CN208166413U - A kind of protection of safety of gantry crane and operation auxiliary system - Google Patents
A kind of protection of safety of gantry crane and operation auxiliary system Download PDFInfo
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- CN208166413U CN208166413U CN201820654995.7U CN201820654995U CN208166413U CN 208166413 U CN208166413 U CN 208166413U CN 201820654995 U CN201820654995 U CN 201820654995U CN 208166413 U CN208166413 U CN 208166413U
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Abstract
The utility model discloses a kind of protection of safety of gantry crane and operation auxiliary system, laser scanner, trailer clearance indicator light and the operation auxiliary display being connect including system controller and respectively with the system controller；The system controller completes the calculating of complex conditions parameter and operation auxiliary data and the judgement of operation dangerous situation using crane, trailer and the base regime in stockyard parameter, the real-time working condition parameter obtained from crane control system and the real-time scan data obtained from the laser scanner, and the instruction of dangerous situation evasive action is issued to crane control system and the trailer clearance indicator light, while the operation auxiliary data are sent to the operation auxiliary display and are shown.The utility model is not only able to ensure the safety of handling operation in lane, and is able to ascend the efficiency of overall operation, the purpose realizing safety in production and efficiently producing.
Description
Technical field
The utility model relates to a kind of protection of safety of gantry crane and operation auxiliary systems, are mainly used in harbour packaging
Various operation dangerous situations are detected and prevented during case handling operation, while calculating and aligning data with output operation, are promoted
Operating efficiency.
Background technique
(1) two dimensional laser scanning instrument
Two-dimensional laser optical scanner swashs surrounding enviroment on a plane of scanning motion by internal rotating mechanism
Optical scanning ranging, distance measuring method are " flight time measurements "：
1, emit the laser pulse of circular light spot in current measurement direction；
2, the laser pulse returned from measured target surface reflection is received；
3, laser pulse is measured from the time being received is emitted to, is obtained by " when m- distance convert " current
The distance of measured target on measurement direction angle；
4, measurement direction angle is continuously changed in a plane (laser scanning plane) by rotating mechanism, realized to periphery
The measurement of the cross section profile of environment on that plane is provided measurement data in a manner of polar coordinate representation, and can further converted
It is indicated for the two-dimentional rectangular co-ordinate under scanner device coordinate system.
Two dimensional laser scanning instrument (hereinafter referred to as laser scanner) based on above-mentioned technology can have under all weather conditions
Work is imitated, accurate distance and two-dimensional shapes data are obtained, is the important biography for realizing heavy mechanical equipment automation safety work
Sensor.
(2) operating equipment and operation field layout
As shown in Figure 1, the basic application of the utility model be it is presently the most universal, using through bicycle sect
The Foot container handling operation harbour of 20 Foot/40 of formula crane, each job factor are described as follows：
1, container：For the metal cabinet of rectangular shape, it is provided with " lockhole " on the column of upper bottom surface quadrangle, for hanging
It fills and is fixed on plate.Container have different " box ", the utility model relates to box include 20 Foot casees, 40 Foot casees
(common case and high case) and 45 Foot casees, the length, width and height and lockhole spacing of each box are international standard, and raising middle flask is wide and lockhole spacing
Width is identical, and length and height are different；There are also 4 lockholes, hole locations in the middle part of 40 Foot and the upper bottom surface of 45 Foot boxes
The lockhole hole location of compatible two 20 Foot casees；
2, gantry crane：For the crane of frame structure, by driver operation, structural element includes：
1) cart：It is made of two sets " door legs " and a pair of crossbeam being erected on a leg, wheel pair, operation is installed on door leg
When along perpendicular to crossbeam direction in ground running, referred to as " cart "：
2) trolley：It is equipped with rail on crossbeam, has set up a wheel track walking mechanism, can walk along crossbeam direction,
Referred to as " trolley "；
3) suspender：One " suspender " has been lifted by wirerope on trolley, can have been realized and be gone up and down by folding and unfolding wirerope,
Hanger main girder has two pairs telescopic horizontal " boom ", and boom bottom surface both ends have rotatable " lock pin ", lock pin insertion collection
Vanning lockhole simultaneously can be achieved to be fastenedly connected with container after rotating, and the box type telescopic for the container that suspender loads and unloads as needed hangs
Arm is directed at lock pin with the upper surface lockhole of container, realizes the handling to container, certain form of suspender is with 8 locks
Pin, can both lift 1 Foot case of Foot/45 of 20 Foot/40, can also be with 2 20 Foot casees of handling；
4) drivers' cab：Trolley underhung one " drivers' cab ", hoister is in driver's indoor surface to suspender direction
Lifting, hoisting arm expansion and the lock pin rotation for operating the cart and carriage walking and suspender of crane, realize the handling of container
Operation；
3, trailer：For the truck with plate, rotatable " lock pin " is had on plate, for the fixed packaging loaded
Case.There are two types of length for trailer plate, wherein half long trailer is for loading 20 Foot containers, plate has 4 lock pins, with 20 Foot
4 lockholes of container bottom surface match；Overall length trailer is used to load the container of all types, and plate has 8 lock pins, point
It does not match with the lockhole of the bottom surface of two 20 Foot containers, or is matched with the bottom surface lockhole of 40 Foot or 45 Foot containers；
4, stockyard：Container positioned at land ground piles up area, and by rectangular mesh proper alignment, the line direction of grid is a left side
Right direction, column direction are front-rear direction；The container case pile of identical, the upper and lower close alignment of one group of length and width is stacked in every lattice；Every row
Container in grid is aligned in left-right direction, and the container case length in each column grid is identical, and is aligned along the longitudinal direction；
5, lane：Positioned at the carriage channel of the left and right directions on ground below the leg of back door.Trailer is from crane or so two
Lateral edge lane enters and parks below crane, matches with driver, and the handling operation of container is realized by using suspender.
