CN109141285A - Ship type outline detection system and its detection method - Google Patents
Ship type outline detection system and its detection method Download PDFInfo
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- CN109141285A CN109141285A CN201811075560.8A CN201811075560A CN109141285A CN 109141285 A CN109141285 A CN 109141285A CN 201811075560 A CN201811075560 A CN 201811075560A CN 109141285 A CN109141285 A CN 109141285A
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- laser scanner
- laser
- shellfish
- data
- processing equipment
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
A kind of ship type outline detection system, comprising: for two the first 2D laser scanners along shellfish line direction downward synchronous scanning case area outline data；For scanning the 2nd 2D laser scanner of case area outline data downwards along shellfish column direction；For detecting the highest obstacle of current work shellfish position and the data processing equipment of the height by case area A outline data detection current work shellfish position adjacent container and guide box frame from the 2nd 2D laser scanner by the case area outline data from described two first 2D laser scanners；The data processing equipment is connect by photoelectric conversion module with the first 2D laser scanner and the 2nd 2D laser scanner.The present invention detects ship type profile by two 2D laser scanners and a 2nd 2D laser scanner, and precision is high, avoids colliding in operation process, highly-safe.
Description
Technical field
The invention belongs to ship type contour detecting technical field more particularly to a kind of ship type outline detection system and its detection sides
Method.
Background technique
Ports handling machine is to large-scale, efficient, specialized, automation direction development；The automation control at one harbour
Technology and management level processed represent the intelligentized degree in harbour；In terms of harbor automatic operation, the inspection of ship type profile
Surveying scanning technique is always to realize the premise and core of automated job.In order to further increase gantry crane operating efficiency, and improve
Operational security quotes steamer profile scan system, can enrich and improve the application system of gantry crane.
In gantry crane automated production operation process, it is desirable that moving beam automatic running.This requires PLC must know in advance it is small
The distribution situation of container on the steamer of vehicle lower section, and then the efficient operating path of design safety.Steamer profile scan system uses
Laser scanning and ranging principle and mode identification technology realize container and the accurate scan positioning of other object correlations, and in real time
Outline data is sent to PLC system, calculates job position, design suspender operating path for entire automated system, improving must
The support wanted, while ensure that the safety of operation.
Traditional steamer profile scan detection mode accuracy is not high, causes in operation process, is easy to happen collision, peace
Full property is low.
Summary of the invention
Based on this, in view of the above technical problems, a kind of ship type outline detection system and its detection method are provided.
In order to solve the above technical problems, the present invention adopts the following technical scheme:
A kind of ship type outline detection system, comprising:
It is described two for two the first 2D laser scanners along shellfish line direction downward synchronous scanning case area outline data
First 2D laser scanner time interval is fixed on the trolley of gantry crane, can be moved left and right with the trolley, described two first
The spacing of 2D laser scanner is greater than 0 less than 40 feet；
For scanning the 2nd 2D laser scanner of case area outline data downwards along shellfish column direction, the 2nd 2D laser is swept
It retouches instrument to be fixed on the trolley, can be moved left and right with the trolley；
For detecting current work shellfish position by the case area outline data from described two first 2D laser scanners
Highest obstacle and current work shellfish position Neighbor Set is detected by case area A outline data from the 2nd 2D laser scanner
The data processing equipment of the height of vanning and guide box frame；
The data processing equipment passes through photoelectric conversion module and the first 2D laser scanner and the 2nd 2D laser
Scanner connection.
The data processing equipment also to the data of two the first 2D laser scanners and the 2nd 2D laser scanner into
Row is mutually corrected and is mutually backups.
The spacing of described two first 2D laser scanners is 20 feet.
The data processing equipment is that computer, the computer and gantry crane long-distance management system and gantry crane PLC system connect
It connects.
