CN206705544U - Container gantry crane is automatically positioned heap and taken and case deviation load detection system - Google Patents
Container gantry crane is automatically positioned heap and taken and case deviation load detection system Download PDFInfo
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- CN206705544U CN206705544U CN201720442441.6U CN201720442441U CN206705544U CN 206705544 U CN206705544 U CN 206705544U CN 201720442441 U CN201720442441 U CN 201720442441U CN 206705544 U CN206705544 U CN 206705544U
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- stockyard
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- positioner
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Abstract
It the utility model is related to harbour container administrative skill field, a kind of container gantry crane is provided it is automatically positioned heap and takes and case deviation load detection system, including stockyard positioning subsystem, video monitoring subsystem, stockyard information management subsystem, the stockyard information management subsystem includes distal end ground yard management unit and portal jib crane mounted terminal；The stockyard positioning subsystem includes cart Gray bus positioner, dolly Gray bus positioner and spreader height positioner, and the video monitoring subsystem includes the video monitor being arranged on each stockyard and straddle truck.The utility model can effectively improve the safety coefficient and managerial skills of harbour production, reduce production cost.
Description
Technical field
It the utility model is related to harbour container administrative skill field, and in particular to a kind of container gantry crane is automatically positioned
Heap takes and cased deviation load detection system.
Background technology
Today's society comes into the epoch of informationization.With the present computer technology, the communication technology develop rapidly and
Combine closely, the development that computer networking technology is advanced by leaps and bounds.Computer network penetrated into enterprise, government department,
Scientific research, business are so that the every field of routine work, turns into infrastructure important in information-intensive society.As China reforms and opens up to the outside world
Further in-depth and socialist market economy system constantly improve and development, with electronic computer and modern communications technology
For Main Means, using issued transaction, information management, decision support as substance integrated data information integrated system promptly
Popularization and application.
Under this main trend, storage yard proposes digitlization, the construction object of Visual calculation machine management system, wishes
Hope by building an efficient, safe and reliable and real-time computer management system, meet the need of all production managements in port area
Ask, realize the comprehensive management to terminal in-process and control, so as to improve operating efficiency and comprehensive competitive power, effectively protect
Zheng Gang areas stride forward steadily towards the target of modernization, internationalization container terminal.
The straddle truck mechanical system at China harbour is mainly controlled by the PLC of equipment at present, and job instruction is grasped by harbour
Sent as system, any data exchange is not present between two systems, automaticity is relatively low, equipment positioning is inaccurate, work
Less efficient, equipment operation and maintenance cost compared with it is high, labor strength is big, security performance is poor and security incident and batch mixing are wrong
The quality events such as storehouse take place frequently.
The content of the invention
The purpose of this utility model is exactly to overcome above-mentioned the problems of the prior art, there is provided a kind of container gantry crane
It is automatically positioned heap to take and case deviation load detection system, the safety coefficient and managerial skills of harbour production can be effectively improved, reduces
Production cost.
The purpose of this utility model is achieved by the following technical measures：Container gantry crane be automatically positioned heap take and
Vanning deviation load detection system, including stockyard positioning subsystem, video monitoring subsystem, stockyard information management subsystem, the heap
Field information management subsystem includes distal end ground yard management unit and portal jib crane mounted terminal；The stockyard positioning subsystem bag
Include cart Gray bus positioner, dolly Gray bus positioner and spreader height positioner, the cart Gray
Bus positioner includes the cart Gray bus installed in cart walking parallel direction and the cart installed in straddle truck side
Antenna box, cart Graham line are connected with cart address scrambler, and cart antenna box is connected with cart address decoder, realize dragon
The accurate detection of gantry crane traveling absolute position, 2 millimeters of accuracy of detection, the dolly Gray bus positioner include being arranged on greatly
Dolly Gray bus in car crossbeam and the dolly antenna box installed in dolly side, dolly Gray bus after impedance matching with
Dolly address decoder is connected, and dolly antenna box is connected with dolly address scrambler, and the spreader height positioner includes more
The gearbox of the lifting motor of circle absolute rotary encoder, the multiple-loop absolute type rotary encoder and suspension hook is flexible coupling, described
Cart address decoder, dolly address decoder and multiple-loop absolute type rotary encoder with the PLC in straddle truck operating room with
RS-485 buses are connected, and for solving the traveling control of straddle truck and interlocked operation, position detection and data communication can use one
Root coding cable, easy for construction, installation is safeguarded simply, is taken up space less, strong interference immunity, and PLC is connected with portal jib crane mounted terminal,
PLC is connected with distal end ground yard management unit；The video monitoring subsystem includes being arranged on each stockyard and straddle truck
Video monitor, video monitor is connected with distal end ground yard management unit.
