CN205772906U - A kind of tyred container door type crane automated driving system - Google Patents
A kind of tyred container door type crane automated driving system Download PDFInfo
- Publication number
- CN205772906U CN205772906U CN201620054526.2U CN201620054526U CN205772906U CN 205772906 U CN205772906 U CN 205772906U CN 201620054526 U CN201620054526 U CN 201620054526U CN 205772906 U CN205772906 U CN 205772906U
- Authority
- CN
- China
- Prior art keywords
- crane
- automated driving
- driving system
- door type
- container door
- 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.)
- Active
Links
Landscapes
- Control And Safety Of Cranes (AREA)
Abstract
The utility model discloses a kind of tyred container door type crane automated driving system, including pose sensing module and motion-control module, and connect communication by TCP/IP network, pose sensing module is in order to obtain and to transmit the kinestate of crane tyre crane cart, and motion-control module is in order to adjust direction and the speed of the walking of crane tyre crane cart.This utility model can feed back to cart motor control unit real-time for the positional information of tyre crane cart, it is achieved thereby that the closed loop control that tyre crane control unit is to large vehicle walking, safety and reliability complete tyre crane cart automatic Pilot, this utility model simple in construction, safe and reliable, applied widely, it is possible to effectively reduce the labor intensity of tyre crane driver.
Description
Technical field
This utility model relates to crane automated driving system, more particularly, it relates to a kind of tyred container door type
Crane automated driving system.
Background technology
Tyred container door type crane (hereinafter referred to as tyre crane) is the special of Large-scale professional Container Yard
Machinery.The major function of tyre crane is handling TEU (Twenty-foot Equivalent Unit)s, i.e. according to certain rule by container stacking at the heap of harbour
And be loaded into container truck from stockyard, complete the management to container and control, it is applicable not only to container terminal
Stockyard, can equally be well applied to container dedicated storage yard.
At present, the fast development of containerized shipment proposes the highest requirement to the efficiency of loading and unloading of tyre crane, but,
The container that high density is stacked in stockyard limits the walking space of tyre crane, after particularly carrying out " oil changes electricity " technology,
In order to adapt to rigidity trolley, the unsuitable sideslip excessive (more than 500mm) of tyre crane.Because not having fixing track, driver is two
The driver's cabin of about ten meters needs bow for a long time and manually rectify a deviation, and eliminate tyre crane and container or other vehicle phase
The hidden danger hit.Along with the increase (as heap six crosses seven) of the heap case number of plies, driver will feel to be increasingly difficult to see the datum line of runway,
When travelling cart the most at night, careless slightly, will crash.Although tyre crane walks the thing that do not collides to the rear
Therefore, adjust the pose of huge tyre crane, it usually needs complete by the way of repeatedly walking, which substantially increases operation
Time, the energy consumption of operation and the abrasion of tire, therefore, automated driving system that study of tire hangs and method become that solution is above-mentioned asks
The important channel of topic.This utility model patent proposes a kind of tyre crane automated driving system based on machine vision and method,
This system is possible not only to the collision solving to occur during tyre crane walking, automatic Pilot the most reliably, can also alleviate simultaneously
The labor intensity of driver, reduction loss, minimizing are polluted, are improved efficiency.
Machine vision is the field of a multi-crossed disciplines, and it combines optical engineering, electronic signal process, pattern knowledge
Not, the multi-field knowledge such as artificial intelligence, mechanical engineering and soft project.Vision Builder for Automated Inspection is typically by light source, camera lens, image pick-up device
The equipment compositions such as part, image memory bank, monitor and computer system.Light source provides enough illumination for visual system；Mirror
Head is by the imaging surface of the target imaging in tested scene to vision sensor (i.e. picture pick-up device)；Image memory bank is responsible for electricity
Signal is changed into digital picture, is i.e. gray-scale data the brightness transition of every pixel, and stores one or more image；Meter
Calculation machine system is responsible for processing image, analyze, judge and identifying, finally provides testing result.