This programme further relates to a kind of ship type profile testing method, comprising:
By two the first 2D laser scanners along shellfish line direction downward synchronous scanning case area outline data, described two
One 2D laser scanner time interval is fixed on the trolley of gantry crane, can be moved left and right with the trolley, described two first 2D
The spacing of laser scanner is greater than 0 less than 40 feet；
Case area outline data, the 2nd 2D laser scanning are scanned downwards along shellfish column direction by the 2nd 2D laser scanner
Instrument is fixed on the trolley, can be moved left and right with the trolley；
Data processing equipment is made by the way that the case area outline data detection from described two first 2D laser scanners is current
The highest obstacle of industry shellfish position and passes through the case area outline data from the 2nd 2D laser scanner and detect current work shellfish
The height of position adjacent container and guide box frame；
The data processing equipment passes through photoelectric conversion module and the first 2D laser scanner and the 2nd 2D laser
Scanner connection.
The data processing equipment also to the data of two the first 2D laser scanners and the 2nd 2D laser scanner into
Row is mutually corrected and is mutually backups.
The spacing of described two first 2D laser scanners is 20 feet.
The data processing equipment is that computer, the computer and gantry crane long-distance management system and gantry crane PLC system connect
It connects.
The present invention detects ship type profile by two 2D laser scanners and a 2nd 2D laser scanner,
Precision is high, avoids colliding in operation process, highly-safe.
Detailed description of the invention
The present invention is described in detail with reference to the accompanying drawings and detailed description:
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is harbour handling container operation schematic diagram；
The area Tu3Wei Xiang top view；
Fig. 4 is contour line schematic diagram.
Specific embodiment
As shown in Figure 1, a kind of ship type outline detection system, including the first 2D laser scanner 11, the 2nd 2D laser scanning
Instrument 12 and data processing equipment 13.
First 2D laser scanner 11 is two, and two 11 time intervals of the first 2D laser scanner are fixed on gantry crane 20
It on trolley 21, can be moved left and right with trolley 21, thus along the downward synchronous scanning case area A of shellfish line direction (i.e. 5 left and right directions of hull)
Outline data, contour line I referring to fig. 4.
2nd 2D laser scanner 12 is fixed on trolley 21, can be moved left and right with trolley 21, thus (i.e. along shellfish column direction
5 front-rear direction of hull) case area A outline data, contour line II referring to fig. 4 are scanned downwards.
It should be pointed out that there is right and left thereon as shown in Fig. 2, the cart 22 of gantry crane 20 can be moved forward and backward along hull 5
To crossbeam 23, which protrudes horizontally up to the top of case area A, and trolley 21 can move left and right on crossbeam 23；Shellfish position is used for
Container a is described in the position of case area A, is made of shellfish row, Bei Lie and shellfish layer, shellfish row please refers to the dotted line y in Fig. 3, shellfish
Column please refer to the dotted line x in Fig. 3, can accurately describe container a in case area A by shellfish line number, shellfish row number and shellfish level number
Position, successively with 01,03,05 ... odd number indicates the shellfish line number of 20 forty equivalent unit 40s, when former and later two continuous 20 feet of casees
When position be used to load 40 forty equivalent unit 40, then the shellfish line number of 40 forty equivalent unit 40 is between two shared 20 feet of case positions
An even number between odd number shellfish line number indicates.
Work flow are as follows: cart 22 is first moved forward and backward, and after being moved to operation shellfish row, trolley 21 is moved left and right.
When trolley 21 is moved forward and backward, the scan data of two the first 2D laser scanners 11 is respectively formed one bar of line, the
The scan data of two 2D laser scanners 12 will form face.
After completing a shellfish row, cart 22 is moved forward and backward, at this point, trolley 21 will not move, therefore the 2nd 2D laser scanner
12 scan data will form a line, and the scan data of two the first 2D laser scanners 11 will form face.
Data processing equipment 13 is swept by photoelectric conversion module 14 and the first 2D laser scanner 11 and the 2nd 2D laser
Retouch the connection of instrument 12.
Data processing equipment 13 is made by the way that the case area A outline data detection from two the first 2D laser scanners 11 is current
The highest obstacle of industry shellfish position.
