CN109384151A - Automatic the case of automated handling operation and anti-sling method - Google Patents
Automatic the case of automated handling operation and anti-sling method Download PDFInfo
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- CN109384151A CN109384151A CN201710657062.3A CN201710657062A CN109384151A CN 109384151 A CN109384151 A CN 109384151A CN 201710657062 A CN201710657062 A CN 201710657062A CN 109384151 A CN109384151 A CN 109384151A
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- container
- laser scanner
- tapered end
- flat car
- truck
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000001105 regulatory effect Effects 0.000 claims abstract description 28
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 238000005259 measurement Methods 0.000 claims description 7
- 230000004888 barrier function Effects 0.000 claims description 4
- 230000035772 mutation Effects 0.000 claims description 3
- 241000736199 Paeonia Species 0.000 claims description 2
- 235000006484 Paeonia officinalis Nutrition 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 3
- 208000033748 Device issues Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
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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
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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
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- 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
- B66C15/06—Arrangements or use of warning 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
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
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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 installs a set of apparatus for automatically lifting, wing drop regulating device outside automatic dock by truck parking lane, install a laser scanner on the apparatus.Laser scanner carries out lifting and tilt detection to the lockhole on the unloaded container flat car for entering lane, measure the position of nearest one or more lockholes, extrapolate the Position Approximate of all lockholes on container flat car, it is accurately detected again, the accurate location for finding all tapered ends realizes the accurate positioning of container flat car.To enter lane heavy-load container truck, laser scanner to container truck carry out horizontal sweep, and according to suspender case signal and spreader height signal, it is adjusted to corresponding height, the gap between container and flat car is measured, prevents container truck tapered end from not unlocking, truck is sling.By above method, the accurate positioning and anti-lifting detection of the external container truck tapered end that automation field is hung in stockyard may be implemented.
Description
Technical field
The present invention relates to for container truck in container handling operation and suspender accurate positioning and truck is anti-slings,
It is especially suitable for the container automatic handling operation of harbour place.
Background technique
The exactitude position and truck of truck and suspender are anti-under the handling operation of place container automatic, gantry crane at present hangs also
There is no relatively effective accurate measurement method.As number of patent application " 200820055788.6 " place container gantry crane correction with
Truck laser positioning and anti-device for hoisting, and " 201420312848.3 " tyre crane walking positioning and rectifying and anti-sling of truck contraposition be
System, the laser scanning and ranging instrument are all to be followed by gantry movement, and define certain height, and due to container
The different lockhole position of the height of truck is different, can not be accurately measured container truck tapered end to unloaded truck.Although there is holder
It is rotated, but can not can detect the position of all tapered ends.It, cannot will be automatic in container automatic handling operation
The container for changing handling precisely aligns truck tapered end, and if tapered end also not all unlocks, container flat car height is different, by
Anti- lifting detection can not be carried out to the container of handling by being fixed on certain height in scanner, can be related by container flat car
It is sling with by container flat car headstock, brings security risk, solved external collection there is presently no effective detection method and be stuck in
The accurate positioning of container tapered end in automated handling operation and anti-lifting detection method.
Summary of the invention
In automatic dock container stockyard, there is a plurality of outer truck parking lane, a set of automatic liter is installed by lane
Falling unit, wing drop regulating device install a laser scanner on the device.The laser scanner can be to the entrance vehicle
Lockhole on the unloaded container flat car in road carries out lifting and tilt detection, by laser scanner measurement nearest one or
The position of multiple lockholes can extrapolate the Position Approximate of all lockholes on container flat car, then accurately be detected, and find institute
There is the accurate location of tapered end, realizes the accurate positioning of container flat car.To the heavy-load container truck for entering the lane, laser
Scanner carries out horizontal sweep to container truck, and according to suspender the height that provides of case signal and spreader height signal believe
Breath, is adjusted to corresponding height for apparatus for automatically lifting, prevents container truck tapered end from not unlocking, truck is sling.By with
The accurate positioning of the external container truck tapered end in automation field gantry crane stockyard, automatic case may be implemented in upper method
It is detected with anti-lifting, which also may be mounted in the side uprights of gantry, follow cart mobile, to bicycle trace gather
Vanning truck tapered end be accurately positioned and anti-lifting detects.
The present invention provides a kind of container truck positioning in automated handling operation, vanning flat car tapered end positioning sum aggregate
The vanning anti-hoisting device of handling.