At present, existing tyre crane automatic Pilot method mainly has: automatic Pilot method based on GPS differential amplification, base
In the automatic Pilot method of ground setting-out and image recognition, bury the automatic Pilot method of detection bodies underground and based on swashing based on ground
The automatic Pilot method of light, ultrasound wave or infrared distance measurement.Automated driving system based on GPS differential amplification is high due to cost, fixed
Position precision and response speed are limited, and stability is the highest, also can be affected by weather, crane, beacon etc. and signal blind zone and short occur
Beating of cycle, its application tool has a serious limitation.Automated driving system based on ground setting-out and image procossing by
In its datum line vulnerable to pollution, it is impossible to meet the requirement of stockyard all weather operations, and this system needs to increase extra big parking stall
Put detection equipment, limit its application and popularization.The automated driving system burying detection bodies based on ground underground needs heap place
Civil engineering is implemented in face, and system also suffers from the interference of the metal fragment being scattered often in ground, is not the most promoted and answers
With.Automated driving system based on laser, ultrasound wave or infrared distance measurement needs to position with reference to reflector by actual
Measuring, the reflectance of reflector is required higher by this system, and by serious interference such as extraneous lighies, is sometimes difficult to correctly reflect
The physical location of equipment.
Use automated driving system based on machine vision combine image recognition and utilize with reference to body examination away from advantage, it
Without the lines of vulnerable to pollution on ground, but integrated use is with reference to mark on body bulk information in the picture.This is
The quantity of information of system institute foundation is the image information on two-dimensional space, i.e. extracts a positional information from entire image information,
Therefore, it can overcome various interference signal, it is thus achieved that stable and reliable measurement result.
Utility model content
For drawbacks described above present in prior art, the purpose of this utility model is to provide a kind of container in tire type door
Formula crane automated driving system, this utility model combine image recognition and utilize with reference to body examination away from advantage, it is without ground
The lines of vulnerable to pollution on face, but integrated use is with reference to the bulk information in the picture of the mark on body.This system is depended on
According to quantity of information be the image information on two-dimensional space, from entire image information, i.e. extract a positional information, therefore,
It can overcome various interference signal, it is thus achieved that stable and reliable measurement result.
For achieving the above object, this utility model adopts the following technical scheme that
A kind of tyred container door type crane automated driving system, including pose sensing module and motor control mould
Block, and connect communication by TCP/IP network, pose sensing module is in order to obtain and to transmit the motion of crane tyre crane cart
State, motion-control module is in order to adjust direction and the speed of the walking of crane tyre crane cart；
Described pose sensing module includes comparable device, sighting device and industrial computer, and comparable device is located at lifting
The ground of machine tyre crane cart travel direction side, sighting device is located on crane tyre crane cart, and its observation area is corresponding
At comparable device, and the comparable device view data collected is transmitted to industrial computer, industrial computer runs
Image processing program hangs the posture information of cart by view data processes acquisition present tire；
Described motion-control module includes motion controller, motor driver and motor, and motion controller controls motor
Driver, and change the input value of motor driver, in order to adjust the rotating speed of motor, it is achieved the motion of crane tyre crane cart
Control.
Described comparable device includes mark band and several support, and support is inverted T-shaped, and average setting is distributed in crane
The side of travel direction, mark band is laterally perpendicular to ground and is located at pedestal upper end, and being fixed with support by fixture.
Described mark band is hard material or flexible material.
All it is also connected with being provided with lifting mechanism on described support, and is located at the lower section of fixture, adjust mark band in order to realizing
Height.
Described mark band includes tag line and identification code, and tag line has two, is respectively arranged on the upper and lower of mark band
End, identification code is located between two tag lines.
Spacing between described tag line and identification code is definite value.
Described sighting device is industrial camera or industrial camera.
Described industrial camera or industrial camera are at least two sets, often overlap and all include CCD image sensor, camera lens and photograph
Bright equipment, and the spacing of every set is not less than 5m.
Described motion controller is programmable logic controller (PLC) PLC.
Described motor driver is direct current, exchange or motor servo driver.
Described motor is direct current, exchange or servomotor.
In technique scheme, this utility model have the advantage that into, this utility model can be tyre crane cart
What positional information was real-time feeds back to cart motor control unit, it is achieved thereby that the closed loop that tyre crane control unit is to large vehicle walking
Control, safety and reliability complete tyre crane cart automatic Pilot, this utility model simple in construction, safe and reliable, the scope of application
Extensively, it is possible to effectively reduce the labor intensity of tyre crane driver.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 is operating diagram of the present utility model；
Fig. 3 is the schematic diagram of this utility model support；
Fig. 4 is the schematic diagram of this utility model mark band.
Detailed description of the invention
The technical solution of the utility model is further illustrated below in conjunction with the accompanying drawings with embodiment.
