CN203976241U - The anti-system of slinging of tyre crane walking positioning and rectifying and truck contraposition - Google Patents
The anti-system of slinging of tyre crane walking positioning and rectifying and truck contraposition Download PDFInfo
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- CN203976241U CN203976241U CN201420312848.3U CN201420312848U CN203976241U CN 203976241 U CN203976241 U CN 203976241U CN 201420312848 U CN201420312848 U CN 201420312848U CN 203976241 U CN203976241 U CN 203976241U
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Abstract
The utility model tyre crane walking positioning and rectifying and truck contraposition be anti-, and the system of slinging is respectively installed a laser scanner by side central authorities below between the column of two of tyre crane both sides a little more than container truck trailer plate and lower than a case eminence, detect that on container depot, between freight container side and freight container gap, realize tyre crane walking location, in location, Nei Xiangwei position, stockyard, automatic deviation correction, crashproof alarm, truck contraposition is anti-slings.The utility model comprises laser scanner, freight container, computing machine, siren horn, case position administration display, read-out, rainproof cover and hoisting crane PLC.Laser scanner is arranged on respectively between the column of two of tyre crane both sides below side central authorities inwardly, and laser scanner height of living in should be a little more than container truck trailer plate and high lower than a case.With the gap between freight container side and freight container on stockyard as a reference.Computing machine is arranged on electric panel room.Siren horn is arranged in tyre crane operator's compartment.Read-out is arranged on tyre crane both sides, in truck operator's compartment driver sight line sustained height.
Description
Technical field
The utility model relates to for container handling operation container in hoisting status, the location of tyre crane, deviation rectification, and container truck contraposition and anti-slinging, be especially applicable to tyre crane handling container handling operation.
Background technology
At present, Rubber-Tyred Gantry Crane deviation rectification and crashproof detection means comprise GPS location automatic deviation correction method, and single-point laser apomecometer is in conjunction with reflecting plate automatic deviation correction method, and image is processed correction, manual deviation rectification, but these methods all respectively have shortcoming.CPS location is easily subject to artificial altered data and causes data to be made mistakes and need regular calibration.Single-point laser apomecometer, in conjunction with reflecting plate automatic deviation correction method, needs long reflecting plate is aside installed, and impracticable.Image is processed correction and affected by weather light, and stability is inadequate.Tyre crane driver adjusts wheel direction of travel, i.e. manual deviation rectification, and this method precision is low, easily causes tired driver.Nowadays have GPS automatic deviation correction method, single-point laser apomecometer is in conjunction with reflecting plate automatic deviation correction method.As for the contraposition of container truck and tyre crane suspender, rely on driver artificial visually examine, when suspender declines while approaching freight container, driver is according to the position of range estimation suspender and freight container mobile truck repeatedly.These class methods reduce handling speed.When tyre crane is sling freight container on truck flat truck, truck flat truck tapered end is release completely, can related truck flat truck and truck headstock be sling, and causes safety misadventure.
Summary of the invention
The utility model is respectively installed a laser scanner by side central authorities below between the column of two of tyre crane both sides a little more than container truck trailer plate and lower than a case eminence, detect the gap between freight container side and freight container on container depot, realize tyre crane walking location, in location, Nei Xiangwei position, stockyard, automatic deviation correction, crashproof alarm, truck contraposition is anti-slings.
The utility model is by the following technical solutions: laser scanner, freight container, computing machine, siren horn, case position administration display (being operator's compartment management system interface terminal), read-out, tyre crane PLC, rainproof cover.Laser scanner is arranged on respectively between the column of two of tyre crane both sides below side central authorities inwardly, and laser scanner height of living in should be a little more than container truck trailer plate and high lower than a case.Laser scanner is arranged in rainproof cover.With the gap between freight container side and freight container on stockyard as a reference.Computing machine is arranged on electric panel room.Siren horn is arranged in tyre crane operator's compartment.Read-out is arranged on tyre crane both sides, in truck operator's compartment driver sight line sustained height.Laser scanner, siren horn, case position administration display, read-out are all connected with computing machine.Computing machine is connected with tyre crane PLC, participates in tyre crane walking and controls.
Merit attention, the installation site angle of laser scanner is different, all can have different technique effects, can cause choosing of complexity that computer data processes, R point different with the technical parameter such as setting, the final function difference realizing.