The purpose of the present invention is be achieved by following technical proposals.
Automatic the case of automated handling operation of the present invention and it is anti-sling method, its main feature is that: it includes: including rising automatically
Falling unit, wing drop regulating device, motor, motor driver, laser scanner, container truck tapered end, container, system
Processor, PLC, spreader height signal, trolley position signal, cart location position device, case signal and automation field dragon
Gantry crane.
The apparatus for automatically lifting, wing drop regulating device are mounted on the outer truck parking vehicle in automatic dock stockyard
By road；The laser scanner is mounted on apparatus for automatically lifting, in wing drop regulating device, controls electricity by system processor
Machine driver adjusts apparatus for automatically lifting, wing drop regulating device to realize laser scanner adjustable height and inclination angle
The adjustment of degree；The height of laser scanner and the data of tilt angle adjust dress by apparatus for automatically lifting encoder and wing drop
Encoder offer is provided；Laser scanner is directed at container truck tapered end tracing detection, by the data of laser scanner measurement and
System processor finds the mutation status of tapered end and flat car, determines the reference three-dimensional coordinate position of the X, Y, Z axis of tapered end, concurrently
Give PLC, to control the position of suspender Yu flat car tapered end, realize and be accurately positioned, realize container under suspender it is automatic case.
The system processor is connected with PLC, participates in the position analysis and handling control of place gantry crane.The automation field dragon
Gantry crane includes tyre crane and track crane.
The three-dimensional coordinate position, X-axis indicate the transverse shifting direction of trolley and suspender, and Y-axis indicates the hanging of place gantry
Vehicle direction, Z axis indicate the vertical direction of suspender oscilaltion.
The container flat car tapered end provides the target point of measurement position, determines the tapered end X, Y, Z axis measured
Three-dimensional coordinate position information.The data that the laser scanner horizontal sweep will measure are sent to system processor control electricity
The lifting of machine driver driving motor or rotation, find the tapered end on truck flat car, determine the X, Y, Z axis of the tapered end on flat car
Three-dimensional coordinate position, be supplied to PLC control suspender under container X, Y, Z axis three-dimensional coordinate position；Putting case Shi Jiguang
Scanner scanning measures container edge position, calculates the range difference of container edge position and lockhole position, realizes container
Be accurately positioned with the lockhole position on flat car, realize container under suspender it is automatic case.
When carrying out preventing slinging detection, horizontal sweep simultaneously passes through apparatus for automatically lifting and adjusts height the laser scanner
Determine the gap position between container and flat car, when finding no any barrier, system permission suspender, which moves upwards, to be hung
Play container.
When the described laser scanner horizontal sweep, the headstock, tapered end, container of container truck are measured, by aobvious
Display screen shows present container location information, is supplied to container truck driver.
The apparatus for automatically lifting, wing drop regulating device include limit control, mechanical arm, hoistable platform and
Rotating module can move scanner up and down, and the rotation inclination of energy front and back, find container flat plate by the driving of motor
Lock head position.The described limiting device control prevents from motor from moving up and down going beyond the scope.It is the apparatus for automatically lifting, automatic
Tilt adjustment device can be replaced with holder.
There are a plurality of lane, the apparatus for automatically lifting, the installation of wing drop regulating device on automated container dock
By lane, vehicle driving is not influenced, does not follow automation field gantry crane mobile, may be mounted at every lane
Any one position, can also share a set of apparatus for automatically lifting, wing drop regulating device with a plurality of lane.The automatic liter
The mountable manual control place gantry crane side of falling unit, wing drop regulating device, about 2 meters of height, adjustable from the ground
Laser scanner height and tilt angle, horizontal sweep detect the seam between container flat car tapered end and container and plate
Gap realizes automatic case and anti-slings detection function.
The trolley position signal provides the location information of place portal crane compact car.The cart location position device
Location information where the gantry crane of place is provided.Described the case signal provides height and position when container is sling.Described
Spreader height signal provides spreader height information.
The wing drop regulating device and laser scanner combine, and realize the function of 3D laser scanner.
When container truck enters outer truck parking lane, system processor controls apparatus for automatically lifting, wing drop tune
Regulating device declines laser scanner slowly from eminence, and laser scanner carries out horizontal sweep to lane at this time, if collection is arrived in scanning
Then the vehicle is unloaded container flat car to truck head, thinks the vehicle for heavily loaded container truck if scanning is to container edge.