In the above-mentioned technical solutions, the video monitoring subsystem includes the video monitoring being arranged on stockyard and straddle truck
Device, concrete mode are that walk leg beam of each gantry crane installs 1 fixed gunlock camera, observable road during large vehicle walking
Face situation.The ball machine camera of two rotatable zooms is installed in each entrucking road, observes the placement of container on truck trailer, when
When handling container leaves from truck, it can check whether container occurs to hook event with truck trailer by the two cameras
Barrier.The ball machine camera of 3 rotatable zooms of installation, when suspension hook is transferred on container, can be taken the photograph by this 3 below dolly
As the overall picture of head observation suspender.4 jiaos of suspender respectively install 1 small-sized pinhole cameras, and when suspension hook needs case, observation is hung
The relative position of hook lock head and container lockhole, because suspension hook shakes impact greatly in operation process, thereby increases and it is possible to collide, institute
Need to select the product of strong shock resistance with suspension hook camera.
In the above-mentioned technical solutions, automated handling is passed through between stockyard, stockyard and stockyard in handling point or loading and unloading track
AGV dolly transitions, the automated handling AGV dollies are connected by wireless network with distal end ground yard management unit.
In the above-mentioned technical solutions, realized and turned by truck between stockyard, stockyard and stockyard in handling point or loading and unloading track
, GPS guiding systems are installed on truck.
In the above-mentioned technical solutions, limit switch, buffer or anti-are set on cart walking direction and in big car crossbeam
Crash device.
Operation principle and advantage of the present utility model are as follows：
1. by being laid on the Gray bus of heap place, whole stockyard is quantized, formatted, each case position is corresponding one
Quantize grid, by stockyard positioning subsystem detected magnitude car address, is automatically positioned big dolly to goal box position, realizes artificial
Intelligent loading and unloading container.
2. the actual video of whole scene is reached by master to the straddle truck implementing monitoring in stockyard by video monitoring subsystem
Control center and sub-control room, administrative staff objectively can be monitored and manage to each monitoring area in the case where not being in the action
Reason, realize that dynamic manages in real time.
3. realize that packaging is unmanned, intelligent transferring containers by AGV dollies.
4. by stockyard information management subsystem carry out container management of cargo handling, comprising container enter heap place management,
Container goes out the management of heap place, optimization path processing etc..
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is electrical connection schematic diagram of the present utility model.
Embodiment
Below in conjunction with accompanying drawing, the technical scheme in the utility model is clearly and completely described.
As shown in Figure 1, 2, the present embodiment, which provides a kind of container gantry crane and is automatically positioned the heap unbalance loading detection that takes and case, is
System, including stockyard positioning subsystem, video monitoring subsystem, automated handling AGV dollies, stockyard information management subsystem, institute
Stating stockyard information management subsystem includes distal end ground yard management unit and portal jib crane mounted terminal；The stockyard positions subsystem
System includes cart Gray bus positioner, dolly Gray bus positioner and height under hook positioner, the cart
Gray bus positioner is included installed in the cart Gray bus of cart walking parallel direction and installed in straddle truck side
Cart antenna box, cart Graham line are connected with cart address scrambler, and cart antenna box is connected with cart address decoder, institute
Dolly Gray bus positioner is stated including the dolly Gray bus in big car crossbeam and installed in the small of dolly side
Vehicle mounted antenna case, dolly Gray bus are connected after impedance matching with dolly address decoder, and dolly antenna box is compiled with dolly address
Code device is connected, and the height under hook positioner includes multiple-loop absolute type rotary encoder, the multiple-loop absolute type rotary encoder
It is flexible coupling with the gearbox of the lifting motor of suspension hook, during lifting motor spool turns, it is moved by gearbox transmission to encoding
On device, turn signal is transformed to parallel electric signal and is input in PLC by encoder, and the height of hoisting heavy is conversed by PLC.Institute
State cart address decoder, dolly address decoder and multiple-loop absolute type rotary encoder with the PLC in straddle truck operating room
It is connected with RS-485 buses, PLC is connected with portal jib crane mounted terminal administrative unit, PLC and distal end ground yard management unit phase
Even.
