CN207293963U - Automatic the case of automated handling operation and anti-sling system - Google Patents
Automatic the case of automated handling operation and anti-sling system Download PDFInfo
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- CN207293963U CN207293963U CN201720963617.2U CN201720963617U CN207293963U CN 207293963 U CN207293963 U CN 207293963U CN 201720963617 U CN201720963617 U CN 201720963617U CN 207293963 U CN207293963 U CN 207293963U
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- container
- tapered end
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- flat car
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Abstract
Automatic the case of automated handling operation and the anti-system of slinging are to install a set of apparatus for automatically lifting, wing drop regulating device by truck parking lane outside automatic dock, install a laser scanner on the apparatus.Lockhole on unloaded container flat car of the laser scanner to entering track is lifted and tilt detection, measure the position of nearest one or more lockholes, extrapolate the Position Approximate of all lockholes on container flat car, accurately detected again, the accurate location of all tapered ends is found, realizes being accurately positioned for container flat car.Heavy-load container truck to entering track, laser scanner carries out container truck horizontal sweep, and according to suspender signal, is adjusted to corresponding height, measures the gap between container and flat car, prevent container truck tapered end from not unlocking, truck is sling.Pass through above method, it is possible to achieve automation field hang the external container truck tapered end in stockyard be accurately positioned and it is anti-lifting detection.
Description
Technical field
It the utility model is related to and prevent for container truck in container handling operation and being accurately positioned for suspender with truck
Sling, be especially suitable for the container automatic handling operation of harbour place.
Background technology
The exactitude position and truck of truck and suspender are prevented hanging also under the handling operation of place container automatic, gantry crane at present
There is no relatively effective accurate measurement method.As number of patent application " 200820055788.6 " place container gantry crane correction with
Truck laser positioning and anti-device for hoisting, and " 201420312848.3 " tyre crane walking positioning and rectifying and anti-sling of truck contraposition be
System, which is all that followed by gantry movement, and defines certain height, and due to container
The height of truck lockhole position of differing is differed, and container truck tapered end can not be accurately measured to unloaded truck.Although there is holder
It is rotated, but can not can detects the position of all tapered ends.In container automatic handling operation, it is impossible to will be automatic
The container for changing handling is accurately directed at truck tapered end, and if tapered end also not all unlocks, container flat car height differ, by
The container of handling can not be carried out anti-lifting detection by being fixed on certain height in scanner, can be related by container flat car
Sling with by container flat car headstock, bring security risk, solving external collection there is presently no effective detection method is stuck in
Container tapered end in automated handling operation be accurately positioned and anti-lifting detection method.
The content of the invention
In automatic dock container stockyard, there is a plurality of outer truck parking lane, a set of automatic liter is installed by track
Falling unit, wing drop regulating device, a laser scanner is installed on the device.The laser scanner can be to entering the car
Lockhole on the unloaded container flat car in road is lifted and tilt detection, by laser scanner measurement nearest one or
The position of multiple lockholes, can extrapolate the Position Approximate of all lockholes on container flat car, then accurately be detected, and find institute
There is the accurate location of tapered end, realize being accurately positioned for container flat car.Heavy-load container truck to entering the track, laser
Scanner carries out container truck horizontal sweep, and according to suspender the height that provides of case signal and spreader height signal believe
Breath, is adjusted to corresponding height by apparatus for automatically lifting, prevents container truck tapered end from not unlocking, truck is sling.By with
Upper method, it is possible to achieve being accurately positioned of external container truck tapered end in automation field gantry crane stockyard, automatic case
With anti-lifting detection, which can also be installed in the side uprights of gantry, follow cart to move, to bicycle trace gather
Vanning truck tapered end is accurately positioned and anti-lifting detection.
The utility model provides container truck positioning, the tapered end positioning of vanning flat car in a kind of automated handling operation
With the anti-hoisting device of container in hoisting status.
The purpose of this utility model is achieved by following technical proposals.
Automatic the case of the utility model automated handling operation and it is anti-sling system, its main feature is that：It includes：Including certainly
Dynamic lifting gear, wing drop regulating device, motor, motor driver, laser scanner, container truck tapered end, container,
System processor, PLC, spreader height signal, trolley position signal, cart location position device, case signal and automation field
Ground gantry crane.
