CN201004172Y - Three-dimension material position detection device for harbor loading automated job - Google Patents
Three-dimension material position detection device for harbor loading automated job Download PDFInfo
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- CN201004172Y CN201004172Y CN 200720066228 CN200720066228U CN201004172Y CN 201004172 Y CN201004172 Y CN 201004172Y CN 200720066228 CN200720066228 CN 200720066228 CN 200720066228 U CN200720066228 U CN 200720066228U CN 201004172 Y CN201004172 Y CN 201004172Y
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Abstract
The utility model discloses a port automatic loading and unloading operating three-dimensional material level measuring device, comprising a two-dimensional driving platform which is arranged on the fixed arm bracket of the loading and unloading machine which is used for shipment; a tripod head which is arranged on the two-dimensional driving platform, and achieves three-dimensional movement with the two-dimensional driving platform; a measuring sensor which is arranged on the tripod head and is used for measuring the material level in three-dimensional; an IPC which obtains the three-dimensional measuring information of the material level measured by the measuring sensor, and transmits to the control computer, and obtains preconcerted movement orbit form the control computer to control the movement of the two dimensional control platform and the tripod head, thereby achieving the three-dimensional measuring to the material level. With the combination of the two-dimensional movement driving platform, the tripod head and the measuring sensor, the utility model has the advantages of achieving the three-dimensional measuring to the material level and the relative device, being capable of automatic loading and unloading operating, increasing the working efficiency, saving the manufacturing cost, reflecting the operating condition real time and high accuracy.
Description
Technical field
The utility model relates to the ports handling machine automatic technology, more particularly, relates to harbour handling automated job 3 D location of object in port handling automated job pick-up unit.
Background technology
Harbour handling transportation equipment technology, harbour control and management technology, mechanics of communication etc. are the ingredients of harbour handling transportation management system.The robotization control and the management level at a harbour have been represented the up-to-dateness at a harbour, have also reflected the overall technology level of a national communication transportation development.The ports handling machine forward is large-scale, efficient, specialized, the automation direction development.Aspect the harbour handling automated job, the detection technique of thing position is to realize the core and the prerequisite of automated job always, in thing position is in the past detected, the camera techniques that adopt detect more, early stage this kind method can only be transmitted image, can not realize the acquisition process of data, adopts the analyzing and processing that can realize data and image based on the camera system of digital technology simultaneously in the recent period, but often be limited by the influence of site work environment, the data accuracy is relatively poor.And this kind method is subject to the fixing of position, if want the three-dimensional position of comprehensive reactant position, then needs to install many cover picture pick-up devices, and cost is bigger.
The utility model content
The utility model purpose is at above-mentioned deficiency, has proposed a kind of harbour handling automated job 3 D location of object in port handling automated job pick-up unit, and it utilizes survey sensor that three-dimensional is carried out in the thing position in the harbour handling operation and detects.
To achieve these goals, the utility model adopts following technical scheme:
This 3 D location of object in port handling automated job pick-up unit carries out three-dimensional to the thing position and detects when shipment, comprising: two dimension drives platform, is installed on the fixedly jib of the loading mechanization of loading usefulness onto ship; The Cloud Terrace is installed in described two dimension and drives on the platform, drives platform with described two dimension and realizes three-dimensional motion; Survey sensor is installed on the described The Cloud Terrace, three-dimensional is carried out in the thing position detect; On-the-spot industrial computer, the three-dimensional of obtaining the thing position of survey sensor measurement detects information, and is transferred to control computer, and obtains predetermined movement locus from control computer, the motion of control two dimension control platform and The Cloud Terrace, realization is to three detections of thing position.
According to an embodiment of the present utility model, described two dimension drives platform and comprises servo drive motor and sports cards, and the output of sports cards is connected to servo drive motor, and servo drive motor drives two dimension and drives platform motion.
According to an embodiment of the present utility model, described survey sensor is the laser radar sensor with scanning angle of 180 °.
According to an embodiment of the present utility model, described on-the-spot industrial computer comprises communication interface and communication cable, and wherein communication interface comprises RS232/RS422, and communication speed is 500Kbaud.
The utility model drives the motion of platform, The Cloud Terrace and survey sensor to realize can being applied to the full-automatic process of harbour handling operation to the three-dimensional detection in the position of thing position and relevant device in conjunction with two dimensional motion, improved work efficiency, has saved production cost.Two dimensional motion drives platform, The Cloud Terrace conjunction measuring sensor has been realized the three-dimensional data detection, has reflected the field condition of operation in real time, and accuracy is higher.This device structure is simple, and is practical.
Description of drawings
In the utility model, identical Reference numeral is represented identical feature all the time, wherein,
Fig. 1 is the structural representation according to 3 D location of object in port handling automated job pick-up unit of the present utility model.
Embodiment
Further describe the technical solution of the utility model below in conjunction with drawings and Examples.
At first with reference to figure 1, Fig. 1 shows a kind of 3 D location of object in port handling automated job pick-up unit 100, when shipment three-dimensional is carried out in the thing position and detects, and this device 100 comprises:
Two dimension drives platform 102, is installed on the fixedly jib of the loading mechanization of loading usefulness onto ship; According to embodiment shown in Figure 1, this two dimension drives platform 102 and is driven by 2 driving shaft 102a, 102b, realizes the motion in the two dimensional surface.In this embodiment, two dimension drives platform 102 and drives and control its running orbit by servo drive motor and sports cards, and the output of sports cards is connected to servo drive motor, and servo drive motor drives two dimension and drives platform motion.In fact sports cards is a control module, and control computer drives servo drive motor by sports cards exactly, and it is realized driving, feedback, data processing, finally two dimension is driven the control of platform 102.
