CN201161875Y - Collection card laser contraposition and spreader control installation under travelling bridge - Google Patents
Collection card laser contraposition and spreader control installation under travelling bridge Download PDFInfo
- Publication number
- CN201161875Y CN201161875Y CN 200720076043 CN200720076043U CN201161875Y CN 201161875 Y CN201161875 Y CN 201161875Y CN 200720076043 CN200720076043 CN 200720076043 CN 200720076043 U CN200720076043 U CN 200720076043U CN 201161875 Y CN201161875 Y CN 201161875Y
- Authority
- CN
- China
- Prior art keywords
- truck
- bridge crane
- track
- cloud terrace
- plane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The utility model patent discloses a crane bridge lower truck laser positioning and lifting tool control device, wherein a vertical truck traffic lane plane inner rotary rotational station and a parallel truck traffic lane plane inner rotary rotational station are installed on a crossbeam on the upper portion of a crane bridge lower truck traffic lane, a laser scanning macrometer and a pick-up camera are installed on the vertical truck traffic lane plane inner rotary rotational station, laser scans and measures distance to the top of a truck or a container along the truck traffic lane direction, the pick-up camera aligns a truck working traffic lane to pick up images, the laser scanning macrometer is installed on the parallel truck traffic lane plane inner rotary rotational station, the laser scans and measures distance to the front side and the back side of the container along the truck traffic lane vertical direction, a display is installed on crossbeams on two sides of the traffic lane, a main control machine displays the detected distance that the truck is deflected from a hanging point on the display, the truck condition and the position signal are detected and transmitted to a PLC of the crane bridge, participated lifting tools extend and the distance between two lifting tools is controlled, and an industrial control machine transmits box number information which is recognized by pictures to a management system. The device has the effect that the loading and unloading efficiency of a container crane bridge double box lifting tool is improved.
Description
Affiliated technical field
The utility model relates to the front and back contraposition that is used for container handling operation truck and suspender and the contraposition of freight container and suspender, distance and position control between the position control of suspender tapered end and the two suspender and case number (CN) identification monitoring especially are fit to harbour container bridge crane double-box hanger handling container handling operation.
Background technology
The alignment device of present container truck and bridge crane suspender: accept the mensuration that sensor carries out container position with photoelectricity, its groundwork is that correlation light curtain is installed under the crossbeam of bridge crane side, when truck enters bridge crane zone to be hung, freight container shading light curtain is measured the position of freight container this moment.This method can not display set the offset distance of vanning and bridge crane Heave Here, the driver is difficult to catch truck benchmark stop position, can only be to the contraposition of single way truck, and other track trucks pass through cisco unity malfunction, can be to heavily loaded truck contraposition, can't be to unloaded truck contraposition.The method that adopts image software to analyze, its groundwork are to adopt image that shooting obtains and standard container contraposition module map as comparative analysis, mensuration truck position.This method is an indirect distance measuring, is subjected to the influence of weather and illumination, does not have range accuracy.Adopt the light reflection principle method, this method adopts opto-electronic pickup, pastes reflector on the truck crossbeam, by infrared beam reflection detected set card position.This method can be to unloaded truck contraposition, and infrared light blocks, cisco unity malfunction.The method of above truck contraposition all can not participate in the picture control of control, the control of the distance and position between two suspender and the truck contraposition of suspender tapered end.
Summary of the invention
In order to realize the contraposition of multi-channel container truck under two suspender bridge cranes, the position control of suspender tapered end, distance control between two suspenders and case number (CN) identification monitoring, two groups of rotary heads and laser scanning and ranging instrument are installed by crossbeam central authorities above the bridge crane track, the turning cylinder parallel sub truck track direction of one group of The Cloud Terrace, this The Cloud Terrace rotates in the plane of vertical truck track direction, laser scanning and ranging instrument and pick up camera are installed on the The Cloud Terrace, The Cloud Terrace drives the laser scanning and ranging instrument and pick up camera rotates, the laser scanning and ranging instrument is found range to truck or the scanning of freight container end face along truck track direction, realization is to the contraposition of multi-channel truck and suspender under the bridge crane, record two 20 front and back spacing distance information between the forty equivalent unit 40 is transferred to bridge crane by communication interface PLC, participate in the position control of suspender tapered end, pick up camera is facing to freight container end face and the shooting of front or rear side, the bridge crane driver is driving room Real Time Observation suspender and freight container contraposition situation, by industrial computer picture control identification container number; The turning cylinder of another group The Cloud Terrace is perpendicular to truck track direction, this The Cloud Terrace is at vertical ground and be parallel in the plane in truck track and rotate, the laser scanning and ranging instrument is installed on the The Cloud Terrace, The Cloud Terrace drives the laser scanning and ranging instrument and rotates, the laser scanning and ranging instrument scans range finding along truck track vertical direction to the forward and backward side of freight container, record two left and right sides spacing distance information between the freight container and be transferred to the PLC of bridge crane, participate in the distance and position control between two suspenders by communication interface.The utility model provides a kind of and rotates by the control The Cloud Terrace, laser is found range and the scanning of freight container front and back sides is found range truck in the multi-lane under the bridge crane and the scanning of freight container end face, realize truck and the contraposition of suspender and the contraposition of freight container and suspender, and the control of participation suspender tapered end position and the control of the distance and position between two suspender, by the shooting of pick up camera, realize container spreader contraposition picture control and case number (CN) means of identification to bridge crane next part truck lane.