The apparatus for automatically lifting, wing drop regulating device are installed on the outer truck parking car in automatic dock stockyard
By road；The laser scanner controls electricity in apparatus for automatically lifting, wing drop regulating device, by system processor
Machine driver, adjusts apparatus for automatically lifting, wing drop regulating device so as to fulfill laser scanner adjustable height and inclination angle
The adjustment of degree；The height of laser scanner and the data at angle of inclination adjust dress by apparatus for automatically lifting encoder and wing drop
Encoder offer is provided；Laser scanner is directed at container truck tapered end tracing detection, by the data of laser scanner measurement and
System processor finds the mutation status of tapered end and flat car, determines the reference three-dimensional coordinate position of the X, Y, Z axis of tapered end, concurrently
Give PLC, to control the position of suspender and flat car tapered end, realization is accurately positioned, realize container under suspender it is automatic case.
The system processor is connected with PLC, participates in the position analysis and handling control of place gantry crane.The automation field dragon
Gantry crane includes tyre crane and track crane.
The three-dimensional coordinate position, X-axis represent the transverse shifting direction of trolley and suspender, and Y-axis represents the hanging of place gantry
Car direction, Z axis represent the vertical direction of suspender oscilaltion.
The container flat car tapered end provides the target point of measurement position, the tapered end X, Y, Z axis for determining to measure
Three-dimensional coordinate position information.The data sending measured is controlled electricity by the laser scanner horizontal sweep to system processor
The driving motor lifting of machine driver or rotation, find the tapered end on truck flat car, determine the X, Y, Z axis of the tapered end on flat car
Three-dimensional coordinate position, there is provided to PLC control suspender under container X, Y, Z axis three-dimensional coordinate position；The laser when putting case
Scanner scanning measures container marginal position, calculates the range difference of container edge position and lockhole position, realizes container
Be accurately positioned with the lockhole position on flat car, realize container under suspender it is automatic case.
When carrying out preventing slinging detection, horizontal sweep simultaneously passes through apparatus for automatically lifting and adjusts height the laser scanner
Determine the gap position between container and flat car, when finding no any barrier, system allows suspender, and movement is hung upwards
Play container.
During described laser scanner horizontal sweep, the headstock, tapered end, container of container truck are measured, by aobvious
Display screen shows present container positional information, there is provided gives container truck driver.
The apparatus for automatically lifting, wing drop regulating device include limit control, mechanical arm, hoistable platform and
Rotating module, scanner can be moved up and down, and front and rear can be rotated and be tilted, and container flat plate is found by the driving of motor
Lock head position.The limiting device control prevents motor moves up and down from going beyond the scope.It is the apparatus for automatically lifting, automatic
Tilt adjustment device can be replaced with holder.
There are a plurality of track, the apparatus for automatically lifting, the installation of wing drop regulating device on automated container dock
By track, vehicle traveling is not influenced, does not follow automation field gantry crane to move, may be mounted at every track
Any one position, can also a plurality of track share a set of apparatus for automatically lifting, wing drop regulating device.The automatic liter
Falling unit, wing drop regulating device can install manual control place gantry crane side, and about 2 meters of height, can be adjusted from the ground
Laser scanner height and angle of inclination, the seam between horizontal sweep detection container flat car tapered end and container and tablet
Gap, realizes automatic case and anti-slings detection function.
The trolley position signal provides the positional information of place portal crane compact car.The cart location position device
Positional information where the gantry crane of place is provided.Described case signal provides height and position when container is sling.Described
Spreader height signal provides spreader height information.
The wing drop regulating device and laser scanner are combined, and realize the function of 3D laser scanners.
When container truck enters outer truck parking lane, system processor control apparatus for automatically lifting, wing drop tune
Regulating device makes laser scanner slowly decline from eminence, and laser scanner carries out horizontal sweep to track at this time, if collection is arrived in scanning
Then the car is unloaded container flat car to truck head, and it is heavily loaded container truck that the car is thought if scanning is to container edge.
Unloaded container flat car for entering track, system processor control apparatus for automatically lifting, wing drop tune
Regulating device drives laser scanner to decline, and passes through the position of the nearest one or more lockholes of laser scanner measurement.If detection
It is distant to first tapered end（More than or equal to one container length）, then it is assumed that Chinese herbaceous peony end is high；If detect first lock
It is closer to the distance, then it is assumed that the tailstock is high.The Position Approximate of all lockholes on container flat car can be extrapolated according to height, then led to
Cross apparatus for automatically lifting, wing drop regulating device adjust laser scanner angle of inclination accurately detected, until measure
To all tapered ends, accurate three-dimensional coordinate position of all tapered ends in X, Y, Z axis is determined, realize the accurate fixed of container flat car
Position.