The Cloud Terrace 104 is installed in two dimension and drives on the platform 102, drives platform 102 with two dimension and realizes three-dimensional motion.
On-the-spot industrial computer (not shown), the three-dimensional of obtaining the thing position of survey sensor measurement detects information, and is transferred to control computer, and obtains predetermined movement locus from control computer, the motion of control two dimension control platform and The Cloud Terrace realizes three detections to the thing position.According to an embodiment, on-the-spot industrial computer comprises communication interface and communication cable, and wherein communication interface comprises RS232/RS422, and communication speed is 500Kbaud.
The course of work of this 3 D location of object in port handling automated job pick-up unit 100 is: two dimension drives platform and The Cloud Terrace driving survey sensor at first carries out 180 ° of line sweeps detections in coordinate system XZ plane, after having scanned a line, drive platform by the movement locus of setting, rotate an angle by rotation axis around X-axis, revolution moves an angle, survey sensor carries out primary line scanning and detects, and the rotational angle range that drives platform is 180 °, detects scanning with this face of realizing the thing position; After having detected the XZ plane, drive platform and rotate 90 ° around Y-axis, survey sensor is in the ZY detection plane, survey sensor carries out line sweep to the ZY plane, driving platform conjunction measuring sensor rotates according to the movement locus of setting, revolution moves an angle, survey sensor carries out primary line scanning and detects, realize detection scanning with this to another plane of thing position, described on-the-spot industrial computer is given control computer with the result transmission of twice scanning, combine the three-dimensional measurement of intact doublet position by control computer.
The utility model drives the motion of platform, The Cloud Terrace and survey sensor to realize can being applied to the full-automatic process of harbour handling operation to the three-dimensional detection in the position of thing position and relevant device in conjunction with two dimensional motion, improved work efficiency, has saved production cost.Two dimensional motion drives platform, The Cloud Terrace conjunction measuring sensor has been realized the three-dimensional data detection, has reflected the field condition of operation in real time, and accuracy is higher.This device structure is simple, and is practical.
Claims (4)
1. a 3 D location of object in port handling automated job pick-up unit carries out three-dimensional to the thing position and detects when shipment, it is characterized in that, comprising:
Two dimension drives platform, is installed on the fixedly jib of the loading mechanization of loading usefulness onto ship;
The Cloud Terrace is installed in described two dimension and drives on the platform;
Survey sensor is installed on the described The Cloud Terrace;
On-the-spot industrial computer, the three-dimensional of obtaining the thing position of survey sensor measurement detects information, and is transferred to control computer, and obtains predetermined movement locus from control computer, the motion of control two dimension control platform and The Cloud Terrace.
2. 3 D location of object in port handling automated job pick-up unit as claimed in claim 1, it is characterized in that, described two dimension drives platform and comprises servo drive motor and sports cards, and the output of sports cards is connected to servo drive motor, and servo drive motor drives two dimension and drives platform motion.
3. 3 D location of object in port handling automated job pick-up unit as claimed in claim 2 is characterized in that, described survey sensor is the laser radar sensor with scanning angle of 180 °.
4. 3 D location of object in port handling automated job pick-up unit as claimed in claim 3 is characterized in that, described on-the-spot industrial computer comprises communication interface and communication cable, and wherein communication interface comprises RS232/RS422, and communication speed is 500Kbaud.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200720066228 CN201004172Y (en) | 2007-01-11 | 2007-01-11 | Three-dimension material position detection device for harbor loading automated job |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200720066228 CN201004172Y (en) | 2007-01-11 | 2007-01-11 | Three-dimension material position detection device for harbor loading automated job |
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| Publication Number | Publication Date |
|---|---|
| CN201004172Y true CN201004172Y (en) | 2008-01-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 200720066228 Expired - Lifetime CN201004172Y (en) | 2007-01-11 | 2007-01-11 | Three-dimension material position detection device for harbor loading automated job |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103336282A (en) * | 2013-06-17 | 2013-10-02 | 上海海事大学 | Automatic cabin positioning device and positioning method thereof |
| CN104090279A (en) * | 2014-07-11 | 2014-10-08 | 四川省绵阳西南自动化研究所 | Excavation working face detection device based on laser radar |
| CN107977024A (en) * | 2017-12-19 | 2018-05-01 | 哈尔滨工业大学（威海） | A kind of line sweeps imaging test platform |
-
2007
- 2007-01-11 CN CN 200720066228 patent/CN201004172Y/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103336282A (en) * | 2013-06-17 | 2013-10-02 | 上海海事大学 | Automatic cabin positioning device and positioning method thereof |
| CN103336282B (en) * | 2013-06-17 | 2015-09-02 | 上海海事大学 | A kind of cabin locating device and localization method thereof automatically |
| CN104090279A (en) * | 2014-07-11 | 2014-10-08 | 四川省绵阳西南自动化研究所 | Excavation working face detection device based on laser radar |
| CN107977024A (en) * | 2017-12-19 | 2018-05-01 | 哈尔滨工业大学（威海） | A kind of line sweeps imaging test platform |
| CN107977024B (en) * | 2017-12-19 | 2023-11-21 | 哈尔滨工业大学（威海） | Line sweeps imaging test platform |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| C20 | Patent right or utility model deemed to be abandoned or is abandoned |