The objective of the invention is to be achieved by following technical proposals:
Contraposition of truck laser and suspender control setup under the utility model bridge crane, be characterized in: it comprises: the The Cloud Terrace, main control computer, read-out, controller, pick up camera and the industrial computer that rotate in the The Cloud Terrace of rotation, the parallel set truck lane plane in laser scanning and ranging instrument, the vertical plane, truck track.
On the The Cloud Terrace that rotates in the The Cloud Terrace that described laser scanning and ranging instrument is contained in the plane, vertical truck track rotation and the plane, parallel truck road; Described pick up camera is contained on the The Cloud Terrace of rotation in the plane, vertical truck track; The The Cloud Terrace of rotation is contained on the side crossbeam of bridge crane next part truck lane top in the plane, described vertical truck track, and its turning cylinder is parallel to truck track direction, and The Cloud Terrace rotates in the plane of vertical truck track direction; The The Cloud Terrace of rotation is contained on the both sides crossbeam of bridge crane next part truck lane top in the described parallel set truck lane plane, and its turning cylinder is perpendicular to truck track direction, and The Cloud Terrace is perpendicular to ground and be parallel in the plane in truck track and rotate; Described main control computer is contained on the crossbeam of top, truck track; Described industrial computer is contained in bridge crane and drives in the room; Described read-out is contained on the side and extra large side bridge crane crossbeam of both sides, land, sea, truck track bridge crane crossbeam; Described controller is contained in the side in track under the bridge crane.
Controller is set the operation of truck single way, The Cloud Terrace drive laser scanning and ranging instrument and pick up camera that main control computer is controlled rotation in the plane, vertical truck track rotate a certain angle, found range to truck or the scanning of freight container end face along truck track direction in the work track of laser scanning and ranging instrument alignment settings, scanning range finding face is parallel to truck track direction, freight container range finding to different size on unloaded truck on the track or the truck, main control computer with freight container benchmark lifting cached location information in memory device as the standard foundation, the data that record are passed through the calculating and the analysis of main control computer, judge the position of freight container on unloaded truck or the truck, simultaneously the freight container on unloaded truck or the truck is departed from the range data of bridge crane Heave Here, car Taoist monastic name and prompting driver truck are forward, backward or the Chinese information of stopping be presented on the light emitting diode (LED) display screen.When truck loaded two 20 forty equivalent unit 40s simultaneously, main control computer was transferred to the PLC of bridge crane to the clearance distance information between two 20 forty equivalent unit 40s that record by communication interface, participates in the control of suspender tapered end position; The pick up camera that is contained on the The Cloud Terrace that rotates in the plane, vertical truck track is followed the The Cloud Terrace rotation, the alignment lens truck work track shooting of pick up camera, the bridge crane driver sees the contraposition or the suspender handling freight container entrucking image of suspender tapered end and freight container in real time by being installed in the monitoring device of driving the industrial computer in the room, the container number image that industrial computer is taken the photograph by pick up camera carries out software analysis, identifies container number and is transferred to container control system by communication interface and is presented on the monitoring device of industrial computer.
Two hoisting during the operation of suspender bridge crane, controller is set the operation of truck two-lane, the The Cloud Terrace of rotation drives two laser scanning and ranging instrument and two pick up camera rotating certain angle respectively in the main control computer control plane, two vertical truck tracks, two laser scanning and ranging instrument are found range to truck or the scanning of freight container end face along truck track direction in two tracks of alignment settings respectively, scanning range finding face is parallel to truck track direction, main control computer working process and mode, the read-out display mode is identical with the operation of truck single way, read-out has two groups, and each group shows the truck contraposition information in a track; While, two pick up cameras were followed the rotation of rotary head in the plane, vertical truck track, made two camera lens aim at two truck work tracks shootings respectively, and the industrial computer working process is identical with the operation of truck single way with mode of operation.
Two hoisting during the operation of suspender bridge crane, when two truck loading containers are parked in the suspender lifting position in two tracks respectively, main control computer is controlled the The Cloud Terrace rotating certain angle of rotation in two parallel set truck lane planes that are installed on the crossbeam of both sides, top, track respectively, freight container leading flank and trailing flank that the laser scanning and ranging instrument is aimed at respectively on the truck are found range along truck track vertical scan direction, scanning range finding face should be parallel to the vertical direction in truck track, with record two side by side the left and right sides spacing distance information of freight container between laterally be transferred to the PLC of bridge crane by communication interface, the distance and position that participates between two suspenders is controlled.