By above-mentioned stockyard positioning subsystem, straddle truck three-dimensional position on the one hand can be detected in real time.Straddle truck three-dimensional position
Put coordinate (X, Y, Z) to be directly sent in the PLC of straddle truck operating room, dynamic renewal frequency 10ms.Driver can pass through display screen
Numeral intuitively determines whether suspension hook or object have reached the position that the object should reach, and greatly shortens the lifting time, and PLC reaches
During spacing set in advance, it is issued by alarming, anticollision or slides down.On the other hand can be by entirely by stockyard positioning subsystem
Stockyard quantizes, formatted, and gantry crane direction of travel is x-axis, and portal crane compact car direction of travel is y-axis, by container heap
Field is divided into case position one by one, and there are numbering, coordinate in each case position（X, y）, 5 millimeters of precision, the preservation of container space coordinate
In the yard management unit of distal end ground, provide data for stockyard information management and support, can be with when needing automatic positioning, loading and unloading
Where container space preset coordinates dynamic is sent on the straddle truck PLC in stockyard, PLC driving straddle truck actions are automatic fixed
The big dolly in position realizes artificial intelligence loading and unloading container to goal box position.
Round-the-clock three-dimensional real-time dynamic positioning can be carried out to container according to operation plan using the present embodiment system（X、
Y、Z）, when being unlikely to misplace and put forward mistake, especially night work to ensure container in operation process, driver can accurate judgement
Case position, do not made mistakes with improving operating efficiency.
In the above-described embodiments, limit switch, buffer can also be set on cart walking direction and in big car crossbeam
Or collision prevention device.PLC gathers X-axis traveling position on car, Y-axis traveling position, when reaching spacing set in advance, is issued by reporting
It is alert, avoid bumping against.
The video monitoring subsystem includes the video monitor being arranged on each stockyard and straddle truck, each straddle truck
Large vehicle walking leg beam installs 1 fixed gunlock camera, and two rotatable zoom ball machine cameras, dragon are installed in each entrucking road
3 rotatable zoom ball machine cameras of installation below gantry crane dolly, 4 jiaos of suspension hook respectively install 1 small-sized pinhole cameras, shooting
Head is connected with distal end ground yard management unit, the actual video of whole scene can be reached into Master Control Center and sub-control room, video
Monitor And Control Subsystem can reduce the working strength of administrative staff, while can also improve management quality and management benefit, strengthen to the overall situation
Scheduling and accident adaptability to changes.
The automated handling AGV dollies are connected by wireless network with distal end ground yard management unit.Pass through laying
Gantry crane guides cable to stockyard AGV, realizes scheduling of the AGV dollies between gantry crane and stockyard.Automated handling AGV dolly technologies contain
Amount is high, is worked completely under the control of distal end ground yard management unit, full-automatic, quickness and high efficiency, saves human and material resources, financial resources；
Production structure can be optimized, improve production environment.
The stockyard information management subsystem includes distal end ground yard management unit and portal jib crane mounted terminal.Wherein,
The function of distal end ground yard management unit includes：The storage management of storage yard container information, outbound storage plan layout and
The issue of planning directive, the inquiring about of container information, inquiry of each straddle truck state etc.；The function bag of portal jib crane mounted terminal
Include：The planning directive of distal end ground yard management unit is shown, driver's operation feedback, the prompting of optimal working path, goal box
Guide of position etc..