For entering the unloaded container flat car in lane, system processor controls apparatus for automatically lifting, wing drop tune
Regulating device drives laser scanner decline, passes through the position of the nearest one or more lockholes of laser scanner measurement.If detection
(it is more than or equal to a container length) farther out to first tapered end distance, then it is assumed that Chinese herbaceous peony end is high；If detecting first lock
Head is closer, then it is assumed that the tailstock is high.The Position Approximate of all lockholes on container flat car can be extrapolated according to height, then is led to
Cross apparatus for automatically lifting, wing drop regulating device adjust laser scanner tilt angle accurately detected, until measure
To all tapered ends, determine that all tapered ends in the accurate three-dimensional coordinate position of X, Y, Z axis, realize the accurate fixed of container flat car
Position.
After the completion of system positions container flat car tapered end, tapered end location information is sent to PLC, on laser scanner
It is raised to 1.7m or so height and carries out horizontal sweep, tracking and positioning is carried out to container flat car headstock position.If container flat plate
Vehicle is mobile, and mobile position is sent to PLC in real time.When suspender carries out putting case, laser scanner scans to container side,
Three-dimensional coordinate position information and tapered end by container edge in X, Y, Z axis are carried out in the three-dimensional coordinate position information of X, Y, Z axis
It compares, realizes and accurately put case.
For entering the double 20 feet unloaded container trucks in lane, laser scanner is first to previous 20 forty equivalent unit 40
Flat car tapered end is detected, and location information is supplied to PLC, and place gantry crane first carries out previous 20 forty equivalent unit 40
Case is put, laser scanner again detects 20 forty equivalent unit 40 flat car tapered end of the latter, and location information is supplied to
PLC, then 20 forty equivalent unit 40 of the latter is carried out putting case.
For entering lane heavy-load container truck, when place gantry crane slings the container on truck, laser scanner
Horizontal sweep carried out to container truck, and according to suspender the elevation information that provides of case signal and spreader height signal, will
Apparatus for automatically lifting is adjusted to corresponding height, and laser scanner is directed at the space between container flat car and container bottom surface
Gap scanning ranging still hooks container lockhole, container flat car when the non-Unscrew of tapered end on container flat car
It is taken up by container, there is object under laser scanning inspection to container bottom surface, device issues sound-light alarm immediately, and issues stopping
Lifting signal is transferred to place gantry crane PLC.If it was found that system permission suspender, which moves upwards, slings collection when no any barrier
Vanning.For entering double 20 feet of heavy-load container trucies in lane, laser scanner first to 20 forty equivalent unit 40 of the latter into
The anti-lifting detection of row, place gantry crane first carries out handling to 20 forty equivalent unit 40 of the latter, and location information is supplied to PLC,
Laser scanner carries out anti-lifting to previous 20 forty equivalent unit 40 again and detects, then hangs to previous 20 forty equivalent unit 40
Fortune.
The exactitude position of this method with can realizing automatic loading and unloading operation midfield gantry crane next part clamping lock head and gantry sling
And container prevents truck from slinging when slinging.
Due to the adoption of the above technical scheme, the beneficial effects of the present invention are: solving the external container card of automatic dock
The accurate positioning of lock head and anti-lifting detection, mitigate the labor intensity of driver, prevent truck from slinging, eliminate safe hidden trouble, mention
The production efficiency of high place automatic dock container gantry crane handling container handling.
Detailed description of the invention
Fig. 1 automated container dock structural schematic diagram.
Fig. 2 laser scanner is to the container truck detection schematic diagram for entering lane.
Fig. 3 laser scanner is to container flat car tapered end detection schematic diagram.
Fig. 4 container and tapered end are accurately positioned schematic illustration.
Fig. 5 laser scanner detects position view to double 20 feet and 40 forty equivalent unit 40 flat car tapered ends.
The anti-lifting detection schematic diagram of Fig. 6.
Fig. 7 component electrical connection diagram.
In figure, (1) apparatus for automatically lifting, wing drop regulating device, (2) laser scanner, (3) lane, (4) double 20 English
Ruler zero load container flat car, (5) double 20 feet of heavy-load container trucies, (6) tapered end, (7) 40 feet of unloaded container flat plates
Vehicle, (8) 40 feet of heavy-load container trucies, (9) 20 forty equivalent unit 40s, (10) 40 forty equivalent unit 40s, (11) place gantry crane,
(12) scanning surface, (13) suspender, (14) system processor, (15) PLC, (16) motor, (17) motor driver.