This device is by the rotation of the The Cloud Terrace of rotation in the plane, vertical truck track, the laser scanning and ranging instrument can carry out laser scanning and ranging to following six tracks of bridge crane, by the scanning range finding of laser to truck and freight container end face, according to shape that records truck and freight container and position, automatically judge the accurate stopping position of truck under bridge crane, provide between two 20 forty equivalent unit 40s before and after clearance distance information; By the rotation of the The Cloud Terrace that rotates in the plane, vertical truck track, pick up camera can be made a video recording to following six tracks of bridge crane, realizes the case number (CN) identification of suspender contraposition picture control and freight container; Rotation by rotary head in the parallel set truck lane plane, the laser scanning and ranging instrument is to the scanning range finding of the forward and backward side of freight container, two left and right sides spacing distance information between the freight container side by side are provided, participate in the distance control between bridge crane suspender tapered end position control and two suspenders.This device can be realized truck contraposition and information demonstration on next bar track of bridge crane, also can realize truck contraposition and information demonstration on following two tracks of bridge crane simultaneously.
Owing to adopt technique scheme, the beneficial effects of the utility model are: container truck accurately is parked in the lifting position in advance under bridge crane, alleviate driver's labour intensity, eliminate safe hidden trouble, truck or container position information and case number (CN) information are provided, participate in the control of bridge crane suspender, improve the production efficiency of quayside container crane double-box hanger handling container handling.
Description of drawings
Contraposition of truck laser and suspender control setup scheme drawing under Fig. 1 bridge crane
Fig. 2 laser is to freight container front and back sides scanning range finding scheme drawing
Fig. 3 laser is to freight container end face scanning range finding scheme drawing
Laser contraposition of Fig. 4 truck and suspender control principle scheme drawing
The The Cloud Terrace scheme drawing of rotation in the plane, Fig. 5 vertical truck track
The The Cloud Terrace scheme drawing of rotation in Fig. 6 parallel set truck lane plane
The utility model is described in further detail below in conjunction with accompanying drawing:
Contraposition of truck laser and suspender control setup under the bridge crane, as Fig. 1, shown in Figure 2, be characterized in that it comprises: laser scanning and ranging instrument (1), the The Cloud Terrace (2) of rotation in the vertical plane, truck track, laser scanning and ranging instrument (3), the The Cloud Terrace (4) of rotation in the vertical plane, truck track, laser scanning and ranging instrument (5), the The Cloud Terrace (6) of rotation in the parallel set truck lane plane, laser scanning and ranging instrument (7), the The Cloud Terrace (8) of rotation in the parallel set truck lane plane, read-out (9), read-out (10), read-out (11) main control computer (12), controller (13), pick up camera (14), pick up camera (15) and industrial computer (16).
In the accompanying drawing, truck track (17), crossbeam (18), crossbeam (19), bridge crane (20), extra large side crossbeam (21), land side crossbeam (22), truck work track (23), truck (24), freight container (25), truck (26), 20 forty equivalent unit 40s (27), 20 forty equivalent unit 40s (28), suspender (29), tapered end (30), truck work track (31), truck (32), freight container (33), suspender (34), suspender (35), PLC (36), driving room (37), management system (38), turning cylinder (39), turning cylinder (40).
The specific embodiment
As shown in Figure 5, on the The Cloud Terrace (2) of described laser scanning and ranging instrument (1) and rotation in pick up camera (14) is contained in plane, vertical truck track, on described laser scanning and ranging instrument (3) and the The Cloud Terrace (4) that rotates in pick up camera (15) is contained in plane, vertical truck track.
As shown in Figure 6, described laser scanning and ranging instrument (5) is contained on the The Cloud Terrace (6) of rotation in the parallel set truck lane plane; Described laser scanning and ranging instrument (7) is contained on the The Cloud Terrace (8) of rotation in the parallel set truck lane plane.
As Fig. 1, shown in Figure 5, The Cloud Terrace (2), (4) of rotation are contained on the side crossbeam (18) of bridge crane next part truck lane (17) top in the plane, described vertical truck track, the The Cloud Terrace (2) of rotation, the turning cylinder (39) of (4) are parallel to truck track (17) direction in the vertical plane, truck track, and rotate in the plane of vertical truck track (17) direction The Cloud Terrace (2), (4).
As Fig. 2, shown in Figure 6, the The Cloud Terrace (6) of rotation is contained on the side crossbeam (18) of bridge crane next part truck lane (17) top in the described parallel set truck lane plane, the The Cloud Terrace (8) of rotation is contained on the opposite side crossbeam (19) of bridge crane next part truck lane (17) top in the described parallel set truck lane plane, the turning cylinder (40) of The Cloud Terrace (6), (8) of rotation is perpendicular to truck track (17) direction in the parallel set truck lane plane, and The Cloud Terrace (6), (8) are perpendicular to ground and be parallel in the plane in truck track and rotate.
As shown in Figure 1 and Figure 2, described Main Control Tank (12) is contained on the crossbeam (18) of top, truck track (17), described industrial computer (16) is contained in the driving room (37) of bridge crane (20), described read-out (9) is contained in the extra large side crossbeam of bridge crane (20) (21) side, described read-out (10) is contained in bridge crane (20) land side crossbeam (22) side, described read-out (11) is contained on the extra large side crossbeam of bridge crane (20) (21), and described controller (13) is contained in the side in track (17) under the bridge crane (20).