The content not being described in detail in this specification, belong to prior art known to those skilled in the art.
Preferred embodiment of the present utility model is the foregoing is only, it is all in this practicality not to limit the utility model
Within new spirit and principle, any modification, equivalent substitution and improvements made etc., guarantor of the present utility model should be included in
Within the scope of shield.
Claims (5)
1. container gantry crane is automatically positioned heap and taken and case deviation load detection system, it is characterized in that：Including stockyard positioning subsystem,
Video monitoring subsystem, stockyard information management subsystem, the stockyard information management subsystem include distal end ground yard management
Unit and portal jib crane mounted terminal；The stockyard positioning subsystem includes cart Gray bus positioner, dolly Gray bus
Positioner and spreader height positioner, the cart Gray bus positioner include parallel installed in cart walking
The cart Gray bus in direction and the cart antenna box installed in straddle truck side, cart Graham line and cart address scrambler
It is connected, cart antenna box is connected with cart address decoder, and the dolly Gray bus positioner includes being arranged on cart horizontal stroke
Dolly Gray bus on beam and the dolly antenna box installed in dolly side, dolly Gray bus after impedance matching with dolly
Address decoder is connected, and dolly antenna box is connected with dolly address scrambler, and it is exhausted that the spreader height positioner includes multi-turn
To type rotary encoder, the gearbox of the lifting motor of the multiple-loop absolute type rotary encoder and suspender is flexible coupling, the cart
Address decoder, dolly address decoder and multiple-loop absolute type rotary encoder are with the PLC in straddle truck operating room with RS-
485 buses are connected, and PLC is connected with portal jib crane mounted terminal, and PLC passes through wireless network and distal end ground yard management unit phase
Even；The video monitoring subsystem includes being arranged on video monitor on stockyard and straddle truck, video monitor with distally
Face yard management unit is connected.
2. container gantry crane according to claim 1 is automatically positioned heap and taken and case deviation load detection system, it is characterized in that
The video monitoring subsystem includes the video monitor being arranged on each stockyard and straddle truck, specifically includes：Each gantry
Hanging large vehicle walking leg beam and 1 fixed gunlock camera is installed, two rotatable zoom ball machine cameras are installed in each entrucking road,
1 small-sized pinhole cameras is respectively installed in 3 rotatable zoom ball machine cameras of installation below portal crane compact car, the corner of suspender,
Four tapered ends of suspender are provided with force cell, the weight and unbalance loading data of energy automatic detection container, and can realize data
Wireless remote transmission.
3. container gantry crane according to claim 1 is automatically positioned heap and taken and case deviation load detection system, it is characterized in that：
Handling point or loading and unloading track arrive between stockyard, stockyard and stockyard, by automated handling AGV dolly transitions, it is described automatically disguise
AGV dollies are unloaded by wireless network with distal end ground yard management unit to be connected.
4. container gantry crane according to claim 1 is automatically positioned heap and taken and case deviation load detection system, it is characterized in that：
In handling point or loading and unloading track between stockyard, stockyard and stockyard, transition is realized by truck, GPS guiding systems are installed on truck.