Wherein, the spacing of two the first 2D laser scanners 11 less than 40 feet be greater than 0, can with synchronous scanning former and later two
The outline data of continuous 20 feet of case positions takes in front and back when continuous double 20 feet of handling operations (containers of 40 feet of handling)
The foundation that opposite high case is controlled as anticollision, guarantees the safety of operation process.
Preferably, the spacing of two the first 2D laser scanners 11 is 20 rulers.
Data processing equipment 13 detects current work shellfish by the case area A outline data from the 2nd 2D laser scanner 12
The height of position front and back adjacent container a and guide box frame, avoid suspender and suspender from playing container and collide therewith, guarantee operation
The safety of journey.
The installation deflection angle and installation site of first 2D laser scanner 11 and the 2nd 2D laser scanner 12 can lead to
The mode for crossing configuration file is input in data processing equipment 13, to detect above-mentioned highest obstacle and adjacent container and lead
The height of tank tower.
Certainly, data processing equipment 13 can sweeping according to the first 2D laser scanner 11 and the 2nd 2D laser scanner 12
It retouches data, forms 3 area Wei Xiang A outline datas, in order to reduce the error of single scanning system, data processing equipment 13 is to two the
The data of one 2D laser scanner and the 2nd 2D laser scanner are mutually corrected, and 3 2D laser scanners are each other
Backup, when any scanner breaks down, in addition scanner can continue the job task for meeting automation.
In the present embodiment, as shown in Figure 1, data processing equipment 13 is computer, which remotely manages with gantry crane
System 3 and gantry crane PLC system 4 connect.The detection data of data processing equipment 13 can be sent in real time gantry crane and remotely manage
System 3 and gantry crane PLC system 4 to control lifting appliance moving with optimal path, and are assisted as the reference of suspender operating path
It realizes and intelligently slows down when suspender distance objective container is closer.
The present embodiment further relates to a kind of ship type profile testing method, comprising:
One, by two the first 2D laser scanners 11 along shellfish line direction (i.e. 5 left and right directions of hull) downward synchronous scanning
Case area A outline data, contour line I referring to fig. 4.
Two 11 time intervals of the first 2D laser scanner are fixed on the trolley 21 of gantry crane 20, can be moved with trolley 21 or so
It is dynamic.
Two, case area A profile is scanned downwards along shellfish column direction (i.e. hull front-rear direction) by the 2nd 2D laser scanner 12
Data, contour line II referring to fig. 4.
2nd 2D laser scanner 12 is fixed on trolley 21, can be moved left and right with trolley 21.
It should be pointed out that there is right and left thereon as shown in Fig. 2, the cart 22 of gantry crane 20 can be moved forward and backward along hull 5
To crossbeam 23, which protrudes horizontally up to the top of case area A, and trolley 21 can move left and right on crossbeam 23；Shellfish position is used for
Container a is described in the position of case area A, is made of shellfish row, Bei Lie and shellfish layer, shellfish row please refers to the dotted line y in Fig. 3, shellfish
Column please refer to the dotted line x in Fig. 3, can accurately describe container a in case area A by shellfish line number, shellfish row number and shellfish level number
Position, successively with 01,03,05 ... odd number indicates the shellfish line number of 20 forty equivalent unit 40s, when former and later two continuous 20 feet of casees
When position be used to load 40 forty equivalent unit 40, then the shellfish line number of 40 forty equivalent unit 40 is between two shared 20 feet of case positions
An even number between odd number shellfish line number indicates.
Work flow are as follows: cart 22 is first moved forward and backward, and after being moved to operation shellfish row, trolley 21 is moved left and right.
When trolley 21 is moved forward and backward, the scan data of two the first 2D laser scanners 11 is respectively formed one bar of line, the
The scan data of two 2D laser scanners 12 will form face.
After completing a shellfish row, cart 22 is moved forward and backward, at this point, trolley 21 will not move, therefore the 2nd 2D laser scanner
12 scan data will form a line, and the scan data of two the first 2D laser scanners 11 will form face.