During the single suspender operation of bridge crane (20), as Fig. 1, Fig. 2, shown in Figure 4, controller (13) is set truck track (23) operation, the The Cloud Terrace (2) that main control computer (12) is controlled at rotation in the plane, vertical track drives laser scanning and ranging instrument (1) and pick up camera (14) rotating certain angle, the work track (23) that makes laser scanning and ranging instrument (1) alignment settings is along the range finding of truck track (23) scanning direction, and scanning range finding face is parallel to truck track (17) direction.When the freight container ship-loading operation, laser scanning and ranging instrument (1) is to freight container (25) end face scanning range finding, when the freight container ship-discharging operation, laser scanning and ranging instrument (1) is to the table top range finding of truck (24), main control computer (12) with suspender and truck and suspender and freight container contraposition information storage in memory device as the standard foundation, the data that record are passed through the calculating and the analysis of main control computer (12), judge the position of truck (24) or freight container (25), simultaneously truck (24) or freight container (25) are departed from the range data of bridge crane Heave Here, car Taoist monastic name and prompting driver truck are forward, backward or the Chinese information of stopping be presented at light emitting diode (LED) display screen (9), (10), (11) on; The pick up camera (14) that is contained on the The Cloud Terrace (2) that rotates in the plane, vertical track is followed The Cloud Terrace (2) rotation, alignment lens truck work track (23) shooting of pick up camera (14), the bridge crane driver by be installed in the monitoring device of driving the industrial computer (16) in the room (37) see in real time suspender (34) and freight container (25) to bit image, freight container (25) the case number (CN) image that industrial computer (16) is taken the photograph by pick up camera (14) carries out software analysis, and the case number (CN) that identifies freight container (25) is transferred to container control system (38) and is presented on the monitoring device of industrial computer (16).
As shown in Figure 3, Figure 4, when truck (26) loads two 20 forty equivalent unit 40s (27), (28) simultaneously, main control computer (12) is transferred to the PLC (36) of bridge crane (20) to the clearance distance information between two 20 forty equivalent unit 40s (27) that record, (28) by communication interface, participates in the control of tapered end (30) position of suspender (29).
During the two suspender operation of bridge crane (20), as shown in Figure 1, controller (13) is set truck track (23) and truck track (31) operation, The Cloud Terrace (2) the drive laser scanning and ranging instrument (1) and the pick up camera (14) of rotation rotate a certain angle in main control computer (12) the control plane, vertical track, the track (23) that makes laser scanning and ranging instrument (1) alignment settings is along truck track (23) direction, to freight container (25) end face scanning range finding, scanning range finding face is parallel to truck track (17) direction, pick up camera (14) alignment settings track (23) shooting; The The Cloud Terrace (4) of rotation drives laser scanning and ranging instrument (3) and pick up camera (15) rotating certain angle in the plane, vertical track of main control computer (12) control simultaneously, the track (31) that makes laser scanning and ranging instrument (3) alignment settings is along truck track (31) direction, to freight container (33) end face scanning range finding, scanning range finding face is parallel to truck track (17) direction, pick up camera (15) alignment settings track (31) shooting, the working process and the mode of main control computer (12) and industrial computer (16), read-out (9), (10), (11) display mode is identical with the operation of truck single way, read-out (9), (10), (11) have two groups, each group shows the truck contraposition information in a track.
As Fig. 1, Fig. 2, shown in Figure 4, two hoisting during the operation of suspender bridge crane, be parked in suspender (34) the lifting position of track (23) when truck (24) loading container (25), when truck (32) loading container (33) is parked in suspender (35) the lifting position of track (31), main control computer (12) is controlled The Cloud Terrace (6) rotating certain angle of rotation in the parallel set truck lane plane that is installed on the one side crossbeam (18) of top, track, freight container (25) and freight container (33) trailing flank on truck (32) car that laser scanning and ranging instrument (5) is aimed on truck (24) car are found range along truck track (17) vertical scan direction, scanning range finding face is parallel to the vertical direction of truck track (17), main control computer (12) is controlled The Cloud Terrace (8) rotating certain angle of rotation in the parallel set truck lane plane that is installed on the track top opposite side crossbeam (19), freight container (25) and freight container (33) leading flank on truck (32) car that laser scanning and ranging instrument (7) is aimed on truck (24) car are found range along truck track (17) vertical scan direction, the vertical direction of scanning range finding face parallel set truck lane (17), the freight container side by side (25) that records and freight container (33) left and right sides spacing distance information between laterally is transferred to the PLC (36) of bridge crane (20) by communication interface, participate in the distance and position control between suspender (34) and the suspender (35), make suspender (34) aim at freight container (25) horizontal position, make suspender (35) aim at freight container (33) horizontal position.
As shown in Figure 1, this device is by the The Cloud Terrace (2) of rotation in the plane, vertical truck track, the rotation of (4), laser scanning and ranging can be carried out along truck track direction to following six tracks of bridge crane (20) in laser scanning and ranging instrument (1), (3), and pick up camera (14), (15) can be discerned following six carriageway images monitoring of bridge crane (20) and case number (CN).As shown in Figure 3, by the rotation of rotary head (6), (8) in the parallel set truck lane plane, laser scanning and ranging instrument (5), (7) can be found range along truck track vertical scan direction to the forward and backward side of the freight container of the various sizes on following six tracks of bridge crane (20).
