CN202880501U - Bulk cargo wharf automation shipment system - Google Patents
Bulk cargo wharf automation shipment system Download PDFInfo
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- CN202880501U CN202880501U CN 201220492674 CN201220492674U CN202880501U CN 202880501 U CN202880501 U CN 202880501U CN 201220492674 CN201220492674 CN 201220492674 CN 201220492674 U CN201220492674 U CN 201220492674U CN 202880501 U CN202880501 U CN 202880501U
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- radar scanner
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Abstract
The utility model discloses a bulk cargo wharf automation shipment system. The utility model provides a shipment system which is capable of achieving automatic shipment under the unmanned condition, improving production efficiency and guaranteeing production safety. The bulk cargo wharf automation shipment system comprises a two-dimensional laser radar scanning device, a scanning driving mechanism, a wireless communication system, an embedded type controlling device, an automatic shipment programmable logic controller (PLC) and a revolving encoder. The two-dimensional laser radar scanning device is connected with the scanning driving mechanism and is used for three-dimensional scanning of a whole ship. The scanning driving mechanism is a two-shaft driving mechanism. The two-dimensional laser radar scanning device is driven by a horizontal revolving shaft to revolve perpendicularly and the two-dimensional laser radar scanning device is driven by a perpendicular revolving shaft to revolve horizontally. The revolving encoder is installed on a sliding barrel, and used for obtaining a revolving angle in real time. The embedded type controlling device is respectively connected with the two-dimensional laser radar scanning device and the automatic shipment PLC controlling device. The bulk cargo wharf automation shipment system is capable of automatically completing shipment operation under the unmanned condition and autonomously restraining and disposing different unsafe actions.
Description
Technical field
The utility model relates to the port and pier equipment technical field, particularly relates to a kind of bulk cargo terminals automatic lading system.
Background technology
Along with the development of economic globalization, the bulk goods particularly sea-freight amount of coal is constantly increasing.Bulk cargo terminals occupy very important status as the main water transport loading and unloading of bulk goods goods base in logistic industry.At bulk cargo terminals, because the bulk goods dust has caused more abominable operating environment, check implement and technology there is harsh requirement, therefore, harbour bulk handling system automation degree is lower both at home and abroad at present, basically by artificial execute-in-place, operating efficiency and operational security depend on driver and site operation personnel's skill level fully.
And adopt on-the-spot manual operation, on the one hand because the physical and mental health that the abominable service conditions (dust, noise etc.) of bulk cargo terminals can endanger field man, on the other hand because abominable service conditions and long Container Loading cause that very easily the workman is tired, causes the accident.Although from safety guard, because the people does not change as power operation control core status, still exist various safety hazard more than having taked at present.
At present, research and the test of a large amount of automation directions have been done by China aspect container wharf, and have obtained a large amount of achievements.But for bulk cargo terminals, because the restriction of the factor such as bulk goods out-of-shape, ship shape are complicated, technics of shipment is complicated, the automation of bulk cargo terminals also rarely has solution.Although present situation is unfavorable for the development of bulk cargo terminals automation, along with the sustainable development of international carriage and bulk goods logistics, the automatic improving of bulk cargo terminals is inexorable trends.
The utility model content
The purpose of this utility model is for the technological deficiency that exists in the prior art, and a kind of automatic ship loading of can realizing under unmanned condition is provided, and enhances productivity, and ensures the bulk cargo terminals automatic lading system of production safety.
For realizing that the technical scheme that the purpose of this utility model adopts is:
A kind of bulk cargo terminals automatic lading system is characterized in that, comprises two-dimensional laser radar scanner, scan driving mechanism, wireless telecommunication system, embedded controller, automatic ship loading PLC controller, rotary encoder;
Described two-dimensional laser radar scanner is connected with described scan driving mechanism, is used for carrying out full ship 3-D scanning;
Described scan driving mechanism is the diaxon driver train, described diaxon driver train comprises that feathering axis and vertical rotating shaft form, feathering axis in the described diaxon driver train drives described two-dimensional laser radar scanner vertical rotary, and the vertical rotating shaft in the described diaxon driver train drives described two-dimensional laser radar scanner and horizontally rotates; Described feathering axis and vertical rotating shaft pass through respectively driven by servomotor, on the described servomotor motor servo driver is installed, described motor servo driver is connected with described embedded controller, and described motor servo driver receives the instruction of described embedded controller the two-dimensional laser radar scanner is carried out position control;
Described rotary encoder is installed on the slide bucket, is used for obtaining in real time the anglec of rotation of slide bucket; Described rotary encoder and described automatic ship loading PLC controller,
Described embedded controller is connected with automatic ship loading PLC controller with described two-dimensional laser radar scanner respectively, described embedded controller is used for receiving the scan-data of described two-dimensional laser radar scanner, and carry out image and process and three-dimensional reconstruction, finish to cabin position, cabin size, ship incline, the identification of blanking shape and impact detection, and the data after will identifying are delivered to described automatic ship loading PLC controller; The instruction at control center and row's ship work data during described embedded controller receives by described wireless telecommunication system;
Described automatic ship loading PLC controller is connected with ship loader, is used for the operation control of ship loader.