(3) work flow
Use container of the elemental operation content of the container terminal of above-mentioned work pattern between stockyard and trailer
Exchange, including vanning and casing working is unloaded, typical process is：
1, it cases：Hoister is matched according to job instruction telescoping boom with goal box case length；Cart is operated along left and right
Direction running to specified case arranges, and so that suspender is arranged left and right with case and is aligned；Suspender is transported to above goal box group by operation trolley, makes to hang
It is aligned before and after tool and goal box；Decline suspender and grabs goal box, and locking suspender lock pin；Operation trolley makes suspender handling goal box
Above to lane, trailer should be arrived below crane at this time, and plate arranges substantially aligned with specified case；Decline suspender, makes mesh
Standard packing box bottom surface drops on the lower height above plate, cooperates with trailer driver and aligns, make the bottom surface lockhole of goal box with
Plate lock pin accurate alignment；Goal box is placed on plate, plate lock pin is inserted into goal box bottom surface lockhole, operates suspender solution
Lock；Raising suspender；Trailer leaves.
2, case is unloaded：Hoister operation trolley returns to above lane；According to job instruction telescoping boom, with goal box case
Long matching；Operation cart, which is travelled to specified case, to be arranged, and trailer should arrived below crane at this time, and plate and specified case arrange substantially
Alignment, and plate lock pin should unlock；Decline suspender to lower height above goal box, cooperates with trailer driver and align, make to hang
Tool and goal box accurate alignment, decline suspender grab goal box；Raising suspender；Trailer leaves；It is micro- in left-right direction to operate cart
It adjusts, so that suspender is arranged left and right with goal box and be aligned；Suspender is transported to above goal box group by operation trolley, makes suspender and goal box position
Front and back alignment；Decline suspender, goal box is placed on target phase；Operate suspender unlock, and raising suspender.
(4) operation dangerous situation and dangerous situation evasion mode
Using container handling operation process above-mentioned, the key operation dangerous situation of lane operation and the corresponding dangerous situation side of evading
Formula includes：
1, cart collides：Cart is during the walking of left and right, because hoister is unsighted or the energy of surrounding enviroment
Degree of opinion is lower, leads to large vehicle walking portion strikes obstacles, and corresponding dangerous situation evasion mode is cart braking；
2, it touches and pounds headstock：When vanning, during suspender band performance box decline, trailer headstock enters below performance box
Vertical coverage causes to be pounded, and corresponding dangerous situation evasion mode is suspender braking；
3, case is touched in lane：During double 20 Foot vannings, during suspender band case decline, another 20 Foot on trailer
Case enters performance box downward vertical coverage area, causes to be pounded, and corresponding dangerous situation evasion mode is suspender braking；
4, trailer is sling：When unloading casing working, because of the not all effectively unlocks of trailer plate lock pin, cause trailer plate together with work
Industry case is lifted together, and corresponding dangerous situation evasion mode is suspender braking；
5, the horizontal drawing of suspender：Trailer starts too early in band case and horizontal drawing suspender, causes wire rope of sling to damage, too early
The case where starting includes：When unloading casing working, it is all ineffective that band box hanger not yet rises to appropriate height or trailer plate lock pin
Unlock；When vanning, suspender lock pin is not yet unlocked or empty suspender not yet rises to safe altitude；Corresponding dangerous situation evasion mode
It is forbidden for trailer.
(5) operation auxiliary
Using above-mentioned container handling operation process, the principal element for influencing operating efficiency is that cart and trolley drive are hung
The ranks that tool carries case case position with stockyard goal box position or trailer align, the utility model relates to contraposition include：
1, it cases：When grabbing case, the left and right of cart and land stockyard goal box position is aligned；
2, case is unloaded：When grabbing case, the front and back and left and right for the operative goals case case position that cart and trolley and trailer carry are aligned；It puts
When case, the left and right of cart and land stockyard goal box position is aligned.