5. container gantry crane according to claim 1 is automatically positioned heap and taken and case deviation load detection system, it is characterized in that：
Limit switch, buffer or collision prevention device are set on cart walking direction and in big car crossbeam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720442441.6U CN206705544U (en) | 2017-04-25 | 2017-04-25 | Container gantry crane is automatically positioned heap and taken and case deviation load detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720442441.6U CN206705544U (en) | 2017-04-25 | 2017-04-25 | Container gantry crane is automatically positioned heap and taken and case deviation load detection system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206705544U true CN206705544U (en) | 2017-12-05 |
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| CN201720442441.6U Active CN206705544U (en) | 2017-04-25 | 2017-04-25 | Container gantry crane is automatically positioned heap and taken and case deviation load detection system |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107977005A (en) * | 2017-12-07 | 2018-05-01 | 中铁第四勘察设计院集团有限公司 | A kind of sky rail automated container handling system |
| CN108750948A (en) * | 2018-08-30 | 2018-11-06 | 洛阳泰斯特探伤技术有限公司 | A kind of gantry crane on-line measuring device |
| CN109775568A (en) * | 2019-03-13 | 2019-05-21 | 中铁十二局集团有限公司 | Gantry crane unloading section of jurisdiction positioning system |
| CN110255378A (en) * | 2019-05-24 | 2019-09-20 | 宁波梅山岛国际集装箱码头有限公司 | For the unmanned passageway monitoring system and monitoring method of gantry crane |
| CN111256570A (en) * | 2020-01-15 | 2020-06-09 | 宝瑾测控技术（武汉）有限公司 | Gray bus positioning system and method |
| CN112013838A (en) * | 2019-05-29 | 2020-12-01 | 招商局国际信息技术有限公司 | Wharf fusion positioning system |
| CN112010177A (en) * | 2020-08-31 | 2020-12-01 | 上海驭矩信息科技有限公司 | Automatic container landing method for ground containers in storage yard |
| CN113800401A (en) * | 2020-06-12 | 2021-12-17 | 中冶宝钢技术服务有限公司 | Anti-collision control method for crane |
| CN113923418A (en) * | 2021-10-28 | 2022-01-11 | 北京国基科技股份有限公司 | System and method for detecting abnormal opening of box door based on video analysis |
-
2017
- 2017-04-25 CN CN201720442441.6U patent/CN206705544U/en active Active
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107977005A (en) * | 2017-12-07 | 2018-05-01 | 中铁第四勘察设计院集团有限公司 | A kind of sky rail automated container handling system |
| CN108750948A (en) * | 2018-08-30 | 2018-11-06 | 洛阳泰斯特探伤技术有限公司 | A kind of gantry crane on-line measuring device |
| CN108750948B (en) * | 2018-08-30 | 2023-12-26 | 洛阳泰斯特探伤技术有限公司 | Online detection device for shore bridge |
| CN109775568A (en) * | 2019-03-13 | 2019-05-21 | 中铁十二局集团有限公司 | Gantry crane unloading section of jurisdiction positioning system |
| CN110255378A (en) * | 2019-05-24 | 2019-09-20 | 宁波梅山岛国际集装箱码头有限公司 | For the unmanned passageway monitoring system and monitoring method of gantry crane |
| CN112013838A (en) * | 2019-05-29 | 2020-12-01 | 招商局国际信息技术有限公司 | Wharf fusion positioning system |
| CN111256570A (en) * | 2020-01-15 | 2020-06-09 | 宝瑾测控技术（武汉）有限公司 | Gray bus positioning system and method |
| CN111256570B (en) * | 2020-01-15 | 2022-01-18 | 宝瑾测控技术（武汉）有限公司 | Gray bus positioning system and method |
| CN113800401A (en) * | 2020-06-12 | 2021-12-17 | 中冶宝钢技术服务有限公司 | Anti-collision control method for crane |
| CN112010177A (en) * | 2020-08-31 | 2020-12-01 | 上海驭矩信息科技有限公司 | Automatic container landing method for ground containers in storage yard |
| CN112010177B (en) * | 2020-08-31 | 2022-04-29 | 上海驭矩信息科技有限公司 | Automatic container landing method for ground containers in storage yard |
| CN113923418A (en) * | 2021-10-28 | 2022-01-11 | 北京国基科技股份有限公司 | System and method for detecting abnormal opening of box door based on video analysis |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220902 Address after: Shenzhou High Speed Rail Lide Industrial Park, No. 11 Qingling North Road, Hongshan District, Wuhan City, Hubei Province 430070 Patentee after: Shenzhou High-speed Railway Intelligent Industrial Control System (Wuhan) Co.,Ltd. Address before: North Park Street in Hubei city of Wuhan province since the 430070 Hongshan District No. 16 Patentee before: WUHAN LEADDO MEASURING & CONTROL TECHNOLOGY CO.,LTD. |
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| TR01 | Transfer of patent right |