Adopt optical fibre transmission information between described two-dimensional laser radar scanner and the described embedded controller.
Adopt optical fibre transmission information between described servomotor and the described embedded controller.
Compared with prior art, the beneficial effects of the utility model are:
1, automatic lading of the present utility model system forms detection part by the combination of two-dimensional laser radar scanner and rotary encoder, carry out instruction by embedded controller and automatic ship loading PLC controller, can under unmanned condition, automatically finish ship-loading operation, simultaneously can be in fully unmanned situation, independently different unsafe acts is used restraint and dispose, improve production efficiency, ensured production safety.
2, the full ship three-D profile of automatic lading system's employing two-dimensional laser radar scanner collection of the present utility model, because it adopts the double echo principle, effective interfering objects such as Chalk-dust filtering, insect in measurement, and can under heavy rain, the severe weather conditions such as haze, use.And volume is little, lightweight.
3, automatic lading of the present utility model system drives laser radar by a cover two axle movement mechanism and carries out the scanning of a plurality of dimensions of a plurality of angles, and is converted to three-D profile scanning by embedded controller.
4, slip the upper rotary encoder of installing of bucket in the automatic lading of the present utility model system, when automated job, can know in real time the anglec of rotation of chute, directly control slipping the angle of bucket by automatic ship loading PLC controller.
5, automatic lading of the present utility model system radar communication signal, servo-control signal are selected optical fibre transmission, can avoid interference.
Description of drawings
Figure 1 shows that the scheme drawing of a kind of bulk cargo terminals automatic lading of the utility model system.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the utility model is described in further detail.
The scheme drawing of a kind of bulk cargo terminals automatic lading of the utility model system comprises two-dimensional laser radar scanner, scan driving mechanism, wireless telecommunication system, embedded controller, automatic ship loading PLC controller, rotary encoder as shown in Figure 1;
Described two-dimensional laser radar scanner is connected with described scan driving mechanism, is used for carrying out full ship 3-D scanning.
Described scan driving mechanism is the diaxon driver train, described diaxon driver train comprises that feathering axis and vertical rotating shaft form, feathering axis in the described diaxon driver train drives described two-dimensional laser radar scanner vertical rotary, and the vertical rotating shaft in the described diaxon driver train drives described two-dimensional laser radar scanner and horizontally rotates; Described feathering axis and vertical rotating shaft pass through respectively driven by servomotor, on the described servomotor motor servo driver is installed, described motor servo driver is connected with described embedded controller, and described motor servo driver receives the instruction of described embedded controller the two-dimensional laser radar scanner is carried out position control.
Described rotary encoder is installed on the slide bucket, is used for obtaining in real time the anglec of rotation of slide bucket; Described rotary encoder is connected with automatic ship loading PLC controller, directly the angle of slide bucket is controlled by automatic ship loading PLC controller.
Described embedded controller is connected with automatic ship loading PLC controller with described two-dimensional laser radar scanner respectively, described embedded controller is used for receiving the scan-data of described two-dimensional laser radar scanner, and carry out image and process and three-dimensional reconstruction, finish to cabin position, cabin size, ship incline, the identification of blanking shape and impact detection, and the data after will identifying are delivered to described automatic ship loading PLC controller; The instruction at control center and row's ship work data during described embedded controller receives by described wireless telecommunication system.
Described automatic ship loading PLC controller is connected with ship loader, is used for the operation control of ship loader.
Adopt optical fibre transmission information between described two-dimensional laser radar scanner and the described embedded controller.
Adopt optical fibre transmission information between described servomotor and the described embedded controller.
When using bulk cargo terminals automatic lading of the present utility model system to load onto ship, comprise the steps:
At first receive the work data from middle control central dispatching, comprise the data such as blanking order, blanking weight, berth information, fore position and ship type.
Next, ship loader is walked above boats and ships and is started the two-dimensional laser radar scanner and carries out cabin position location scanning, obtains the hatch location information and slips the most at last barrel hatch that is stopped at first an operation top.
Afterwards, the two-dimensional laser radar scanner carries out cabin scanning and will slip bucket entering cabin and carrying out the operation of single cabin, after blanking is finished in this cabin, certainly moves extremely next cabin operation of cabin.So repeatedly until the shipment of all cabins finish.All shipping sequences and blanking weight, all with reference in the production plan data that send of control central dispatching.