Claims (9)
1, contraposition of truck laser and suspender control setup under the bridge crane, it is characterized in that: it comprises: the laser scanning and ranging instrument, the The Cloud Terrace of rotation in the vertical plane, truck track, the The Cloud Terrace of rotation in the parallel set truck lane plane, main control computer, the high brightness LED read-out, controller, pick up camera and industrial computer, on the The Cloud Terrace that rotates in the The Cloud Terrace that described laser scanning and ranging instrument is contained in the plane, vertical truck track rotation and the plane, parallel truck road, described pick up camera is contained on the The Cloud Terrace of rotation in the plane, vertical truck track, the The Cloud Terrace of rotation is contained on the bridge crane crossbeam of top, truck track in the plane, described vertical truck track, the The Cloud Terrace of rotation is contained on the bridge crane both sides crossbeam of top, truck track in the described parallel set truck lane plane, described read-out is contained on the side and extra large side bridge crane crossbeam of both sides, land, sea, truck track bridge crane crossbeam, described main control computer is contained on the crossbeam of top, truck track, described industrial computer is contained in bridge crane and drives in the room, and described controller is contained in side, track, bridge crane below separately.
2, contraposition of truck laser and suspender control setup under the bridge crane according to claim 1 is characterized in that, the The Cloud Terrace of rotation in the plane, described vertical truck track, and mounting means is that turning cylinder is parallel to truck track direction.
3, contraposition of truck laser and suspender control setup under the bridge crane according to claim 1 is characterized in that, the The Cloud Terrace of rotation in the described parallel set truck lane plane, and mounting means is that turning cylinder is perpendicular to truck track direction.
4, contraposition of truck laser and suspender control setup under the bridge crane according to claim 1, it is characterized in that, described laser scanning and ranging instrument is contained on the The Cloud Terrace of rotation in the plane, vertical truck track, the mounting means of laser scanning and ranging instrument is parallel to truck track direction for the laser scanning and ranging face, covers bridge crane next part truck lane.
5, contraposition of truck laser and suspender control setup under the bridge crane according to claim 1, it is characterized in that, described laser scanning and ranging instrument is contained on the The Cloud Terrace of rotation in the parallel set truck lane plane, the mounting means of laser scanning and ranging instrument is parallel to the vertical direction in truck track for the laser scanning and ranging face, covers bridge crane next part truck lane.
6, contraposition of truck laser and suspender control setup under the bridge crane according to claim 1 is characterized in that, described pick up camera is contained on the The Cloud Terrace of rotation in the plane, vertical truck track, and the pick up camera mounting means is that camera lens is aimed at the truck track.
7, contraposition of truck laser and suspender control setup under the bridge crane according to claim 1 is characterized in that, described main control computer and bridge crane PLC have communication interface.
8, contraposition of truck laser and suspender control setup under the bridge crane according to claim 1 is characterized in that described industrial computer and container control system have communication interface.
9, contraposition of truck laser and suspender control setup under the bridge crane according to claim 1 is characterized in that, described read-out is a light emitting diode (LED) display screen.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200720076043 CN201161875Y (en) | 2007-11-13 | 2007-11-13 | Collection card laser contraposition and spreader control installation under travelling bridge |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200720076043 CN201161875Y (en) | 2007-11-13 | 2007-11-13 | Collection card laser contraposition and spreader control installation under travelling bridge |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201161875Y true CN201161875Y (en) | 2008-12-10 |
Family
ID=40182816
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200720076043 Expired - Lifetime CN201161875Y (en) | 2007-11-13 | 2007-11-13 | Collection card laser contraposition and spreader control installation under travelling bridge |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201161875Y (en) |
Cited By (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010119180A1 (en) * | 2009-04-15 | 2010-10-21 | Konecranes Oyj | System for the identification and/or location determination of a container handling machine |
| CN102145859A (en) * | 2011-02-15 | 2011-08-10 | 上海海事大学 | Double-lifting-appliance bridge crane adopting ultrasonic sensor and positioning method thereof |