Three, data processing equipment 13 is worked as by the case area A outline data detection from two the first 2D laser scanners 11
The highest obstacle of preceding operation shellfish position.
Wherein, the spacing of two the first 2D laser scanners 11 less than 40 feet be greater than 0, can with synchronous scanning former and later two
The outline data of continuous 20 feet of case positions takes in front and back when continuous double 20 feet of handling operations (containers of 40 feet of handling)
The foundation that opposite high case is controlled as anticollision, guarantees the safety of operation process.
Preferably, the spacing of two the first 2D laser scanners 11 is 20 feet.
Data processing equipment 13 detects current work shellfish by the case area A outline data from the 2nd 2D laser scanner 12
The height of position front and back adjacent container a and guide box frame, avoid suspender and suspender from playing container and collide therewith, guarantee operation
The safety of journey.
Data processing equipment 13 is swept by photoelectric conversion module 14 and the first 2D laser scanner 11 and the 2nd 2D laser
Retouch the connection of instrument 12.
The installation deflection angle and installation site of first 2D laser scanner 11 and the 2nd 2D laser scanner 12 can lead to
The mode for crossing configuration file is input in data processing equipment 13, to detect above-mentioned highest obstacle and adjacent container and lead
The height of tank tower.
Certainly, data processing equipment 13 can sweeping according to the first 2D laser scanner 11 and the 2nd 2D laser scanner 12
It retouches data, forms 3 area Wei Xiang A outline datas, in order to reduce the error of single scanning system, data processing equipment 13 is to two the
The data of one 2D laser scanner and the 2nd 2D laser scanner are mutually corrected, and 3 2D laser scanners are each other
Backup, when any scanner breaks down, in addition scanner can continue the job task for meeting automation.
In the present embodiment, data processing equipment 13 is computer, the computer and gantry crane long-distance management system 3 and bank
Bridge PLC system 4 connects.
But those of ordinary skill in the art it should be appreciated that more than embodiment be intended merely to illustrate this
Invention, and be not used as limitation of the invention, as long as in spirit of the invention, to embodiment described above
Variation, modification will all fall within the scope of claims of the present invention.
Claims (8)
1. a kind of ship type outline detection system characterized by comprising
For two the first 2D laser scanners along shellfish line direction downward synchronous scanning case area outline data, described two first
2D laser scanner time interval is fixed on the trolley of gantry crane, can be moved left and right with the trolley, and described two first 2D swash
The spacing of photoscanner is greater than 0 less than 40 feet；
For scanning the 2nd 2D laser scanner of case area outline data, the 2nd 2D laser scanner downwards along shellfish column direction
It is fixed on the trolley, can be moved left and right with the trolley；
For detecting the highest of current work shellfish position by the case area outline data from described two first 2D laser scanners
Obstacle and current work shellfish position adjacent container is detected by case area A outline data from the 2nd 2D laser scanner
With the data processing equipment of the height of guide box frame；
The data processing equipment passes through photoelectric conversion module and the first 2D laser scanner and the 2nd 2D laser scanning
Instrument connection.
2. a kind of ship type outline detection system according to claim 1, which is characterized in that the data processing equipment is also right
The data of two the first 2D laser scanners and the 2nd 2D laser scanner are mutually corrected and are mutually backups.
3. a kind of ship type outline detection system according to claim 1 or 2, which is characterized in that described two first 2D swash
The spacing of photoscanner is 20 feet.
4. a kind of ship type outline detection system according to claim 3, which is characterized in that the data processing equipment is meter
Calculation machine, the computer are connect with gantry crane long-distance management system and gantry crane PLC system.