After the completion of system positions container flat car tapered end, tapered end positional information is sent to PLC, on laser scanner
It is raised to 1.7m or so height and carries out horizontal sweep, track and localization is carried out to container flat car headstock position.If container flat plate
Car moves, and mobile position is sent to PLC in real time.When suspender carries out putting case, laser scanner scans to container side,
Three-dimensional coordinate position information of the container edge in X, Y, Z axis is carried out with three-dimensional coordinate position information of the tapered end in X, Y, Z axis
Compare, realization accurately puts case.
The double 20 feet unloaded container trucks for entering track, laser scanner is first to previous 20 forty equivalent unit 40
Flat car tapered end is detected, and positional information is supplied to PLC, and place gantry crane first carries out previous 20 forty equivalent unit 40
Case is put, laser scanner is again detected 20 forty equivalent unit 40 flat car tapered end of the latter, and positional information is supplied to
PLC, then 20 forty equivalent unit 40 of the latter is carried out putting case.
For entering track heavy-load container truck, when place gantry crane slings the container on truck, laser scanner
Carry out horizontal sweep to container truck, and according to suspender the elevation information that provides of case signal and spreader height signal, will
Apparatus for automatically lifting is adjusted to corresponding height, the space between laser scanner alignment container flat car and container bottom surface
Gap scanning ranging, when the non-Unscrew of tapered end on container flat car, still hooks container lockhole, container flat car
Taken up by container, there is object under laser scanning inspection to container bottom surface, device sends sound-light alarm immediately, and sends stopping
Lifting signal transmission gives place gantry crane PLC.If it was found that during no any barrier, system allows suspender, and collection is sling in movement upwards
Vanning.Double 20 feet of heavy-load container trucies for entering track, laser scanner first to 20 forty equivalent unit 40 of the latter into
The anti-lifting detection of row, place gantry crane first carries out handling to 20 forty equivalent unit 40 of the latter, and positional information is supplied to PLC,
Laser scanner again carries out previous 20 forty equivalent unit 40 anti-lifting detection, then previous 20 forty equivalent unit 40 is hung
Fortune.
The exactitude position of the system with can realizing automatic loading and unloading operation midfield gantry crane next part clamping lock head and gantry sling
And container prevents truck from slinging when slinging.
Due to the adoption of the above technical scheme, the beneficial effects of the utility model are：Solves the external packaging of automatic dock
Case truck tapered end be accurately positioned and it is anti-lifting detection, mitigate the labor intensity of driver, prevent truck from slinging, eliminate safety it is hidden
Suffer from, improve the production efficiency of place automatic dock container gantry crane handling container handling.
Brief description of the drawings
Fig. 1 automated container dock structure diagrams.
Fig. 2 laser scanners are to the container truck detects schematic diagram into track.
Fig. 3-4 laser scanners are to container flat car tapered end testing principle schematic diagram.
Fig. 5-6 containers are accurately positioned principle schematic with tapered end.
Fig. 7 laser scanners are to double 20 feet and 40 forty equivalent unit 40 flat car tapered end test position schematic diagrames.
Fig. 8 laser scanners are to 40 forty equivalent unit 40 flat car tapered end test position schematic diagrames.
The anti-lifting testing principle schematic diagrames of Fig. 9.
Figure 10 component electrical connection diagrams.
In figure,（1）Apparatus for automatically lifting, wing drop regulating device,（2）Laser scanner,（3）Track,（4）Double 20 English
Ruler zero load container flat car,（5）Double 20 feet of heavy-load container trucies,（6）Tapered end,（7）40 feet of unloaded container flat plates
Car,（8）40 feet of heavy-load container trucies,（9）20 forty equivalent unit 40s,（10）40 forty equivalent unit 40s,（11）Place gantry crane,
（12）Scanning plane,（13）Suspender,（14）System processor,（15）PLC,（16）Motor,（17）Motor driver.