Specific embodiment
The outer truck that the apparatus for automatically lifting, wing drop regulating device (1) are mounted on automatic dock stockyard stops
Vehicle lane (3) is other；The laser scanner (2) is mounted on apparatus for automatically lifting, in wing drop regulating device (1), by electricity
Machine driver (17) and motor (16) control apparatus for automatically lifting, wing drop regulating device (1) adjust laser scanner (2)
Lifting and tilt angle are directed at container truck tapered end (6) tracing detection, the data and soft measured by laser scanner (2)
Part program processing data finds the mutation status of tapered end (6) and container flat car, determines the reference three-dimensional coordinate bit of tapered end (6)
Set, and be sent to PLC(15), to control the position of suspender (13) Yu container flat car tapered end (6), realizes and be accurately positioned, it is real
Container under existing suspender it is automatic case.The system processor (14) is connected with PLC(15), participates in the position of place gantry crane
Set analysis and handling control.
The three-dimensional coordinate position, X-axis indicate the transverse shifting direction of trolley and suspender (13), and Y-axis indicates place gantry
(11) direction of traffic is hung, Z axis indicates the vertical direction of suspender (13) oscilaltion.
When container truck enters outer truck parking lane (3), system processor (14) controls apparatus for automatically lifting, automatic
Tilt adjustment device (1) declines laser scanner (2) slowly from eminence, and laser scanner (2) carries out water to lane (3) at this time
Simple scan, the vehicle is unloaded container flat car if scanning to truck headstock, if scanning thinks the vehicle to container edge
For heavily loaded container truck.
By taking 40 feet of unloaded container flat cars (7) as an example, for 40 feet of unloaded container flat plates for entering lane (3)
Vehicle (7), system processor (14) controls apparatus for automatically lifting, wing drop regulating device (1) drives under laser scanner (2)
Drop can extrapolate 40 feet of unloaded packagings by the position of the nearest one or more lockholes (6) of laser scanner (2) measurement
The Position Approximate of all lockholes (6) on case flat car (7), then adjusted by apparatus for automatically lifting, wing drop regulating device (1)
The inclination angle of laser scanner (2) is accurately detected, and until measuring all tapered ends (6), finds all tapered ends (6) in X, Y, Z
The accurate three-dimensional coordinate position of axis realizes the accurate positioning of 40 feet of unloaded container flat cars (7).
After the completion of system positions container flat car tapered end (6), tapered end (6) location information is sent to PLC(15), swash
Photoscanner (2) rises to 1.7m height and carries out horizontal sweep, carries out tracking and positioning to container flat car headstock position.If collection
Flat car of casing is mobile, and mobile position is sent to PLC(15 in real time).When suspender (13) carries out putting case, laser scanner
(2) to 40 forty equivalent unit 40s (10) side, the three-dimensional coordinate position by 40 forty equivalent unit 40s (10) edge in X, Y, Z axis is believed for scanning
It ceases the three-dimensional coordinate position information with tapered end (6) in X, Y, Z axis to be compared, realizes and accurately put case.
For entering the double 20 feet unloaded container flat cars (4) in lane, laser scanner is first empty to previous 20 English
Carry ruler container flat car (4) tapered end (6) to be detected, and location information be supplied to PLC(15), place gantry crane (15) is first
Previous 20 forty equivalent unit 40 (9) is carried out to put case, laser scanner (2) is again to 20 feet of the latter unloaded container flat cars
(4) tapered end (6) is detected, and location information is supplied to PLC(15), then 20 forty equivalent unit 40 of the latter (9) is put
Case.
By taking 40 feet of heavy-load container trucies (8) as an example, for entering lane heavy-load container truck, place gantry crane is hung
Rise truck on container when, laser scanner (2) to container truck carry out horizontal sweep, and according to suspender (13) case
The elevation information that signal and spreader height signal provide, is adjusted to corresponding height, laser scanner (2) for apparatus for automatically lifting
The spatial joint clearance scanning ranging being aligned between 40 feet of heavy-load container trucies (8) and 40 forty equivalent unit 40s (10) bottom surface, when 0 English
Tapered end (6) non-Unscrew on ruler heavy-load container truck (8), still hooks container lockhole, 40 feet of heavy-load containers
Truck (8) is taken up by 40 forty equivalent unit 40s (10), and laser scanner (2), which detects under 40 forty equivalent unit 40s (10) bottom surface, object
Body, device issue sound-light alarm immediately, and issue stopping lifting signal and be transferred to place gantry crane PLC(15).If it was found that not having
When any barrier, system permission suspender, which moves upwards, slings 40 forty equivalent unit 40s (10).