Then, carry out full ship topping off, the mobile cabin hatch position of bucket to first trim that slip, laser radar carries out cabin scanning and determines trim discharging point and blanking amount, the bucket that will slip is put into cabin and is carried out trim, after trim is finished in this cabin, certainly moves the cabin to next cabin trim.So repeatedly until all cabin trims finish
At last, resume operation front attitude and inform that middle control scheduling ship-loading operation finishes of ship loader.
Concrete operations are:
New field of technical activity: job instruction is assigned, and ship loader enters the automation control stage.Because ship loader is not also known the concrete orientation of cabin, therefore need to cooperate the two-dimensional laser radar scanner once to seek the cabin process, by the two-dimensional laser radar scanner carry out the scanning of full ship and with scanning recognition data and the information data of arranging boat system compare consistent after, begin to enter first cabin and enter action.
Advance the cabin process: in automatic lading, this stage need to be experienced repeatedly.When the bucket that slips enters cabin, at first ship loader is moved to this top, cabin approximate location (according to seeking the approximate location of determining in the process of cabin), then carry out single pass, after determining the height of existing material in the accurate dimension of hatch and the cabin, and after calculating the slip best stand of bucket and ship loader mechanism kinematic, the bucket that will slip is put into the cabin.
Stowage process: in automatic lading, need to repeatedly experience this stage.After each slide bucket enters the cabin, carry out blanking according to the operating instruction of harbour coal jetty.The Main Basis of blanking has: the parameters such as blanking total amount, ship incline, " in the middle of after first ", material vertex.Above parameter all has belt conveyer scale, ship loader coder and two-dimensional laser radar scanner real time scan to be guaranteed.
The blanking total amount is then changed the cabin operation after reaching the requirement of row's ship plan.In automatic lading, this stage need to be experienced repeatedly.When changing the cabin, at first send the shutdown such as command request feed belt bucket wheel machine, and wait for time-delay, until after the material on the belt all falls to the greatest extent, begin to change the cabin action.
According to the plan of row's ship, determine next cabin position.At first rise and slip bucket and start two-dimensional laser radar scanner Real-Time Monitoring sense of motion side obstacle interference problem; until determine to slip the bucket height can satisfy in traveling process, do not bump after; beginning control slide bucket moves to next freight space; in the moving process, the two-dimensional laser radar scanner is got the laser curtain wall downwards and is carried out in real time Anti-bumping protection.Until slip bucket when moving on the next freight space, then begin into the cabin process.
Last is the trim process then all over blanking for ship loader, in automatic lading, need to repeatedly experience this stage.After the slide bucket entered the cabin, the two-dimensional laser radar scanner at first once scanned material in the cabin comprehensively, determines that a plurality of nadirs are the trim position.Under the radar real time scan, a plurality of points are carried out back and forth blanking operation, until a plurality of nadir is filled and led up (the highest and difference nadir is not more than 1 meter, and vertex is not higher than cabin assurance hatchcover closed contact).If still have partial material not fall this moment, then ship loader control slip bucket in the cabin the even blanking in material top until reach the blanking total amount.
Ending phase, the bucket that will slip leaves cabin and rises to vertex.The data (concluding time, actual blanking total amount etc.) that to load onto ship simultaneously after finishing send it back the backstage scheduling.
In whole operation process, run in any situation that needs interruption operation, the driver can remove at any time automated job and enter manual work.
The above only is preferred implementation of the present utility model; should be noted that; for those skilled in the art; under the prerequisite that does not break away from the utility model principle; can also make some improvements and modifications, these improvements and modifications also should be considered as protection domain of the present utility model.
Claims (3)
1. a bulk cargo terminals automatic lading system is characterized in that, comprises two-dimensional laser radar scanner, scan driving mechanism, wireless telecommunication system, embedded controller, automatic ship loading PLC controller, rotary encoder;
Described two-dimensional laser radar scanner is connected with described scan driving mechanism, is used for carrying out full ship 3-D scanning;
Described scan driving mechanism is the diaxon driver train, described diaxon driver train comprises that feathering axis and vertical rotating shaft form, feathering axis in the described diaxon driver train drives described two-dimensional laser radar scanner vertical rotary, and the vertical rotating shaft in the described diaxon driver train drives described two-dimensional laser radar scanner and horizontally rotates; Described feathering axis and vertical rotating shaft pass through respectively driven by servomotor, on the described servomotor motor servo driver is installed, described motor servo driver is connected with described embedded controller, and described motor servo driver receives the instruction of described embedded controller the two-dimensional laser radar scanner is carried out position control;
Described rotary encoder is installed on the slide bucket, is used for obtaining in real time the anglec of rotation of slide bucket; Described rotary encoder and described automatic ship loading PLC controller;
Described embedded controller is connected with automatic ship loading PLC controller with described two-dimensional laser radar scanner respectively, described embedded controller is used for receiving the scan-data of described two-dimensional laser radar scanner, and carry out image and process and three-dimensional reconstruction, finish to cabin position, cabin size, ship incline, the identification of blanking shape and impact detection, and the data after will identifying are delivered to described automatic ship loading PLC controller; The instruction at control center and row's ship work data during described embedded controller receives by described wireless telecommunication system;
Described automatic ship loading PLC controller is connected with ship loader, is used for the operation control of ship loader.