Embodiment
The apparatus for automatically lifting, wing drop regulating device（1）Outer truck installed in automatic dock stockyard stops
Car track（3）It is other；The laser scanner（2）Installed in apparatus for automatically lifting, wing drop regulating device（1）On, by electricity
Machine driver（17）And motor（16）Control apparatus for automatically lifting, wing drop regulating device（1）Adjust laser scanner（2）'s
Lifting and angle of inclination, are directed at container truck tapered end（6）Tracing detection, passes through laser scanner（2）Data of measurement and soft
Part program processing data finds tapered end（6）With the mutation status of container flat car, tapered end is determined（6）Reference three-dimensional coordinate bit
Put, and be sent to PLC（15）, to control suspender（13）With container flat car tapered end（6）Position, realization is accurately positioned, real
Container under existing suspender it is automatic case.The system processor（14）With PLC（15）It is connected, participates in the position of place gantry crane
Put analysis and handling control.
The three-dimensional coordinate position, X-axis represent trolley and suspender（13）Transverse shifting direction, Y-axis represent place gantry
Hang（11）Direction of traffic, Z axis represent suspender（13）The vertical direction of oscilaltion.
When container truck enters outer truck parking lane（3）, system processor（14）Control apparatus for automatically lifting, automatic
Tilt adjustment device（1）Make laser scanner（2）Slowly decline from eminence, at this time laser scanner（2）To track（3）Carry out water
Simple scan, the car is unloaded container flat car if scanning to truck headstock, if scanning thinks the car to container edge
For heavily loaded container truck.
With 40 feet of unloaded container flat cars（7）Exemplified by, for into track（3）40 feet of unloaded container flat plates
Car（7）, system processor（14）Control apparatus for automatically lifting, wing drop regulating device（1）Drive laser scanner（2）Under
Drop, passes through laser scanner（2）The nearest one or more lockholes of measurement（6）Position, 40 feet of unloaded packagings can be extrapolated
Case flat car（7）Upper all lockholes（6）Position Approximate, then pass through apparatus for automatically lifting, wing drop regulating device（1）Adjust
Laser scanner（2）Inclination angle accurately detected, until measuring all tapered ends（6）, find all tapered ends（6）In X, Y, Z
The accurate three-dimensional coordinate position of axis, realizes 40 feet of unloaded container flat cars（7）Be accurately positioned.
System is to container flat car tapered end（6）After the completion of positioning, by tapered end（6）Positional information is sent to PLC（15）, swash
Photoscanner（2）Rise to 1.7m and highly carry out horizontal sweep, track and localization is carried out to container flat car headstock position.If collection
Flat car of casing moves, and mobile position is sent to PLC in real time（15）.Work as suspender（13）When carrying out putting case, laser scanner
（2）Scan to 40 forty equivalent unit 40s（10）Side, by 40 forty equivalent unit 40s（10）Believe in the three-dimensional coordinate position of X, Y, Z axis at edge
Breath and tapered end（6）It is compared in the three-dimensional coordinate position information of X, Y, Z axis, realization accurately puts case.
The double 20 feet unloaded container flat cars for entering track（4）, laser scanner is first to previous 20 English sky
Carry ruler container flat car（4）Tapered end（6）It is detected, and positional information is supplied to PLC（15）, place gantry crane（15）First
To previous 20 forty equivalent unit 40（9）Carry out putting case, laser scanner（2）Again to 20 feet of unloaded container flat cars of the latter
（4）Tapered end（6）It is detected, and positional information is supplied to PLC（15）, then to 20 forty equivalent unit 40 of the latter（9）Put
Case.
With 40 feet of heavy-load container trucies（8）Exemplified by, for entering track heavy-load container truck, place gantry crane is hung
When playing the container on truck, laser scanner（2）Horizontal sweep is carried out to container truck, and according to suspender（13）Case
The elevation information that signal and spreader height signal provide, corresponding height, laser scanner are adjusted to by apparatus for automatically lifting（2）
It is directed at 40 feet of heavy-load container trucies（8）With 40 forty equivalent unit 40s（10）Spatial joint clearance scanning ranging between bottom surface, when 0 English
Ruler heavy-load container truck（8）On tapered end（6）Non- Unscrew, still hooks container lockhole, 40 feet of heavy-load containers
Truck（8）By 40 forty equivalent unit 40s（10）Take up, laser scanner（2）Detect 40 forty equivalent unit 40s（10）There is thing under bottom surface
Body, device send sound-light alarm immediately, and send stopping lifting signal transmission and give place gantry crane PLC（15）.If it was found that do not have
During any barrier, system allows suspender, and 40 forty equivalent unit 40s are sling in movement upwards（10）.