For entering double 20 feet of heavy-load container trucies (5) in lane, laser scanner first collects 20 feet of the latter
Vanning (9) carries out anti-lifting detection, and place gantry crane (11) is first to 20 forty equivalent unit 40 of the latter (9) progress handling, and by position
Confidence breath is supplied to PLC(15), laser scanner (2) carries out anti-lifting to previous 20 forty equivalent unit 40 (9) again and detects, to preceding
One 20 forty equivalent unit 40 (9) carries out handling.
Those of ordinary skill in the art it should be appreciated that more than embodiment be intended merely to illustrate the present invention,
And be not intended as limitation of the invention, if in spirit of the invention, to the variation of embodiment described above,
Modification is fallen in the range of claims of the present invention.
Claims (10)
1. a kind of automatic the case of automated handling operation and anti-slinging method, it is characterised in that: including apparatus for automatically lifting, from
Dynamic tilt adjustment device, motor, motor driver, laser scanner, container truck tapered end, container, system processor,
PLC, spreader height signal, trolley position signal, cart location position device, case signal and place gantry crane；
The apparatus for automatically lifting, wing drop regulating device are mounted on the outer truck parking lane in automatic dock stockyard
It is other；The laser scanner is mounted on apparatus for automatically lifting, in wing drop regulating device, controls motor by system processor
Driver adjusts apparatus for automatically lifting, wing drop regulating device to realize laser scanner adjustable height and tilt angle
Adjustment；The height of laser scanner and the data of tilt angle are by apparatus for automatically lifting encoder and wing drop regulating device
Encoder provides；Laser scanner is directed at container truck tapered end tracing detection, by the data of laser scanner measurement and is
Processor of uniting finds the mutation status of tapered end and flat car, determines the reference three-dimensional coordinate position of the X, Y, Z axis of tapered end, and send
It realizes and is accurately positioned to control the position of suspender Yu flat car tapered end to PLC；
The data that the laser scanner horizontal sweep will measure are sent to system processor control motor driver driving
Motor lifting or rotation, find the tapered end on truck flat car, determine the three-dimensional coordinate position of the X, Y, Z axis of the tapered end on flat car
It sets, is supplied to the three-dimensional coordinate position of the container X, Y, Z axis under PLC control suspender；When putting case, laser scanner scans are surveyed
Quantity set vanning marginal position, calculates the range difference of container edge position and lockhole position, realizes on container and flat car
Lockhole position is accurately positioned, realize container under suspender it is automatic case；
When carrying out preventing slinging detection, horizontal sweep simultaneously adjusts height by apparatus for automatically lifting and determines the laser scanner
Gap position between container and flat car, when finding no any barrier, system permission suspender, which moves upwards, slings collection
Vanning；
When the laser scanner scans measure, the headstock, tapered end, container of container truck are measured, display screen is passed through
Present container location information is shown, container truck driver is supplied to；
The apparatus for automatically lifting, the mountable manual control place gantry crane side of wing drop regulating device are high from the ground
About 2 meters of degree, adjustable laser scanner height and tilt angle, horizontal sweep detect container flat car tapered end and container
Gap between plate realizes automatic case and anti-slings detection function.
2. according to the method described in claim 1, it is characterized by: the apparatus for automatically lifting, wing drop regulating device
Including limit control, mechanical arm, hoistable platform and rotating module, scanner can be moved up and down, and can front and back rotation
Turn inclination, flat car tapered end position is found by the driving of motor；It is super that the limiting device control prevents motor from moving up and down
Range out.
3. according to the method described in claim 1, it is characterized by: the apparatus for automatically lifting, wing drop regulating device
It is mounted on by lane, does not influence vehicle driving.