Incorporated by reference to shown in Fig. 1, a kind of tyred container door type crane automated driving system of the present utility model, including
Pose sensing module 1 and motion-control module 2, and connect communication by TCP/IP network, pose sensing module 1 in order to obtaining and
Transmitting the kinestate of crane tyre crane cart 3, motion-control module 2 is in order to adjust crane tyre crane cart 3 walking
Direction and speed；
Described pose sensing module 1 includes comparable device 101, sighting device 102 and industrial computer 103, with reference to dress
Putting 101 ground being located at crane tyre crane cart 3 travel direction side, sighting device 102 is located at crane tyre crane cart 3
On, its observation area corresponds at comparable device 101, and by the most industrial for the view data transmission of the comparable device 101 collected
Computer 103, the image processing program run in industrial computer 103 hangs by the process of view data is obtained present tire
The posture information of cart 3；
Described motion-control module 2 includes motion controller 201, motor driver 202 and motor 203, motor control
Device 201 controls motor driver 202, and changes the input value of motor driver 202, in order to adjust the rotating speed of motor 203, it is achieved
The motor control of crane tyre crane cart 3.
Incorporated by reference to shown in Fig. 2 to Fig. 4, a kind of tyred container door type crane of the present utility model automatic Pilot system
System, described comparable device 101 includes mark band 1011 and several support 1012, and support 1012 is inverted T-shaped, and average setting is solid
Surely being distributed in the side in the expectation travel direction stockyard of crane tyre crane cart 3, mark band 1011 is hard material or flexibility
Material, mark band 1011 is laterally perpendicular to ground and is located at support 1012 upper end, and solid with support 1012 phase by fixture 1013
Fixed, support 1012 is all also connected be provided with lifting mechanism 1014, and is located at the lower section of fixture 1013, adjust mark band in order to realizing
The height of 1011.
Described mark band 1011 includes tag line 11 and identification code 12, and tag line 11 has two, is respectively arranged on mark
With the upper and lower end of 1011, identification code 12 is located between two tag lines 11, and this utility model is by tag line 11 and mark
The image knowing code 12 is processed to obtain the tyre crane cart 3 posture information in stockyard.
It is also preferred that the left the spacing between described tag line 11 and identification code 12 is definite value.
It is also preferred that the left described tag line 11 is active marker or the passive mark with special reflecting ability with identification code 12
Know.
It is also preferred that the left described sighting device 102 is industrial camera or industrial camera.
It is also preferred that the left described industrial camera or industrial camera are at least two sets, often overlap all include CCD image sensor,
Camera lens and luminaire, and the spacing of every set is not less than 5m.
It is also preferred that the left described motion controller 201 is programmable logic controller (PLC) PLC.
It is also preferred that the left described motor driver 202 is direct current, exchange or motor servo driver.
It is also preferred that the left described motor 203 is direct current, exchange or servomotor.
A kind of tyred container door type crane automated driving system of the present utility model operationally, including following step
Rapid:
S1, the installation of comparable device 101 and debugging, mark band 1011 is when dispatching from the factory, it is necessary to strict guarantee tag line 11 He
The machining accuracy of identification code 12, tag line 11 and identification code 12 all use and have the passive of special reflecting ability in the present embodiment
Mark, the spacing between two tag lines 11 is 100mm, is fixed on the ground in stockyard by support 1012, and is distributed uniformly
On the ground of the expectation travel direction of tyre crane cart 3, mark band 1011 is fixed on support 1012 by fixture 1013, then
Whole piece mark band 1011 is made to be in sustained height by regulation lifting mechanism 1014；
S2, the installation of sighting device 102 and debugging, be two set sighting devices 102 in the present embodiment, all uses industry phase
Machine, is arranged on tyre crane cart 3, and is arranged on the side being provided with mark band 1011, and they are at a distance of not less than 5m, often overlap
Industrial camera uses the infrared light supply of 850nm, and resolution is the CCD of 656*494, and focal length is the camera lens of 16mm and infrared filter disc,
Visible ray can be filtered and eliminate interference, adjusting the relevant parameter of industrial camera, it is ensured that the observation area of sighting device 102 is positioned at
The position of mark band 1011 correspondence, and mark band 1011 can in the central area of imaging plane blur-free imaging；
S3, the installation of industrial computer 103 and debugging, the present embodiment uses the industry meter being arranged on tyre crane electrical house
Calculation machine 103 is WinXP+Visual Studio2010 as graphics processing unit, the developing operation environment of image processing program,
Image processing program it be also possible to use third party's image procossing storehouse OpenCV2.20；
S4, the installation of motion-control module 201 and debugging, in the present embodiment, motion controller 201 uses and is arranged on tire