| CN102285590A (en) * | 2011-04-21 | 2011-12-21 | 长沙科尊信息技术有限公司 | Container lifting tool gripping operation sensing system and method based on infrared structure light |
| CN102436203A (en) * | 2011-08-17 | 2012-05-02 | 深圳市锐能机械有限公司 | Automatic container check and monitoring system |
| CN101891117B (en) * | 2009-11-03 | 2012-05-23 | 南通通镭软件有限公司 | Container loading and unloading automatic control system under shore bridge |
| CN103030063A (en) * | 2011-09-30 | 2013-04-10 | 西门子公司 | Method for determining target position for container spreader and container spreader |
| CN103781717A (en) * | 2011-07-18 | 2014-05-07 | 科恩起重机有限公司 | System and method for determining location and skew of crane grappling member |
| CN104460664A (en) * | 2013-11-12 | 2015-03-25 | 上海宝信软件股份有限公司 | Full-automatic unmanned traveling loading and unloading position detection system |
| CN104477779A (en) * | 2014-12-31 | 2015-04-01 | 曹敏 | System and method for alignment and safety control of trucks under bridge cranes of container wharves |
| CN104528531A (en) * | 2014-12-31 | 2015-04-22 | 曹敏 | Container wharf RTG and RMG lower container truck alignment guide system and method |
| CN104581061A (en) * | 2014-12-27 | 2015-04-29 | 国家电网公司 | Safe distance control method of high-altitude operation car and automatic sensing system |
| WO2016001481A1 (en) * | 2014-06-30 | 2016-01-07 | Konecranes Plc | Load transport by means of load handling equipment |
| CN105293086A (en) * | 2015-06-29 | 2016-02-03 | 天津东方海陆集装箱码头有限公司 | Container loading/unloading system employing double hoisting overhead traveling cranes capable of moving in parallel |
| CN105345452A (en) * | 2015-11-30 | 2016-02-24 | 中国航空工业集团公司沈阳飞机设计研究所 | Method and system for disassembling and assembling aircraft engine by laser positioning technology |
| CN105492365A (en) * | 2013-05-31 | 2016-04-13 | 科恩起重机环球公司 | Cargo handling by a spreader |
| CN105800445A (en) * | 2014-12-31 | 2016-07-27 | 张家港凯斯机械有限公司 | Empty container dedicated single-double box lifting appliance |
| CN105883440A (en) * | 2015-12-31 | 2016-08-24 | 江苏耐维思通科技股份有限公司 | Unattended bridge type ship unloader |
| CN106210616A (en) * | 2015-05-04 | 2016-12-07 | 杭州海康威视数字技术股份有限公司 | The acquisition method of container representation information, device and system |
| CN106495000A (en) * | 2015-09-08 | 2017-03-15 | 上海海镭激光科技有限公司 | Multilamellar laser scanning truck and suspender tapered end alignment method under bridge crane |
| 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 |
| EP3321226A1 (en) * | 2016-11-11 | 2018-05-16 | ABB Schweiz AG | Container crane control system comprising multiple cameras |
| CN108328480A (en) * | 2018-02-05 | 2018-07-27 | 上海振华重工(集团)股份有限公司 | Gantry crane intelligence is to case system and method |
| CN108981684A (en) * | 2018-06-06 | 2018-12-11 | 苏州智加科技有限公司 | Container truck positioning system and method |
| CN109384151A (en) * | 2017-08-03 | 2019-02-26 | 南通通镭软件有限公司 | Automatic the case of automated handling operation and anti-sling method |
| CN109403161A (en) * | 2018-02-01 | 2019-03-01 | 宝鸡中车时代工程机械有限公司 | Large-tonnage lifting railcar replaces track switch construction technology |
| CN109696125A (en) * | 2019-01-15 | 2019-04-30 | 江苏智库物流科技有限公司 | Driving cable disc loading position position detecting system |
| CN109795892A (en) * | 2017-11-17 | 2019-05-24 | 上海海勃物流软件有限公司 | A kind of container handling ship case position automatic recognition system and recognition methods |
| CN110615365A (en) * | 2019-10-08 | 2019-12-27 | 三一海洋重工有限公司 | Portal crane lane, portal crane lane system and control method thereof |
| CN112010053A (en) * | 2020-09-22 | 2020-12-01 | 青岛港国际股份有限公司 | Three-dimensional automatic container terminal |
| CN112764044A (en) * | 2020-12-21 | 2021-05-07 | 宁波大榭招商国际码头有限公司 | Laser radar-based accurate alignment method for unmanned truck unloading box |
| CN112764045A (en) * | 2020-12-21 | 2021-05-07 | 宁波大榭招商国际码头有限公司 | Laser radar-based accurate alignment method for unmanned truck container |
-
2007
- 2007-11-13 CN CN 200720076043 patent/CN201161875Y/en not_active Expired - Lifetime
Cited By (55)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102439481A (en) * | 2009-04-15 | 2012-05-02 | 科尼起重机集团 | System for the identification and/or location determination of a container handling machine |
| WO2010119180A1 (en) * | 2009-04-15 | 2010-10-21 | Konecranes Oyj | System for the identification and/or location determination of a container handling machine |
| CN102439481B (en) * | 2009-04-15 | 2014-05-07 | 科尼起重机集团 | System for identification and/or location determination of container handling machine |
| CN101891117B (en) * | 2009-11-03 | 2012-05-23 | 南通通镭软件有限公司 | Container loading and unloading automatic control system under shore bridge |
| CN102145859A (en) * | 2011-02-15 | 2011-08-10 | 上海海事大学 | Double-lifting-appliance bridge crane adopting ultrasonic sensor and positioning method thereof |
| CN102285590A (en) * | 2011-04-21 | 2011-12-21 | 长沙科尊信息技术有限公司 | Container lifting tool gripping operation sensing system and method based on infrared structure light |