4. according to the method described in claim 1, it is characterized by: first tapered end distance (is more than or equal to farther out if detecting
One container length), then it is assumed that Chinese herbaceous peony end is high；If detecting, first tapered end is closer, then it is assumed that the tailstock is high；According to height
The low Position Approximate for extrapolating all lockholes on container flat car, then dress is adjusted by apparatus for automatically lifting, wing drop
The tilt angle for setting adjusting laser scanner is accurately detected, and until measuring all tapered ends, determines all tapered ends in X, Y, Z
The accurate three-dimensional coordinate position of axis, realizes the accurate positioning of container flat car.
5. according to the method described in claim 1, it is characterized by: for the double 20 feet unloaded container cards into lane
Vehicle, laser scanner first detects previous 20 forty equivalent unit 40 flat car tapered end, and location information is supplied to PLC,
Place gantry crane first carries out previous 20 forty equivalent unit 40 to put case, and laser scanner is again to 20 forty equivalent unit 40 plate of the latter
Lock head is detected, and location information is supplied to PLC, then carry out putting case to 20 forty equivalent unit 40 of the latter.
6. according to the method described in claim 1, it is characterized by: for double 20 feet of heavy-load container cards into lane
Vehicle, laser scanner first carry out anti-lifting to 20 forty equivalent unit 40 of the latter and detect, and place gantry crane is first to 20 feet of the latter
Container carries out handling, and location information is supplied to PLC, and laser scanner prevent to previous 20 forty equivalent unit 40 again
Detection is hung, then handling is carried out to previous 20 forty equivalent unit 40.
7. according to the method described in claim 1, it is characterized by: described the case signal provides height when container is sling
Position；The spreader height signal provides spreader height information.
8. according to the method described in claim 1, it is characterized by: the cart location position device provides place gantry crane
The location information at place；10. trolley position signal described in provides the location information of place portal crane compact car.
9. according to the method described in claim 1, it is characterized by: the container flat car tapered end provides measurement position
Target point determines the three-dimensional coordinate position information of the tapered end X, Y, Z axis measured；The three-dimensional coordinate position, X-axis indicate trolley
And the transverse shifting direction of suspender, Y-axis indicate that place gantry crane direction of traffic, Z axis indicate the vertical direction of suspender oscilaltion.
10. according to the method described in claim 1, it is characterized by: the wing drop regulating device and laser scanner
It combines, realizes the function of 3D laser scanner.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710657062.3A CN109384151A (en) | 2017-08-03 | 2017-08-03 | Automatic the case of automated handling operation and anti-sling method |
| PCT/CN2017/100905 WO2019024172A1 (en) | 2017-08-03 | 2017-09-07 | Automatic container landing and lift prevention method for automatic loading and unloading operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710657062.3A CN109384151A (en) | 2017-08-03 | 2017-08-03 | Automatic the case of automated handling operation and anti-sling method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109384151A true CN109384151A (en) | 2019-02-26 |
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ID=65232291
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710657062.3A Pending CN109384151A (en) | 2017-08-03 | 2017-08-03 | Automatic the case of automated handling operation and anti-sling method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109384151A (en) |
| WO (1) | WO2019024172A1 (en) |
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| CN110015617A (en) * | 2019-04-17 | 2019-07-16 | 湖南中铁五新重工有限公司 | A kind of automatic cabinet gantry crane control system |
| CN110992478A (en) * | 2019-12-25 | 2020-04-10 | 青岛港国际股份有限公司 | Automatic container terminal loading and unloading operation detection method and device |
| CN111071932A (en) * | 2019-12-25 | 2020-04-28 | 青岛港国际股份有限公司 | Container rail crane interactive operation detection method and device |
| CN111268566A (en) * | 2020-03-30 | 2020-06-12 | 北京国泰星云科技有限公司 | Automatic container landing system and method on container truck lane based on laser |
| WO2020177288A1 (en) * | 2019-03-04 | 2020-09-10 | 青岛港国际股份有限公司 | Automatic container terminal stock yard landside automatic operation system and control method thereof |
| CN111766882A (en) * | 2020-07-03 | 2020-10-13 | 上海振华重工(集团)股份有限公司 | Container detection method suitable for AGV and automatic wharf management system |
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| CN117775981A (en) * | 2023-03-03 | 2024-03-29 | 成都畅越机械工程有限公司 | On-line detection method suitable for safe unlocking of container positioning lock head |
| CN118004901A (en) * | 2024-04-09 | 2024-05-10 | 聚时科技(深圳)有限公司 | Anti-lifting detection method for integrated circuit card and related equipment |
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