In tyre crane traveling process, two laser scanners are simultaneously to scanning range finding in gap between freight container side and freight container on container depot, with the container position stacked on stockyard and gap as a reference.If tyre crane departs from driving lane, on the container depot that laser scanner is surveyed, freight container side can become large or diminish to the distance of laser scanner, and Computer Analysis data, if the deviation distance of can anticipation tyre crane not rectifying a deviation and walking within the scope of prediction.Computing machine sends deviation correcting signal to tyre crane PLC, participates in tyre crane walking and controls, and deviation distance is controlled within the scope of tolerable.
In the time of near tyre crane arrives institute's working set vanning row, two laser scanners are simultaneously to gap scanning range finding between the freight container side of working set vanning row and freight container and freight container.If Neighbor Set vanning is had vacant position (there is no gap), the working set of take vanning row left or right face is reference.Because laser scanner is arranged on respectively side, below central authorities between the column of two of tyre crane both sides, take scanning range of scanner Central Line as datum line, with the freight container justified of tyre crane institute working set vanning row, can realize tyre crane and aim at working set vanning row.
When tyre crane arrives working set vanning row, driver learns current place shellfish figure place by case position administration display, presses definite key, and computing machine is remembered current shellfish position.Or confirm to provide current place shellfish figure place by suspender open locking signal, can remove driver's manual confirmation from.Using current shellfish bit data as initial point, when tyre crane continues to move forward or backward, the travel distance information that computing machine provides in conjunction with detection data and the tyre crane coder of laser scanner, can know tyre crane direct of travel and distance, extrapolate shellfish figure place and the next parking shellfish figure place of tyre crane in traveling process, obtain the location of tyre crane in stockyard.This method of work can replace GPS positioning and rectifying.
When heavily loaded truck enters track, laser scanner can detect the freight container on truck, the take off data of Computer Analysis laser scanner, compare with the suspender benchmark lifting location information in computer storage, judge truck position, simultaneously with departing from truck forward, freight container tyre crane suspender Heave Here apart from being presented on read-out backward or on the information of stopping and truck.
The tyre crane freight container on truck of slinging, if the Unscrew completely of the tapered end on truck flat truck still catches on freight container lockhole, flat truck can be taken up by freight container.Because the setting height(from bottom) of scanner is only a little more than truck flat truck, so when flat truck is taken up, scanner can detect below freight container in time object, computing machine can give the alarm signal to siren horn, and sends and stop lifting by crane signal to tyre crane PLC.
In order to obtain more accurate position and to realize tyre crane location and correction, GPS can be additionally installed on tyre crane, as assisting of the utility model positioning and rectifying function.
Owing to adopting technique scheme, the beneficial effects of the utility model are: realize tyre crane walking location, automatic deviation correction, eliminate safe hidden trouble, auxiliary truck driver contraposition, alleviates tired driver, effectively improves the handling container handling efficiency of Rubber-Tyred Gantry Crane.
Accompanying drawing explanation
Accompanying drawing 1 tyre crane walking positioning and rectifying and the anti-principle schematic of slinging of truck contraposition
Accompanying drawing 2 tyre crane walking positioning and rectifyings and the anti-installation birds-eye view of slinging of truck contraposition
The anti-schematic diagram of slinging of accompanying drawing 3 truck contrapositions
Accompanying drawing 4 laser scanner scans situation schematic diagrams (tyre crane is normally walked)
The geometric coordinate figure of accompanying drawing 5 Fig. 4
Accompanying drawing 6 laser scanner scans situation schematic diagrams (tyre crane offset track)
The geometric coordinate figure of accompanying drawing 7 Fig. 6
The nomenclature of major part in accompanying drawing:
(1) computing machine (7) laser scanning line
(2) laser scanner (in rainproof cover) (8) freight container
(3) case position administration display (9) tyre crane
(4) siren horn (10) dolly
(5) tyre crane PLC (11) suspender
(6) read-out (12) container truck
The specific embodiment
As shown in Figure 1, laser scanner (2), case position administration display (3), siren horn (4), tyre crane PLC (5), read-out (6) are all connected with computing machine (1).Siren horn (4) can by sound or acousto-optic in conjunction with or other modes tyre crane driver is carried out to alarm.
As shown in Figure 2, in tyre crane (9) traveling process, two laser scanners (2) are simultaneously to gap scanning range finding between (8) side of freight container on container depot and freight container (8) and freight container (8), with freight container (8) position of stacking on stockyard and gap as a reference.If tyre crane (9) departs from driving lane, on the container depot that laser scanner (2) is surveyed, freight container (8) side can become large or diminish to the distance of laser scanner (2), computing machine (1) is analyzed data, can anticipation tyre crane (9) if the deviation distance of not rectifying a deviation and walking within the scope of prediction.Computing machine (1) sends deviation correcting signal to tyre crane PLC (5), participates in tyre crane (9) walking and controls, and deviation distance is controlled within the scope of tolerable.