Aforesaid operations require the mobile cart of driver operation, and contraposition process is slow, and exactitude position depends on the operation of driver
Technical ability；If the contraposition deviation amount of cart and trolley can be provided to driver, it will help promote operating efficiency.
(6) status is applied
For above-mentioned dangerous situation, have some independent guard systems at present, such as cart anti-collision system and anti-sling of trailer are
System comes into operation, these systems only acquire local working condition data, even if using formula usage mode is piled up, it also can not be real
The complete acquisition of existing job information and integrated protection, and there is very big difficulty in terms of system deployment.
Summary of the invention
In order to overcome the disadvantages mentioned above of the prior art, the utility model provides a kind of comprehensive safety of gantry crane
Protection and operation auxiliary system, the lane container handling operation for the through gantry crane of manually-operated bicycle road provide
Comprehensive security protection protection, while operation auxiliary is provided to improve operating efficiency.
Technical solution adopted by the utility model to solve its technical problems is：A kind of protection of safety of gantry crane and make
Industry auxiliary system, the laser scanner being connect including system controller and respectively with system controller, trailer clearance indicator light and
Operation auxiliary display；The system controller is communicated by Ethernet and the laser scanner, and total by Industry Control
Line and crane control system communicate, the system controller using crane, trailer and the base regime in stockyard parameter, from
The real-time working condition parameter and the real-time scan data obtained from the laser scanner that heavy-duty machine control system obtains, complete compound work
The calculating of condition parameter and operation auxiliary data and operation dangerous situation determine, and let pass and indicate to crane control system and the trailer
Lamp issues the instruction of dangerous situation evasive action, while the operation auxiliary data of cart contraposition and trolley contraposition are sent to the work
Industry secondary monitor is shown.
Compared with prior art, the good effect of the utility model is：
This system obtains necessary real-time working condition information and week by the control system of 4 laser scanners and crane
The working environment information on side generates the two and three dimensions spatial position of cart, suspender, trailer and related performance box on this basis
Information, the motion state based on cart and suspender analyze the trend that various types Steric clashes occur for these spatial positions, thus
It realizes the discovery to operation dangerous situation, and issues the instruction of dangerous situation evasive action to crane control system, instruction of letting pass by trailer
Lamp issues the forbidden instruction of trailer, achievees the purpose that prevent work accident；Pass through operation auxiliary display simultaneously to crane
Driver provides operation and aligns data, and driver is helped to shorten operation position aligning time, improves operating efficiency.
This system realizes gantry crane in the security protection of the container handling operation of lane side, Yi Ji simultaneously
The Partial Jobs in lane and land stockyard align the calculating and output of data, are not only able to ensure the peace of handling operation in lane
Entirely, and the efficiency of overall operation, the purpose realizing safety in production and efficiently producing are able to ascend.
Detailed description of the invention
The utility model will illustrate by example and with reference to the appended drawing, wherein：
Fig. 1 is gantry crane operating equipment and operation field schematic layout pattern；
Fig. 2 is the structural schematic diagram of safety of gantry crane protection and operation auxiliary system；
Fig. 3 is the scheme of installation of safety of gantry crane protection and operation auxiliary system；
Fig. 4 is the process flow diagram of safety of gantry crane protection and operation auxiliary system；
Fig. 5 is the schematic diagram that suspender duty parameter is extracted from the real-time scan data of vertical laser scanner；
Fig. 6 is the schematic diagram that trailer duty parameter is extracted from the real-time scan data of horizontal laser light scanner；
Fig. 7 is the schematic diagram that stockyard duty parameter is extracted from the real-time scan data of horizontal laser light scanner.
Specific embodiment
One, work information and spatial data definition
To realize effective discovery to operation dangerous situation, while operating efficiency is promoted, system needs to obtain a series of operating condition
Information and spatial data, and comprehensive analysis and judgement are carried out according to these data, crane and trailer are implemented based on judgement result
Operation control, and output operation auxiliary data.
Clearly to state these work informations and spatial data, spy is made as given a definition.
1, bearing definition
Orientation in the utility model is defined by the driving posture of hoister, and therefore, the direction of travel of cart is
" left/right " direction, the direction of travel of trolley are " front/rear " direction, and suspender is located at the front of driver, and the direction of motion is " up/down "
Direction.
In following description, the traveling working condition of trailer is set as from left to right, the case where if there is two-way traffic,
It can individually be handled for each case, not influence the narration of method.