| US9764931B2 (en) | 2011-07-18 | 2017-09-19 | Konecranes Global Corporation | System and method for determining location and skew of crane grappling member |
| CN103781717A (en) * | 2011-07-18 | 2014-05-07 | 科恩起重机有限公司 | System and method for determining location and skew of crane grappling member |
| CN103781717B (en) * | 2011-07-18 | 2015-09-09 | 科恩起重机有限公司 | Determine the position of the capture member of hoisting crane and the system and method for measure of skewness |
| CN102436203A (en) * | 2011-08-17 | 2012-05-02 | 深圳市锐能机械有限公司 | Automatic container check and monitoring system |
| CN103030063A (en) * | 2011-09-30 | 2013-04-10 | 西门子公司 | Method for determining target position for container spreader and container spreader |
| CN105492365B (en) * | 2013-05-31 | 2018-06-12 | 科恩起重机环球公司 | For passing through the method, apparatus and external member of the cargo handling of suspender |
| CN105492365A (en) * | 2013-05-31 | 2016-04-13 | 科恩起重机环球公司 | Cargo handling by a spreader |
| CN104460664B (en) * | 2013-11-12 | 2017-06-09 | 上海宝信软件股份有限公司 | Full-automatic unmanned driving loading position detecting system |
| CN104460664A (en) * | 2013-11-12 | 2015-03-25 | 上海宝信软件股份有限公司 | Full-automatic unmanned traveling loading and unloading position detection system |
| WO2016001481A1 (en) * | 2014-06-30 | 2016-01-07 | Konecranes Plc | Load transport by means of load handling equipment |
| CN106794971A (en) * | 2014-06-30 | 2017-05-31 | 科尼全球公司 | Transported by the load for loading processing equipment |
| EP3160890A4 (en) * | 2014-06-30 | 2018-02-28 | Konecranes Global Corporation | Load transport by means of load handling equipment |
| US10421646B2 (en) | 2014-06-30 | 2019-09-24 | Konecranes Global Corporation | Load transport by means of load handling equipment |
| CN106794971B (en) * | 2014-06-30 | 2019-05-17 | 科尼全球公司 | By the load transport for loading processing equipment |
| CN104581061A (en) * | 2014-12-27 | 2015-04-29 | 国家电网公司 | Safe distance control method of high-altitude operation car and automatic sensing system |
| CN105800445A (en) * | 2014-12-31 | 2016-07-27 | 张家港凯斯机械有限公司 | Empty container dedicated single-double box lifting appliance |
| CN104477779B (en) * | 2014-12-31 | 2016-07-13 | 北京国泰星云科技有限公司 | The para-position of truck and safety control system and method under Property in Container Terminal Bridge Crane Through |
| CN104528531B (en) * | 2014-12-31 | 2016-06-01 | 北京国泰星云科技有限公司 | Under terminal of containers RTG, RMG, truck contraposition guides system and method |
| CN104528531A (en) * | 2014-12-31 | 2015-04-22 | 曹敏 | Container wharf RTG and RMG lower container truck alignment guide system and method |
| CN105800445B (en) * | 2014-12-31 | 2019-06-04 | 张家港凯斯机械有限公司 | A kind of dedicated single double-box hanger of empty container |
| CN104477779A (en) * | 2014-12-31 | 2015-04-01 | 曹敏 | System and method for alignment and safety control of trucks under bridge cranes of container wharves |
| CN106210616A (en) * | 2015-05-04 | 2016-12-07 | 杭州海康威视数字技术股份有限公司 | The acquisition method of container representation information, device and system |
| CN105293086A (en) * | 2015-06-29 | 2016-02-03 | 天津东方海陆集装箱码头有限公司 | Container loading/unloading system employing double hoisting overhead traveling cranes capable of moving in parallel |
| CN106495000A (en) * | 2015-09-08 | 2017-03-15 | 上海海镭激光科技有限公司 | Multilamellar laser scanning truck and suspender tapered end alignment method under bridge crane |
| CN106495000B (en) * | 2015-09-08 | 2017-12-15 | 上海海镭激光科技有限公司 | Multilayer laser scanning truck and suspender tapered end alignment method under bridge crane |
| CN105345452A (en) * | 2015-11-30 | 2016-02-24 | 中国航空工业集团公司沈阳飞机设计研究所 | Method and system for disassembling and assembling aircraft engine by laser positioning technology |
| CN105883440A (en) * | 2015-12-31 | 2016-08-24 | 江苏耐维思通科技股份有限公司 | Unattended bridge type ship unloader |
| CN105883440B (en) * | 2015-12-31 | 2018-05-04 | 江苏耐维思通科技股份有限公司 | Unattended bridge type ship unloader |
| CN110167864A (en) * | 2016-11-11 | 2019-08-23 | Abb瑞士股份有限公司 | Container crane control system including multiple cameras |
| WO2018086929A1 (en) * | 2016-11-11 | 2018-05-17 | Abb Schweiz Ag | Container crane control system comprising multiple cameras |
| US10696525B2 (en) | 2016-11-11 | 2020-06-30 | Abb Schweiz Ag | Container crane control system comprising multiple cameras |
| EP3321226A1 (en) * | 2016-11-11 | 2018-05-16 | ABB Schweiz AG | Container crane control system comprising multiple cameras |
| CN107089599B (en) * | 2017-06-29 | 2018-10-19 | 北京国泰星云科技有限公司 | Suspender safety anticollision system and method based on the identification of container case area contoured three-dimensional |
| 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 |
| CN109384151A (en) * | 2017-08-03 | 2019-02-26 | 南通通镭软件有限公司 | Automatic the case of automated handling operation and anti-sling method |
| CN109795892A (en) * | 2017-11-17 | 2019-05-24 | 上海海勃物流软件有限公司 | A kind of container handling ship case position automatic recognition system and recognition methods |