In the time of near tyre crane (9) arrives institute's working set vanning row, two laser scanners (2) are simultaneously to gap scanning range finding between freight container (8) side of working set vanning row and freight container (8) and freight container (8).If Neighbor Set vanning (8) is had vacant position (there is no gap), the working set of take vanning row left or right face is reference.Because laser scanner (2) is arranged on respectively side, below central authorities between the column of two of both sides of tyre crane (9), take scanning range of scanner Central Line as datum line, contrast freight container (8) width, with freight container (8) justified of tyre crane (9) institute working set vanning row, can realize tyre crane (9) and aim at working set vanning row.
When tyre crane (9) arrives working set vanning row, driver learns current place shellfish figure place by case position administration display (3), presses definite key, and computing machine (1) is remembered current shellfish position.Or confirm to provide current place shellfish figure place by suspender (11) open locking signal, can remove driver's manual confirmation from.Using current shellfish figure place as initial point, when tyre crane (9) continues to move forward or backward, the travel distance information that the detection data of computing machine (1) combining laser scanning instrument (2) and tyre crane (9) coder provide, can know tyre crane (9) direct of travel and distance, extrapolate shellfish figure place and the next parking shellfish figure place of tyre crane (9) in traveling process, obtain the location of tyre crane (9) in stockyard.
As shown in Figure 3, when heavy-load container truck (12) enters track, laser scanner (2) can detect the freight container on container truck (12), computing machine (1) is analyzed the take off data of laser scanner (2), compare with suspender (11) the benchmark lifting location information in computing machine (1) memory device, judge container truck (12) position, simultaneously container truck (12) forward, backward or the information of stopping and the upper freight container of container truck (12) depart from tyre crane (9) suspender (11) Heave Here apart from being presented on read-out (6).
Tyre crane (9) the upper freight container of container truck (12) of slinging, if the Unscrew completely of the tapered end on container truck (12) flat truck still catches on freight container lockhole, flat truck can be taken up by freight container.Laser scanner (2) can detect below freight container in time object, and computing machine (1) can give the alarm signal to siren horn (4), and sends and stop lifting by crane signal to tyre crane PLC (5).
Fig. 4 and Fig. 5 display of tyre hang the data analysing method of (9) normal driving process.Fig. 4 is the scanning situation schematic diagram of laser scanner (2), and Fig. 5 is the corresponding geometric coordinate figure of situation described in Fig. 4.
In Fig. 4, O ' is the intersection point of freight container (8) in the medium line of laser scanner (2) scanning range and stockyard.In Fig. 5, O point (being the origin of coordinates) is corresponding with laser scanner in Fig. 4 (2).Take OO ' as axis, to positive negative direction, get α, β as analytic angle.A, A ', B, B ' is the intersection point of laser scanner (2) scanning line and storage yard container (8).If selected analytic angle detects the gap between storage yard container (8) just, as A ' point, for simplifying the analysis, can give up and analyze angle α.When tyre crane (9) normally travels, in the situation without offset track, b=b '.
More than analyze should consider in conjunction with error analysis in conjunction with actual conditions, choose a plurality of analytic angles, the method such as average.
Fig. 6 and Fig. 7 display of tyre hang the data analysing method of (9) offset track driving process.Fig. 6 is the scanning situation schematic diagram of laser scanner (2), and Fig. 7 is the corresponding geometric coordinate figure of situation described in Fig. 6.
B is the intersection point of freight container (8) in the medium line of laser scanner (2) scanning range and stockyard.In Fig. 7, O point (being the origin of coordinates) is corresponding with laser scanner in Fig. 6 (2).β is tyre crane (9) deviation angle.Take OB as axis, to positive negative direction, get α as analytic angle.A, A ' is the intersection point of laser scanner (2) scanning line and storage yard container (8).If selected analytic angle detects the gap (not shown) between storage yard container (8) just, for simplifying the analysis, can give up this analysis angle, again choose.According to Fig. 7, in conjunction with relevant geometric knowledge, known:
a?cos(α+β)＝a′cos(α-β)
Tyre crane (9) deviation angle β obtains, and gets final product anticipation tyre crane (9) if the deviation distance of not rectifying a deviation and walking within the scope of prediction:
Deviation distance=operating range * sin β
More than analyze should consider in conjunction with error analysis in conjunction with actual conditions, choose a plurality of analytic angles, the method such as average.