Double 20 feet of heavy-load container trucies for entering track（5）, laser scanner is first to 20 feet of collection of the latter
Vanning（9）Carry out anti-lifting detection, place gantry crane（11）First to 20 forty equivalent unit 40 of the latter（9）Handling is carried out, and by position
Confidence breath is supplied to PLC（15）, laser scanner（2）Again to previous 20 forty equivalent unit 40（9）Anti- lifting detection is carried out, to preceding
One 20 forty equivalent unit 40（9）Carry out handling.
Those of ordinary skill in the art is it should be appreciated that the embodiment of the above is intended merely to illustrate that this practicality is new
Type, and the restriction to the utility model is not intended as, as long as in the spirit of the utility model, to described above real
Apply the change of example, modification is fallen within the range of the utility model claims book.
Claims (6)
1. a kind of automatic the case of automated handling operation and anti-sling system, it is characterised in that：Including apparatus for automatically lifting, certainly
Dynamic tilt adjustment device, motor, motor driver, laser scanner, container truck tapered end, container, system processor,
PLC, spreader height signal, trolley position signal, cart location position device, case signal and place gantry crane；
The apparatus for automatically lifting, wing drop regulating device are installed on the outer truck parking lane in automatic dock stockyard
It is other；The laser scanner controls motor in apparatus for automatically lifting, wing drop regulating device by system processor
Driver, adjusts apparatus for automatically lifting, wing drop regulating device so as to fulfill laser scanner adjustable height and angle of inclination
Adjustment；The height of laser scanner and the data at angle of inclination are by apparatus for automatically lifting encoder and wing drop regulating device
Encoder provides；Laser scanner is directed at container truck tapered end tracing detection, by the data of laser scanner measurement and is
Processor of uniting finds the mutation status of tapered end and flat car, determines the reference three-dimensional coordinate position of the X, Y, Z axis of tapered end, and send
To PLC, to control the position of suspender and flat car tapered end, realization is accurately positioned；
The apparatus for automatically lifting, wing drop regulating device can install manual control place gantry crane side, high from the ground
About 2 meters of degree, can adjust laser scanner height and angle of inclination, Scanning Detction container flat car tapered end and container with putting down
Gap between plate, realizes automatic case and anti-slings detection function.
2. system according to claim 1, it is characterised in that：The apparatus for automatically lifting, wing drop regulating device
Including limit control, mechanical arm, hoistable platform and rotating module, scanner can be moved up and down, and can front and rear rotation
Turn to tilt, flat car tapered end position is found by the driving of motor；The limit control control prevents from moving down on motor
It is dynamic to go beyond the scope.
3. system according to claim 1, it is characterised in that：The apparatus for automatically lifting, wing drop regulating device
By track, vehicle traveling is not influenced.
4. system according to claim 1, it is characterised in that：Described case signal provides height when container is sling
Position；The spreader height signal provides spreader height information.
5. system according to claim 1, it is characterised in that：The cart location position device provides place gantry crane
The positional information at place；The trolley position signal provides the positional information of place portal crane compact car.
6. system according to claim 1, it is characterised in that：The container flat car tapered end provides measurement position
Target point, determines the three-dimensional coordinate position information of tapered end X, Y, Z axis measured；The three-dimensional coordinate position, X-axis represent trolley
And the transverse shifting direction of suspender, Y-axis represent place gantry crane direction of traffic, Z axis represents the vertical direction of suspender oscilaltion.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720963617.2U CN207293963U (en) | 2017-08-03 | 2017-08-03 | Automatic the case of automated handling operation and anti-sling system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720963617.2U CN207293963U (en) | 2017-08-03 | 2017-08-03 | Automatic the case of automated handling operation and anti-sling system |
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| Publication Number | Publication Date |
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| CN207293963U true CN207293963U (en) | 2018-05-01 |
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ID=62448262
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| 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 |
| 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 |
| CN113753760A (en) * | 2020-06-04 | 2021-12-07 | 重庆柯沃起重机械有限公司 | Intelligence sign indicating number brick loading system |
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