Hanging the programmable logic controller (PLC) PLC of electrical house, motor driver 202 uses AC converter, motor 203 to use alternating current
Machine；
S5, opens the automatic Pilot of tyre crane cart 3, and tyre crane cart 3 desired trajectory can obtain for meeting industrial camera
Take arbitrary trajectory in the stockyard of picture rich in detail (with tag line 11 and identification code 12), tyre crane cart 3 in the present embodiment
Desired trajectory is set to the straight line (being positioned at the side of tyre crane cart 3) that the spacing between mark band 1011 is 1000mm, wheel
Tire hangs the PID control method longitudinally and laterally controlling all to use classics of cart 3；
S6, after tyre crane cart 3 automatic Pilot is opened, checks the automatic Pilot situation of tyre crane cart 3, and first system obtains
Take the comparable device 101 gray level image in two set industrial cameras, from image, then extract tag line 11 and identification code 12,
And then calculate the posture information that tyre crane cart 3 is current, if this posture information is effective, system is then according to current posture information
And the deviation between expectation driving trace, calculates the motor 203 rotating speed control law of tyre crane cart 3, otherwise invalid when information
When duration is not less than the threshold value set, system will adopt the motor 203 rotating speed control law in a upper moment, when the invalid duration of information surpasses
Crossed set threshold value time, system by warnings, slow down or stops traveling, if tyre crane cart 3 is in a safe condition, system fortune
With motor 203 rotating speed control law tyre crane cart 3 carried out longitudinally and laterally motor control, otherwise system will report to the police, slow down or
Person stops travelling, repeat the above steps, until tyre crane cart 3 stops automatic Pilot.
Those of ordinary skill in the art is it should be appreciated that above embodiment is intended merely to illustrate that this practicality is new
Type, and it is not used as to restriction of the present utility model, as long as in spirit of the present utility model, to above institute
State the change of embodiment, modification all will fall in Claims scope of the present utility model.
Claims (11)
1. a tyred container door type crane automated driving system, it is characterised in that include pose sensing module and fortune
Dynamic control module, and connect communication by TCP/IP network, pose sensing module is big in order to obtain and to transmit crane tyre crane
The kinestate of car, motion-control module is in order to adjust direction and the speed of the walking of crane tyre crane cart；
Described pose sensing module includes comparable device, sighting device and industrial computer, and comparable device is located at lifting wheel
Tire hangs the ground of cart travel direction side, and sighting device is located on crane tyre crane cart, and its observation area is corresponding to ginseng
At device, and the view data collected on comparable device is transmitted to industrial computer, the figure run in industrial computer
As processing routine obtains present tire hang the posture information of cart by processing view data；
Described motion-control module includes motion controller, motor driver and motor, and motion controller controls motor and drives
Device, and change the input value of motor driver, in order to adjust the rotating speed of motor, it is achieved the motion control of crane tyre crane cart
System.
2. a kind of tyred container door type crane automated driving system as claimed in claim 1, it is characterised in that described
Comparable device include mark band and several support, support is inverted T-shaped, and average setting is distributed in the one of crane running direction
Side, mark band is laterally perpendicular to ground and is located at pedestal upper end, and being fixed with support by fixture.
3. a kind of tyred container door type crane automated driving system as claimed in claim 2, it is characterised in that described
Mark band be hard material or flexible material.
4. a kind of tyred container door type crane automated driving system as claimed in claim 2, it is characterised in that described
Support on be all also connected with being provided with lifting mechanism, and be located at the lower section of fixture, in order to realize adjusting the height of mark band.
5. a kind of tyred container door type crane automated driving system as claimed in claim 2, it is characterised in that described
Mark band include tag line and identification code, tag line has two, is respectively arranged on the upper and lower end of mark band, and identification code is located at
Article two, between tag line.
6. a kind of tyred container door type crane automated driving system as claimed in claim 5, it is characterised in that described
Tag line and identification code between spacing be definite value.
7. a kind of tyred container door type crane automated driving system as claimed in claim 1, it is characterised in that described
Sighting device be industrial camera or industrial camera.
8. a kind of tyred container door type crane automated driving system as claimed in claim 7, it is characterised in that described
Industrial camera or industrial camera be at least two sets, often overlap and all include CCD image sensor, camera lens and luminaire, and often
The spacing of set is not less than 5m.
9. a kind of tyred container door type crane automated driving system as claimed in claim 1, it is characterised in that described
Motion controller be programmable logic controller (PLC) PLC.