Those of ordinary skill in the art will be appreciated that, above embodiment is only for the utility model is described, and be not that conduct is to restriction of the present utility model, as long as within the scope of connotation of the present utility model, the variation of the above embodiment, modification all will be fallen in the scope of the utility model claims.
Claims (2)
1. the system of slinging is prevented in tyre crane walking positioning and rectifying and truck contraposition, laser scanner, siren horn, case position administration display, read-out, tyre crane PLC are all connected with computing machine, described laser scanner is arranged in rainproof cover, it is characterized in that: the freight container of take on stockyard and truck is reference, described laser scanner is simultaneously to the container scanning range finding on gap and truck between the above freight container side, stockyard and described freight container, described Computer Analysis gained take off data, sends a signal to described tyre crane PLC and described read-out.
2. the system of slinging is prevented in tyre crane walking positioning and rectifying as claimed in claim 1 and truck contraposition, it is characterized in that: described laser scanner is arranged on respectively between the column of two of tyre crane both sides below side central authorities inwardly, and height of living in should be a little more than container truck trailer plate and high lower than a case; Described computing machine is arranged on electric panel room, and described siren horn is arranged in tyre crane operator's compartment, and described read-out is arranged on tyre crane both sides, in truck operator's compartment driver sight line sustained height.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420312848.3U CN203976241U (en) | 2014-06-12 | 2014-06-12 | The anti-system of slinging of tyre crane walking positioning and rectifying and truck contraposition |
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| CN201420312848.3U CN203976241U (en) | 2014-06-12 | 2014-06-12 | The anti-system of slinging of tyre crane walking positioning and rectifying and truck contraposition |
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| CN110980525A (en) * | 2020-03-04 | 2020-04-10 | 上海驭矩信息科技有限公司 | Automatic deviation rectifying control method of hoisting system |
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- 2014-06-12 CN CN201420312848.3U patent/CN203976241U/en not_active Expired - Lifetime
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| CN110691752A (en) * | 2017-06-08 | 2020-01-14 | 科尼起重机全球公司 | Automatically guided door lifting device for containers and method for operating such a door lifting device |
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| 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 |
| 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 |
| CN110980525A (en) * | 2020-03-04 | 2020-04-10 | 上海驭矩信息科技有限公司 | Automatic deviation rectifying control method of hoisting system |
| CN110980525B (en) * | 2020-03-04 | 2020-05-19 | 上海驭矩信息科技有限公司 | Automatic deviation rectifying control method of hoisting system |
| US11782450B2 (en) | 2020-03-04 | 2023-10-10 | Shanghai Master Matrix Information Technology Co., Ltd. | Automatic deviation correction control method for hoisting system |
| WO2021175164A1 (en) * | 2020-03-04 | 2021-09-10 | 上海驭矩信息科技有限公司 | Automatic deviation correction control method for hoisting system |
| WO2021179983A1 (en) * | 2020-03-09 | 2021-09-16 | 长沙智能驾驶研究院有限公司 | Three-dimensional laser-based container truck anti-hoisting detection method and apparatus, and computer device |
| CN113376651A (en) * | 2020-03-09 | 2021-09-10 | 长沙智能驾驶研究院有限公司 | Three-dimensional laser-based method and device for detecting lifting prevention of container truck and computer equipment |
| CN113376651B (en) * | 2020-03-09 | 2022-11-29 | 长沙智能驾驶研究院有限公司 | Three-dimensional laser-based method and device for detecting lifting prevention of container truck and computer equipment |
| CN111348445A (en) * | 2020-03-13 | 2020-06-30 | 三一海洋重工有限公司 | Card collecting positioning system and card collecting positioning method |
| CN111832415A (en) * | 2020-06-15 | 2020-10-27 | 航天智造（上海）科技有限责任公司 | Intelligent truck safety protection system for container hoisting operation |
| CN111832415B (en) * | 2020-06-15 | 2023-12-26 | 航天智造（上海）科技有限责任公司 | Truck safety intelligent protection system for container hoisting operation |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170327 Address after: 226000 Jiangsu Province, Nantong City Chongchuan District Chongchuan Road No. 58, building 3, room 1206 Patentee after: NANTONG TONGLEI SOFTWARE Co.,Ltd. Address before: 341 Liping Road, Shanghai, No. 200090 Patentee before: Shanghai Hailei Laser Technology Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
| CX01 | Expiry of patent term |
Granted publication date: 20141203 |