is open-top car, some profile, to be unable to get accurate center
Position.A laser scanner can be installed respectively right above track on the crossbeam of two sides, by the scan data of two scanners
It carries out the same coordinate system conversion and splices, obtain the integrity profile in target compartment 1.
First scanner 5 and 6 scanning surface of the second scanner are projected as on compartment each parallel to 2 orbital direction of railway
Compartment central axes, effective scanning angle are 190 °, can obtain the height profile data in target compartment 1 below scanner.
The every 40ms of the altitude information of scanner is once transferred to the industrial personal computer for being mounted with centralized positioning functional block or control
In device, data are exchanged between scanner and industrial personal computer or controller in a manner of ethernet communication.For each scanner, all to sweep
The zero point of instrument is retouched as origin, train rail direction is X-direction, is Y-direction perpendicular to track ground direction, each
Scanner all can get incomplete compartment profile point and its coordinate.
Centralized positioning function block algorithm includes:
1, by the data of two scanners using the median vertical line between two scanners as boundary, middle line is toward the first scanner 5 one
Side scanning element coordinate is subject to 5 data of the first scanner, and middle line is toward 6 side scanning element coordinate of the second scanner with the second scanner
Subject to 6 data, and 6 data of the second scanner are transformed into the first scanner 5 as under the coordinate system of origin, i.e., complete profile
The coordinate of point is formed by two laser scanner data Combination conversions.
2, according to the contour feature in compartment, identify that the coordinate of contour edge two o'clock 7 and 8 in target compartment 1 is (X1,Y1) and
(X2,Y2), then the coordinate of the outline shape central point in target compartment is
3, for setting on rail cars, there are two 20 forty equivalent unit 40 positions, then the center point coordinate of two container lots divides
Not are as follows:With
4, obtained center point coordinate is transformed into suspender center line and scanning using suspender center as under the coordinate system of origin
The deviation of instrument zero point in the X-axis direction is fixed value Δ X, then using suspender as origin, cart needs to move forward or backWithDistance, suspender can be right above goal box positions.
5, above-mentioned range information is passed to the controller of gantry crane, the i.e. controllable gantry of controller by ethernet communication
Hanging goes to designated position and completes to grab, puts case operation.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (5)
1. a kind of railway goods yard gantry crane is to compartment localization method, it is characterised in that:
Step 1, target compartment (1) contour edge two o'clock coordinate (X is obtained by scanner1,Y1) and (X2,Y2), according to the seat
Mark (X1,Y1) and (X2,Y2) obtain center compartment point coordinate
Step 2, according to the container lot quantity on center compartment point coordinate and single compartment, each container placement location is obtained
Center point coordinate；
Step 3, the center point coordinate of the container placement location is transformed into using gantry sling center as the coordinate of origin
Under system；
Step 4, suspender center line and scanner zero point are obtained in the distance difference Δ X of railway (2) length direction, container is placed
The center point coordinate X-axis numerical value of position needs mobile distance value with the distance difference Δ X and the as described gantry crane.
2. a kind of railway goods yard gantry crane according to claim 1 is to compartment localization method, it is characterised in that:
The gantry crane includes front side girder (3) and rear side girder (4), and the front side girder (3) is close to railway (2) approach segment
Girder, the front side girder (3) be equipped with the first scanner (5), the rear side girder (4) be equipped with the second scanner (6), it is described
First scanner (5) and second scanner (6) are all set in the surface of railway (2) central axes；
Using first scanner (5) and second scanner (6) line midpoint as boundary, first scanner (5) is obtained
Positioned at the line midpoint close to the coordinate values of the first scanner (5) side, second scanner (6), which obtains, to be located at
Coordinate values of the line midpoint close to the second scanner (6) side, the coordinate that second scanner (6) is obtained
Coordinate system where numerical value conversion to first scanner (5).
3. a kind of railway goods yard gantry crane according to claim 1 is to compartment localization method, which is characterized in that in institute
It states in step 2: setting two container lots on rail cars, then the center point coordinate of two container lots is respectivelyWith
4. a kind of railway goods yard gantry crane according to claim 1 is to compartment localization method, which is characterized in that described
Needed for suspender is respectively moved to right above the center point coordinate that two need mobile two container lots of distance value by gantry crane
Mobile distance is respectivelyWith
5. a kind of railway goods yard gantry crane according to claim 2 is to compartment localization method, it is characterised in that: described
First scanner (5) is set to the underface of the front side girder (3), and second scanner (6) is set to the rear side master
The underface of beam (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810883045.6A CN109019334A (en) | 2018-08-06 | 2018-08-06 | A kind of railway goods yard gantry crane is to compartment localization method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810883045.6A CN109019334A (en) | 2018-08-06 | 2018-08-06 | A kind of railway goods yard gantry crane is to compartment localization method |
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| CN201810883045.6A Pending CN109019334A (en) | 2018-08-06 | 2018-08-06 | A kind of railway goods yard gantry crane is to compartment localization method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110526117A (en) * | 2019-07-24 | 2019-12-03 | 中国铁路上海局集团有限公司 | A method of it is positioned for railway goods yard container |
| CN110569682A (en) * | 2019-09-10 | 2019-12-13 | 湖南海森格诺信息技术有限公司 | Three-dimensional positioning method for tail end of gantry crane |
| CN113086847A (en) * | 2021-03-22 | 2021-07-09 | 中国铁路广州局集团有限公司 | Method and device for determining state information of gantry crane equipment |
| CN113636461A (en) * | 2021-08-12 | 2021-11-12 | 三一海洋重工有限公司 | Multi-train carriage cooperative positioning method, device and system |
| CN113739698A (en) * | 2021-07-21 | 2021-12-03 | 三一海洋重工有限公司 | Automatic train positioning method, controller and system for railway station |
| CN113979306A (en) * | 2021-10-27 | 2022-01-28 | 上海亥伯智能科技有限公司 | Automatic loading system and method for container crane |
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| CN103523675A (en) * | 2013-10-29 | 2014-01-22 | 天津五洲国际集装箱码头有限公司 | Rail-mounted gantry crane automatic yard operation control system and automatic loading and unloading method |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110526117A (en) * | 2019-07-24 | 2019-12-03 | 中国铁路上海局集团有限公司 | A method of it is positioned for railway goods yard container |
| CN110569682A (en) * | 2019-09-10 | 2019-12-13 | 湖南海森格诺信息技术有限公司 | Three-dimensional positioning method for tail end of gantry crane |
| CN113086847A (en) * | 2021-03-22 | 2021-07-09 | 中国铁路广州局集团有限公司 | Method and device for determining state information of gantry crane equipment |
| CN113086847B (en) * | 2021-03-22 | 2024-04-19 | 中国铁路广州局集团有限公司 | Method and device for determining state information of gantry crane equipment |
| CN113739698A (en) * | 2021-07-21 | 2021-12-03 | 三一海洋重工有限公司 | Automatic train positioning method, controller and system for railway station |
| CN113739698B (en) * | 2021-07-21 | 2024-02-06 | 三一海洋重工有限公司 | Train automatic positioning method, controller and system for railway station |
| CN113636461A (en) * | 2021-08-12 | 2021-11-12 | 三一海洋重工有限公司 | Multi-train carriage cooperative positioning method, device and system |
| CN113636461B (en) * | 2021-08-12 | 2023-08-08 | 三一海洋重工有限公司 | Multi-train-carriage co-positioning method, device and system |
| CN113979306A (en) * | 2021-10-27 | 2022-01-28 | 上海亥伯智能科技有限公司 | Automatic loading system and method for container crane |
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Application publication date: 20181218 |