5. a kind of ship type profile testing method characterized by comprising
By two the first 2D laser scanners along shellfish line direction downward synchronous scanning case area outline data, described two first 2D
Laser scanner time interval is fixed on the trolley of gantry crane, can be moved left and right with the trolley, described two first 2D laser
The spacing of scanner is greater than 0 less than 40 feet；
Case area outline data is scanned downwards along shellfish column direction by the 2nd 2D laser scanner, and the 2nd 2D laser scanner is solid
Due on the trolley, can be moved left and right with the trolley；
Data processing equipment detects current work shellfish by the case area outline data from described two first 2D laser scanners
The highest obstacle of position and current work shellfish position phase is detected by case area outline data from the 2nd 2D laser scanner
The height of adjacent container and guide box frame；
The data processing equipment passes through photoelectric conversion module and the first 2D laser scanner and the 2nd 2D laser scanning
Instrument connection.
6. a kind of ship type profile testing method according to claim 5, which is characterized in that the data processing equipment is also right
The data of two the first 2D laser scanners and the 2nd 2D laser scanner are mutually corrected and are mutually backups.
7. a kind of ship type profile testing method according to claim 5 or 6, which is characterized in that described two first 2D swash
The spacing of photoscanner is 20 feet.
8. a kind of ship type profile testing method according to claim 7, which is characterized in that the data processing equipment is meter
Calculation machine, the computer are connect with gantry crane long-distance management system and gantry crane PLC system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811075560.8A CN109141285A (en) | 2018-09-14 | 2018-09-14 | Ship type outline detection system and its detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811075560.8A CN109141285A (en) | 2018-09-14 | 2018-09-14 | Ship type outline detection system and its detection method |
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| Publication Number | Publication Date |
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| CN109141285A true CN109141285A (en) | 2019-01-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811075560.8A Pending CN109141285A (en) | 2018-09-14 | 2018-09-14 | Ship type outline detection system and its detection method |
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| JP2000169078A (en) * | 1998-12-07 | 2000-06-20 | Mitsubishi Heavy Ind Ltd | Chassis position detection device |
| 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 |
| CN104085794A (en) * | 2014-07-14 | 2014-10-08 | 上海海事大学 | Intelligent detection system and method for distribution profile and position of container |
| CN106516989A (en) * | 2016-12-27 | 2017-03-22 | 深圳市招科智控科技有限公司 | Container collision preventing method and system |
| KR20170034129A (en) * | 2015-09-18 | 2017-03-28 | 한국도로공사 | System and method for testing load of lorry |
| CN107089599A (en) * | 2017-06-29 | 2017-08-25 | 北京国泰星云科技有限公司 | The suspender safety anticollision system and method recognized based on container case area contoured three-dimensional |
| CN107664492A (en) * | 2017-04-01 | 2018-02-06 | 武汉川丰软件技术有限公司 | The deflection angle measuring method and system of harbour gantry crane laser scanner installation |
| CN208688445U (en) * | 2018-09-14 | 2019-04-02 | 上海川丰机电科技发展有限公司 | Ship type outline detection system |
-
2018
- 2018-09-14 CN CN201811075560.8A patent/CN109141285A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000169078A (en) * | 1998-12-07 | 2000-06-20 | Mitsubishi Heavy Ind Ltd | Chassis position detection device |
| 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 |
| CN104085794A (en) * | 2014-07-14 | 2014-10-08 | 上海海事大学 | Intelligent detection system and method for distribution profile and position of container |
| KR20170034129A (en) * | 2015-09-18 | 2017-03-28 | 한국도로공사 | System and method for testing load of lorry |
| CN106516989A (en) * | 2016-12-27 | 2017-03-22 | 深圳市招科智控科技有限公司 | Container collision preventing method and system |
| CN107664492A (en) * | 2017-04-01 | 2018-02-06 | 武汉川丰软件技术有限公司 | The deflection angle measuring method and system of harbour gantry crane laser scanner installation |
| CN107089599A (en) * | 2017-06-29 | 2017-08-25 | 北京国泰星云科技有限公司 | The suspender safety anticollision system and method recognized based on container case area contoured three-dimensional |
| CN208688445U (en) * | 2018-09-14 | 2019-04-02 | 上海川丰机电科技发展有限公司 | Ship type outline detection system |
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