| CN109403161B (en) * | 2018-02-01 | 2020-12-04 | 宝鸡中车时代工程机械有限公司 | Construction process for replacing turnout of large-tonnage hoisting rail car |
| CN109403161A (en) * | 2018-02-01 | 2019-03-01 | 宝鸡中车时代工程机械有限公司 | Large-tonnage lifting railcar replaces track switch construction technology |
| CN108328480A (en) * | 2018-02-05 | 2018-07-27 | 上海振华重工(集团)股份有限公司 | Gantry crane intelligence is to case system and method |
| CN108981684A (en) * | 2018-06-06 | 2018-12-11 | 苏州智加科技有限公司 | Container truck positioning system and method |
| CN108981684B (en) * | 2018-06-06 | 2021-10-12 | 苏州智加科技有限公司 | Container truck positioning system and method |
| CN109696125A (en) * | 2019-01-15 | 2019-04-30 | 江苏智库物流科技有限公司 | Driving cable disc loading position position detecting system |
| CN110615365A (en) * | 2019-10-08 | 2019-12-27 | 三一海洋重工有限公司 | Portal crane lane, portal crane lane system and control method thereof |
| CN110615365B (en) * | 2019-10-08 | 2021-03-26 | 三一海洋重工有限公司 | Portal crane lane, portal crane lane system and control method thereof |
| CN112010053A (en) * | 2020-09-22 | 2020-12-01 | 青岛港国际股份有限公司 | Three-dimensional automatic container terminal |
| CN112764044A (en) * | 2020-12-21 | 2021-05-07 | 宁波大榭招商国际码头有限公司 | Laser radar-based accurate alignment method for unmanned truck unloading box |
| CN112764045A (en) * | 2020-12-21 | 2021-05-07 | 宁波大榭招商国际码头有限公司 | Laser radar-based accurate alignment method for unmanned truck container |
| CN112764044B (en) * | 2020-12-21 | 2023-11-24 | 宁波大榭招商国际码头有限公司 | Laser radar-based precise alignment method for unmanned integrated card unloading box |
| CN112764045B (en) * | 2020-12-21 | 2023-11-24 | 宁波大榭招商国际码头有限公司 | Laser radar-based precise alignment method for unmanned integrated card packaging box |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201161875Y (en) | Collection card laser contraposition and spreader control installation under travelling bridge | |
| CN201125129Y (en) | Image contraposition apparatus of crane bridge lower collection card | |
| CN201198441Y (en) | Apparatus for rectifying deviation of container gantry crane, laser aligning container truck and preventing hoist of container truck | |
| CN104036275B (en) | The detection method and its device of destination object in a kind of vehicle blind zone | |
| CN106495000B (en) | Multilayer laser scanning truck and suspender tapered end alignment method under bridge crane | |
| CN206348155U (en) | Vehicle safety intelligent detecting prewarning system | |
| CN202670564U (en) | Physically visual automated inventory system for warehouse goods | |
| CN101469985A (en) | Single-frame image detection apparatus for vehicle queue length at road junction and its working method | |
| CN104085794A (en) | Intelligent detection system and method for distribution profile and position of container | |
| CN106946049A (en) | Container terminal mobile units automation traveling method | |
| CN114113118B (en) | Rapid detection device and detection method for subway tunnel lining crack leakage water disease | |
| CN202630925U (en) | Intelligent system for measuring contour and dimension of vehicle | |
| CN210363862U (en) | Track inspection device | |
| CN106705862A (en) | Position detection method of sleeper bolt for fast rail exchange operation | |
| CN104369742A (en) | Image-processing-based fast intelligent detection vehicle for tunnel surface cracks | |
| CN106970581A (en) | A kind of train pantograph real-time intelligent monitoring method and system based on the three-dimensional full visual angle of unmanned aerial vehicle group | |
| CN115406676A (en) | Bogie detection system and method | |
| CN208421926U (en) | A kind of automatic driving vehicle road brake system of information exchange | |
| CN105271006A (en) | Rubber-tyred gantry crane walking positioning, correcting and container truck alignment anti-lifting method | |
| CN201003950Y (en) | Positioning device for laser solid scanning container track | |
| CN202733750U (en) | Device for improving beam-focusing accuracy of light-compensating lamp of intelligent road traffic system | |
| CN213750759U (en) | Railway tunnel intelligent patrol vehicle based on SLAM technology | |
| CN107339950A (en) | A kind of track quick track switching operating operation sleeper bolt method for detecting position | |
| CN107621229B (en) | Real-time railway track width measurement system and method based on area array black-and-white camera | |
| CN110304105A (en) | A kind of Metro Clearance dynamic detection vehicle and detection method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee |
Owner name: SHANGHAI HAILEI LASER TECHNOLOGY CO., LTD. Free format text: FORMER NAME: SHANGHAI MINGLU CORD-TOOL CO., LTD. |
|
| CP01 | Change in the name or title of a patent holder |
Address after: 200090 Liping Road, Shanghai, No. 341, No. Patentee after: Shanghai Hai Compact Laser Technology Co., Ltd. Address before: 200090 Liping Road, Shanghai, No. 341, No. Patentee before: Shanghai Minglu Cord-Tool Co., Ltd. |
|
| CX01 | Expiry of patent term |
Granted publication date: 20081210 |