10. a kind of tyred container door type crane automated driving system as claimed in claim 1, it is characterised in that institute
The motor driver stated is direct current, exchange or motor servo driver.
11. a kind of tyred container door type crane automated driving systems as claimed in claim 1, it is characterised in that institute
The motor stated is direct current, exchange or servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620054526.2U CN205772906U (en) | 2016-01-20 | 2016-01-20 | A kind of tyred container door type crane automated driving system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620054526.2U CN205772906U (en) | 2016-01-20 | 2016-01-20 | A kind of tyred container door type crane automated driving system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205772906U true CN205772906U (en) | 2016-12-07 |
Family
ID=57414446
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620054526.2U Active CN205772906U (en) | 2016-01-20 | 2016-01-20 | A kind of tyred container door type crane automated driving system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205772906U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105731260A (en) * | 2016-01-20 | 2016-07-06 | 上海振华重工电气有限公司 | Automatic driving system and method of rubber tyred gantry container crane |
| CN107966994A (en) * | 2017-11-12 | 2018-04-27 | 四川大学 | A kind of large-scale hydraulic door machine automatic station-keeping system and method based on machine vision |
| CN109993788A (en) * | 2017-12-29 | 2019-07-09 | 西门子（中国）有限公司 | A kind of method for correcting error of tyre crane, apparatus and system |
-
2016
- 2016-01-20 CN CN201620054526.2U patent/CN205772906U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105731260A (en) * | 2016-01-20 | 2016-07-06 | 上海振华重工电气有限公司 | Automatic driving system and method of rubber tyred gantry container crane |
| CN107966994A (en) * | 2017-11-12 | 2018-04-27 | 四川大学 | A kind of large-scale hydraulic door machine automatic station-keeping system and method based on machine vision |
| CN107966994B (en) * | 2017-11-12 | 2019-11-12 | 四川大学 | A kind of large-scale hydraulic door machine automatic station-keeping system and method based on machine vision |
| CN109993788A (en) * | 2017-12-29 | 2019-07-09 | 西门子（中国）有限公司 | A kind of method for correcting error of tyre crane, apparatus and system |
| CN109993788B (en) * | 2017-12-29 | 2021-10-26 | 西门子（中国）有限公司 | Deviation rectifying method, device and system for tyre crane |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103419944B (en) | Air bridge and automatic abutting method therefor | |
| CN107807633A (en) | A kind of roadside device, mobile unit and automatic Pilot cognitive method and system | |
| US20200149248A1 (en) | System and method for autonomous operation of heavy machinery | |
| CN205772906U (en) | A kind of tyred container door type crane automated driving system | |
| CN107324041A (en) | The manipulator and automatic film magazine handling device clamped for film magazine | |
| CN105731260A (en) | Automatic driving system and method of rubber tyred gantry container crane | |
| CN201229497Y (en) | Container tyre crane automatic driving system based on image processing | |
| CN107077792A (en) | Drive-control system | |
| CN109678055A (en) | Mobile hanging device control system and method, server, mobile hanging device | |
| CN103266559A (en) | BP bridge safety inspection vehicle and method for obtaining bridge surface physiognomy | |
| CN106629399A (en) | Container aligning guide system for containers | |
| CN205081392U (en) | Robot is patrolled and examined to circuit intelligence | |
| CN106643661B (en) | Locomotive crane suspender pose detection system and method based on machine vision | |
| CN113071518B (en) | Automatic unmanned driving method, minibus, electronic equipment and storage medium | |
| CN105271004A (en) | Lifting device space positioning device adopting monocular vision and method | |
| CN111733920B (en) | Intelligent feeding control system and control method thereof | |
| CN213678924U (en) | Unmanned system of stacker-reclaimer | |
| CN109291063A (en) | A kind of electric operating site safety supervision machine people | |
| CN107200274A (en) | A kind of anti-container truck based on machine vision is lifted method | |
| CN116226977A (en) | Supervision method and device of construction tower crane, electronic equipment and storage medium | |
| CN115223039A (en) | Robot semi-autonomous control method and system for complex environment | |
| CN118239385B (en) | Intelligent steel coil hoisting system and method based on visual identification | |
| Zhu et al. | Technologies, levels and directions of crane-lift automation in construction | |
| CN114529811A (en) | Rapid and automatic identification and positioning method for foreign matters in subway tunnel | |
| Zhang et al. | Applications of deep learning in intelligent construction |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |