CN204198280U - The deviation rectification positioning anti-collision system of place container handling crane - Google Patents
The deviation rectification positioning anti-collision system of place container handling crane Download PDFInfo
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- CN204198280U CN204198280U CN201420560121.7U CN201420560121U CN204198280U CN 204198280 U CN204198280 U CN 204198280U CN 201420560121 U CN201420560121 U CN 201420560121U CN 204198280 U CN204198280 U CN 204198280U
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- crane
- tyre crane
- tyre
- laser scanner
- container
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Abstract
The deviation rectification positioning anti-collision system of place container handling crane installs a laser scanner by each on tyre crane four door legs, and between the back side of two tires runway at a certain distance or be that column is installed at interval with container length, column is in a straight line, laser scanner to detect on stud and container depot gap between freight container side and freight container, detects and realizes tyre crane walking location, in location, Nei Xiangwei position, stockyard, automatic deviation correction, crashproof alarm.The utility model comprises laser scanner, tire front-wheel support, column, freight container, computing machine, siren horn, case position administration display, rainproof cover, telltale.Laser scanner is arranged on tyre crane four door leg tire front-wheel supports respectively, can rotate with tyre rotation.With column and freight container as a reference.Laser scanner is arranged in rainproof cover.Computing machine is arranged on electric panel room.Siren horn is arranged in tyre crane operator's compartment.Laser scanner, siren horn, case position administration display are all connected with computing machine.Computing machine is connected with tyre crane PLC, participates in tyre crane travelling control.
Description
Technical field
The utility model relates to for the location of tyre crane in container handling operation, deviation rectification crashproof, is 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 and locate automatic deviation correction method, single-point laser apomecometer is in conjunction with reflecting plate automatic deviation correction method, image procossing is rectified a deviation, manual deviation rectification, the tyre crane rectifying method being plane of reference with freight container side, but these methods all respectively have shortcoming.GPS location is easily subject to artificial altered data and causes corrupt data and need regular calibration.Single-point laser apomecometer in conjunction with reflecting plate automatic deviation correction method, then needs to install long reflecting plate aside, and impracticable.Image procossing correction easily affects 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.The tyre crane being plane of reference with freight container side correction rule, cannot accurate contraposition when stockyard not having freight container.
Summary of the invention
The utility model installs a laser scanner by each on tyre crane four door leg tire front-wheel supports, and on the line of centers of passageway, the back side, tyre crane track at a certain distance or be that column is installed at interval with container length, laser scanner detects stud, realizes tyre crane at location, Nei Xiangwei position, stockyard, automatic deviation correction.
The utility model is by the following technical solutions: laser scanner, tire front-wheel support, column, computing machine, siren horn, case position administration display (i.e. operator's compartment management system interface terminal), telltale, freight container, tyre crane PLC.Install four laser scanners on tyre crane four door leg tire front-wheel supports, horizontal scanning, can rotate with tyre rotation.Laser scanner is installed in rainproof cover.At a certain distance or be that interval is arranged between the back side, two tires runway on the medium line of passageway with container length, to column the utility model take column as Primary Reference, therefore institute's installation column should be in a straight line.Telltale is arranged in operator's compartment, and real-time display of tyre is hung in position and deviation distance angle etc. on stockyard.While four laser scanners can detect the gap on stockyard between freight container side and freight container, wherein two laser scanners can detect column, as location, shellfish position, tire box district and the reference of deviation rectification.Computing machine is arranged on electric panel room.Siren horn is arranged in tyre crane operator's compartment.Laser scanner, siren horn, case position administration display are all connected with computing machine.Computing machine is connected with tyre crane PLC, participates in tyre crane travelling control.
Four laser scanners, simultaneously to freight container side on container depot and scanning range finding in gap between freight container and freight container, but only can detect column away from two laser scanners in truck track.In testing process, rectified a deviation by the Distance geometry angle measuring distance between many adjacent upright posts and column plane and tyre crane direction of traffic in real time.If tyre crane departs from driving lane or plotted line direction is departed from tyre crane tire direction, each column of surveying of laser scanner can be greater than or less than under normal circumstances to the distance of laser scanner, computing machine is according to tire steering angle, analyze data, if can not rectify a deviation in purview the deviation distance walked on by anticipation tyre crane.Computing machine sends deviation correcting signal to tyre crane PLC, participates in tyre crane travelling control, deviation distance is controlled within the scope of tolerable.
Laser scanner, except can column being detected, can also detect the gap between the side of opposite freight container and freight container.So the correction of tyre crane can be realized by the Distance geometry angle measuring opposite container lateral plane and tyre crane direction of traffic in real time.
Because laser scanner can detect opposite freight container row, this can be used as the basis determining shellfish position.If the distance that column is installed is container length, then a column is equivalent to a shellfish position, and this also can be used as the basis determining shellfish position.When tyre crane arrives working set vanning row, driver learns current place shellfish figure place by case position administration display, presses OK button, and computing machine remembers current shellfish position.Or confirm to provide current place shellfish figure place by suspender open locking signal, driver's manual confirmation can be removed from.Using current shellfish position as initial point, when tyre crane continues forward or when moving backward, computing machine draws the shellfish figure place of tyre crane in traveling process and next parking shellfish figure place by the detection data of acknowledgement key or open locking imformation memory current shellfish position and laser scanner, obtains the location of tyre crane in stockyard.The travel distance information adjustable shellfish position that tyre crane coder provides, more accurately can obtain shellfish figure place and large truck position like this.This method of work can replace GPS location.
In tyre crane field in walking process, whether four laser scanners be arranged on tire overhang-door leg detect positive front and back in real time has obstacle.Detection range is divided into far field, middle district and near region.Detect that there is obstacle in track, far field, computing machine is considered as accessible, and tyre crane normally travels; Detect that there is obstacle in Zhong Qu track, computing machine sends out slow speed signal to tyre crane PLC, and tyre crane travels at a slow speed; Detect that there is obstacle in track, near region, computing machine activating alarm signal, to siren horn, is sent out control signal and is stopped tyre crane moving ahead or retreat to tyre crane PLC.
When tyre crane is walked on the broad road, if the tire of tyre crane 90-degree rotation outwardly, four laser scanners can be used as walking before and after tyre crane crashproof.Laser scanner detects front and back, and through the data analysis of computing machine, whether known tyre crane front and back have obstacle in concrete distance.If obstacle is in larger distance, computing machine gives the alarm instruction to siren horn, with alerting drivers at a slow speed.If obstacle is in nearer distance, computing machine sends cutoff command, and by tyre crane PLC to tyre crane, tyre crane stops walking.
The telltale of driver driving indoor hangs current location by graphical interfaces display of tyre, deviation angle and distance, the necessary information such as gap size between freight container on stockyard.
Owing to adopting technique scheme, the beneficial effects of the utility model are: realize tyre crane walking location, automatic deviation correction, even if stockyard does not have freight container transport can realize correction, obstacle on automatic detection walking path, automatic collision, eliminates safe hidden trouble, alleviate tired driver, effectively improve the handling container handling efficiency of Rubber-Tyred Gantry Crane.
Accompanying drawing explanation
Accompanying drawing 1 tyre crane walking positioning and rectifying and crashproof principle schematic
Block diagram installed by accompanying drawing 2 one tyre cranes and column
Birds-eye view installed by accompanying drawing 3 two tyre cranes and column
The nomenclature of major part in accompanying drawing:
(1) computing machine (8) freight container
(2) laser scanner (in rainproof cover) (9) dolly
(3) case position administration display (10) suspender
(4) siren horn (11) operator's compartment
(5) tyre crane PLC (12) track plotted line
(6) laser detection line (13) column
(7) tyre crane (14) telltale
Detailed description of the invention
As shown in Figure 1, laser scanner (2), case position administration display (3), siren horn (4), tyre crane PLC (5), telltale (14) are all connected with computing machine (1).Siren horn (4) combines by sound or acousto-optic or other modes carry out alarm to tyre crane driver.
The installation block diagram of a tyre crane (7) and column (13) as shown in Figure 2, computing machine (1) and siren horn (4) are installed in electric panel room, telltale (14) is arranged in driver driving room (11), and driver can to recognize on the position of tyre crane (7) on stockyard and deviation angle and stockyard spacing between freight container (8) in real time.Laser scanner (2) is arranged on tyre crane (7) four door leg tire front-wheel supports respectively, can rotate with tyre rotation.Column (13) is arranged on the passageway line of centers at tyre crane (7) back side, and column (13) is in a straight line, as tyre crane (7) correction reference.Laser scanner (2) can detect side and the gap thereof of opposite freight container (8).
That birds-eye view installed by two tyre cranes (7) and column (13) as shown in Figure 3.As shown in Figure 3, two tyre cranes (7) share passageway, the back side, therefore the column (13) on two tyre crane (7) shared passageway line of centerss.The embodiment that Fig. 3 shows, column (13) mounting distance is freight container (8) length, and this column (13) mounting distance can provide shellfish position to calculate basis for tyre crane (7).Namely a column (13) represents a shellfish position.The basis that the side of opposite freight container (8) and gap thereof also can calculate as shellfish position, namely a freight container (8) is as a shellfish position.
Before tyre crane (7) enters stockyard, when walking on the broad road, if the tire 90-degree rotation outwardly of tyre crane (7), it is crashproof that four laser scanners (2) can be used as walking before and after tyre crane (7).Laser scanner (2) detects front and back, and through the data analysis of computing machine (1), whether known tyre crane (7) front and back have obstacle in concrete distance.If obstacle is in larger distance, computing machine (1) gives the alarm instruction to siren horn, with alerting drivers at a slow speed.If obstacle is in nearer distance, computing machine (1) sends cutoff command, and by tyre crane PLC (5) to tyre crane, tyre crane (7) stops walking.
After tyre crane (7) enters stockyard, column (13) can be detected all the time, and four laser scanners (2) just can detect the gap between the side of freight container in stockyard (8) and freight container.In tyre crane (7) walking process, if tyre crane (7) sideslip, laser scanner (2) will become large to the distance of column (13) or diminish, computing machine (1) analyzing and processing take off data just can know the tyre revolution of tyre crane (7) whether run-off-road plotted line (12) or tyre crane (7) to whether run-off-road plotted line (12).When tyre crane (7) depart from plotted line (12) certain among a small circle in, computing machine (1) sends deceleration command and adjustment is ordered to tyre crane PLC (5), carries out deceleration adjustment control tyre crane (7).When tyre crane (7) run-off-road plotted line (12) exceed certain large-scale time, computing machine (1) sends alarm signal to siren horn (4), meanwhile send parking order to tyre crane PLC (5), until tyre crane (7) stops walking.
In correction process, even if without freight container (8) in stockyard, do not affect deviation-correcting function of the present utility model.
When tyre crane (7) arrives near institute's working set vanning (8) row, the gap between laser scanner (2) detected set vanning (8), with gap as a reference.If adjacent container is had vacant position (namely not having gap), then with working set vanning (8) row left or right face for reference, realize tyre crane (7) case with working set (8) arrange and aim at.
In tyre crane (7) field in walking process, whether four laser scanners (2) detect positive front and back in real time has obstacle, if detect that track plotted line (12) has obstacle, computing machine (1) activating alarm signal is to siren horn (4), sending out control signal stops tyre crane (7) to move ahead to tyre crane PLC (5), realizes crashproof.
When tyre crane (7) arrives working set vanning (8) row, driver learns current place shellfish figure place by case position administration display (3), and press OK button, computing machine (1) remembers current shellfish position.Current shellfish bit data is namely as initial point, when tyre crane (7) continues forward or when moving backward, computing machine (1) draws the shellfish figure place of tyre crane (7) in traveling process and next parking shellfish figure place by the detection data of acknowledgement key or open locking imformation memory current shellfish position and laser scanner (2), obtains tyre crane (7) location in stockyard.The travel distance information adjustable shellfish position that tyre crane coder provides, more accurately can obtain shellfish figure place and large truck position like this.
Those of ordinary skill in the art will be appreciated that, above embodiment is only used to the utility model is described, and be not that conduct is to restriction of the present utility model, as long as in spirit of the present utility model, the change of the above embodiment, modification all will be fallen in the scope of the utility model claims.