2. bulk cargo terminals automatic lading according to claim 1 system is characterized in that, adopts optical fibre transmission information between described two-dimensional laser radar scanner and the described embedded controller.
3. bulk cargo terminals automatic lading according to claim 1 system is characterized in that, adopts optical fibre transmission information between described servomotor and the described embedded controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220492674 CN202880501U (en) | 2012-09-21 | 2012-09-21 | Bulk cargo wharf automation shipment system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220492674 CN202880501U (en) | 2012-09-21 | 2012-09-21 | Bulk cargo wharf automation shipment system |
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| Publication Number | Publication Date |
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| CN202880501U true CN202880501U (en) | 2013-04-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220492674 Expired - Fee Related CN202880501U (en) | 2012-09-21 | 2012-09-21 | Bulk cargo wharf automation shipment system |
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| CN (1) | CN202880501U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103922150A (en) * | 2014-04-29 | 2014-07-16 | 中交机电工程局有限公司 | Anti-collision system and method of bulk cargo storage yard stand-alone equipment |
| CN110118526A (en) * | 2019-03-08 | 2019-08-13 | 浙江中海达空间信息技术有限公司 | A kind of boat-carrying sandstone volume automatic calculating method for supporting real-time monitoring |
| CN110182621A (en) * | 2019-05-10 | 2019-08-30 | 大连华锐重工集团股份有限公司 | A kind of digitization system and control method of unmanned bucket continuous ship unloader |
| CN111873884A (en) * | 2020-07-07 | 2020-11-03 | 唐山港集团股份有限公司 | Intelligent cabin moving method and system for ship loader |
| CN113283845A (en) * | 2021-06-11 | 2021-08-20 | 湛江港（集团）股份有限公司 | Intelligent storage yard management system and method |
| CN113568412A (en) * | 2021-08-04 | 2021-10-29 | 武汉港迪智能技术有限公司 | Unmanned control system of bulk cargo wharf ship loader |
| CN113911911A (en) * | 2021-09-30 | 2022-01-11 | 国能黄骅港务有限责任公司 | Portal crane and control method and device thereof |
-
2012
- 2012-09-21 CN CN 201220492674 patent/CN202880501U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103922150A (en) * | 2014-04-29 | 2014-07-16 | 中交机电工程局有限公司 | Anti-collision system and method of bulk cargo storage yard stand-alone equipment |
| CN110118526A (en) * | 2019-03-08 | 2019-08-13 | 浙江中海达空间信息技术有限公司 | A kind of boat-carrying sandstone volume automatic calculating method for supporting real-time monitoring |
| CN110182621A (en) * | 2019-05-10 | 2019-08-30 | 大连华锐重工集团股份有限公司 | A kind of digitization system and control method of unmanned bucket continuous ship unloader |
| CN110182621B (en) * | 2019-05-10 | 2023-10-24 | 大连华锐重工集团股份有限公司 | Digital system of unmanned chain bucket type continuous ship unloader and control method |
| CN111873884A (en) * | 2020-07-07 | 2020-11-03 | 唐山港集团股份有限公司 | Intelligent cabin moving method and system for ship loader |
| CN111873884B (en) * | 2020-07-07 | 2022-04-29 | 唐山港集团股份有限公司 | Intelligent cabin moving method and system for ship loader |
| CN113283845A (en) * | 2021-06-11 | 2021-08-20 | 湛江港（集团）股份有限公司 | Intelligent storage yard management system and method |
| CN113283845B (en) * | 2021-06-11 | 2023-11-14 | 湛江港（集团）股份有限公司 | Intelligent storage yard management system and method |
| CN113568412A (en) * | 2021-08-04 | 2021-10-29 | 武汉港迪智能技术有限公司 | Unmanned control system of bulk cargo wharf ship loader |
| CN113568412B (en) * | 2021-08-04 | 2024-07-12 | 武汉港迪智能技术有限公司 | Unmanned control system of bulk cargo wharf ship loader |
| CN113911911A (en) * | 2021-09-30 | 2022-01-11 | 国能黄骅港务有限责任公司 | Portal crane and control method and device thereof |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130417 Termination date: 20210921 |
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| CF01 | Termination of patent right due to non-payment of annual fee |