Claims (8)
1. the deviation rectification positioning anti-collision system of place container handling crane, laser scanner, tire front-wheel support, siren horn, case position administration display, tyre crane PLC, computing machine, column, telltale, freight container, it is characterized in that: described column is at a certain distance or with described container length for interval is arranged on the line of centers of passageway, the back side, tyre crane track, described laser scanner is arranged on tire front-wheel support described in tyre crane four door legs respectively, can rotate with tyre rotation, described laser scanner detects container position described in described stud and opposite, realize tyre crane walking positioning and rectifying crashproof.
2. the deviation rectification positioning anti-collision system of place as claimed in claim 1 container handling crane, it is characterized in that: when described laser scanner detects described stud, is that the Distance geometry angle by measuring distance between many adjacent described columns and described column plane and tyre crane direction of traffic is in real time rectified a deviation.
3. the deviation rectification positioning anti-collision system of place as claimed in claim 1 container handling crane, it is characterized in that: when described laser scanner detects container position described in opposite, be that the Distance geometry angle by measuring container lateral plane and tyre crane direction of traffic described in opposite is in real time rectified a deviation.
4. the deviation rectification positioning anti-collision system of place as claimed in claim 1 container handling crane, it is characterized in that: described computing machine draws the shellfish figure place of tyre crane in traveling process and next parking shellfish figure place by the detection data of acknowledgement key or open locking imformation memory current shellfish position and laser scanner, obtains the location of tyre crane in stockyard.
5. the deviation rectification positioning anti-collision system of place as claimed in claim 1 container handling crane, it is characterized in that: described laser scanner, described siren horn, described case position administration display, described tyre crane PLC, described telltale are all connected with described computing machine, described computing machine is arranged on electric panel room, described siren horn is arranged in tyre crane operator's compartment, described laser scanner is arranged in rainproof cover, described telltale is arranged in operator's compartment, is hung in the position on stockyard by the real-time display of tyre of image mode.
6. the deviation rectification positioning anti-collision system of place as claimed in claim 1 container handling crane, it is characterized in that: whether four described laser scanners detect front and back when tyre crane is walked in real time has obstacle, and described computing machine sends different control signals to described tyre crane PLC by there being obstacle in zones of different.
7. the deviation rectification positioning anti-collision system of place as claimed in claim 1 container handling crane, is characterized in that: the tire 90-degree rotation outwardly of tyre crane, and four described laser scanners can be used as walking before and after tyre crane crashproof.
8. the deviation rectification positioning anti-collision system of place as claimed in claim 1 container handling crane, is characterized in that: the setting height(from bottom) of described laser scanner should lower than described stem height with lower than a described container height.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420560121.7U CN204198280U (en) | 2014-09-26 | 2014-09-26 | The deviation rectification positioning anti-collision system of place container handling crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420560121.7U CN204198280U (en) | 2014-09-26 | 2014-09-26 | The deviation rectification positioning anti-collision system of place container handling crane |
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| CN204198280U true CN204198280U (en) | 2015-03-11 |
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| CN201420560121.7U Active CN204198280U (en) | 2014-09-26 | 2014-09-26 | The deviation rectification positioning anti-collision system of place container handling crane |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106946049A (en) * | 2016-01-07 | 2017-07-14 | 上海海镭激光科技有限公司 | Container terminal mobile units automation traveling method |
| CN114758001A (en) * | 2022-05-11 | 2022-07-15 | 北京国泰星云科技有限公司 | PNT-based automatic traveling method for tire crane |
-
2014
- 2014-09-26 CN CN201420560121.7U patent/CN204198280U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106946049A (en) * | 2016-01-07 | 2017-07-14 | 上海海镭激光科技有限公司 | Container terminal mobile units automation traveling method |
| CN114758001A (en) * | 2022-05-11 | 2022-07-15 | 北京国泰星云科技有限公司 | PNT-based automatic traveling method for tire crane |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170323 Address after: 200090 Liping Road, Shanghai, No. 341, No. Patentee after: Lu Rongguo Address before: 341 Liping Road, Shanghai, No. 200090 Patentee before: Shanghai Hai Compact Laser Technology Co., Ltd. |
|
| TR01 | Transfer of patent right |