2, cart coordinate system and related definition
The statement of scale, position involved in the utility model, direction, speed, acceleration is sat using following cart
Mark system：X-axis is directed toward right, and Y-axis is directing forwardly, and Z axis points up；YZ plane passes through suspender or so middle line, and perpendicular to ground；
Coordinate origin is located on the front-rear direction center line in lane；
The definition of used spatial data is：
1) scale：" length " described herein defines in the X direction, and " width " defines in the Y direction, and " height " is in Z
It is defined on direction；
2) position：Pos(PosX,PosY,PosZ) indicates coordinate be (PosX,PosY,PosZ) point；
3) two-dimensional projection's coordinate：PosXY(x, y) indicates Pos in the subpoint coordinate of X/Y plane；PosYZ(y, z) indicates Pos
In the subpoint coordinate of YZ plane；PosZX(z, x) indicates Pos in the subpoint coordinate of ZX plane；
4) direction：0 indicates " static ", and -1 indicates " left lateral/retrogressing/decline ", and 1 indicates " right lateral/advance/rising ".
The definition of used geometrical symbol is：
1)Seg(Pos1,Pos2)：Endpoint is Pos1And Pos2Line segment；
2)From Pos1To Pos2Vector；
3)RectXY(PosXY,L,W)：Opposite side on X/Y plane is respectively parallel to the rectangle of X-axis and Y-axis, and central point is
PosXY, length L, width W；
4)Ω(RectXY,LD)：The subset of the Current Scan data point of laser scanner LD, scan data point therein exist
Upright projection on X/Y plane falls into RectXYIt is interior.
3, real-time working condition state parameter defines
Real-time working condition state parameter used in the utility model is defined as follows：
1)0：Indicate " unlock/un-extended "；
2)1：It indicates " locking/stretching, extension "；
3)2：It indicates " twin-lock closes ".
4, base regime parameter
The definition of base regime parameter involved in the utility model, symbol indicate and acquisition modes are summarized as follows：
1) scanner
Scan period Tls, the scanner scanning one week time needed, obtained by scanner technology specification, in the utility model
It is abbreviated as Δ t；Scanning light spot radius LDSRad (d), the measurement hot spot of scanner when the distance away from scanner scanning origin is d
Radius is obtained by scanner technology specification.
2) container
The length, width and height C of each boxL/CW/CHFor international standard, wherein CWIt is identical, the length and height symbol of box
For：
(1) 20 Foot case：Length is CL-20, it is highly CH；
(2) 40 Foot casees：Including two kinds of boxes of common case and high case, the length of common case is CL-40, highly with 20 Foot case phases
Together；The height of high case is CHH, length is identical as common case；
(3) 45 Foot casees：Length is CL-45, other parameters are identical as 40 Foot high cases.
3) cart
(1) running part length：LML, obtained by design drawing；
(2) running part width：LMw, obtained by design drawing；
(3) braking acceleration：LKAX, completely braking when acceleration, obtained by crane technical specification, in cart coordinate
It needs to negate in system.
4) suspender
(1) entire length when boom is undeployed：DL, obtained by design drawing；
(2) entire length when boom is unfolded：DL-E, obtained by design drawing；
(3) overall width：DW, obtained by design drawing；
(4) hanger main girder height：DMH, obtained by design drawing；
(5) vertical range of suspender bottom facial contour minimum point and girder bottom surface：DMofsH, obtained by design drawing；
(6) girder olo before and after suspender：DMW, obtained by design drawing；
(7) suspender lock pin height：DLockH, obtained by design drawing；
(8) braking acceleration：DKAZ, obtained by crane technical specification.
5) trailer
(1) maximum length：TL-max, obtained by industry standard；
(2) maximum width：Tw-max, obtained by industry standard；
(3) plate maximum length：TPL-max, obtained by industry standard；
(4) plate maximum height：TCPH-max, the maximum height in the area plate Zai Xiang obtains by industry standard；
(5) flat board overall maximum height：TPH-max, the maximum height including the area plate Zai Xiang peripheral appendix member, by industry standard
It obtains；
(6) flat board overall minimum constructive height：TPH-min, the minimum constructive height including the area plate Zai Xiang peripheral appendix member, by industry standard
It obtains；
(7) headstock maximum height：THH-max, obtained by industry standard；
(8) case upper surface maximum height is carried：TCUZ-max=TCPH-max+CHH。
6) lane
(1) width：TChw, obtained by architectural drawing；
(2) door leg spacing：TChSafew, it is lane back edge at a distance from the leg outer profile Y-direction forward position of back door, by building
Drawing obtains.
7) stockyard
(1) width：FW, obtained by architectural drawing；
(2) lane forward position spacing：FSafew, the spacing of stockyard back edge and lane leading edge obtains by architectural drawing.
5, real-time working condition parameter
The definition of real-time working condition parameter involved in the utility model, symbol indicate and acquisition modes are summarized as follows：
1) time
t：The current time of system.
2) cart
(1) direction of travel：LMDirX, obtained from crane control system, need to do -1/1 negating in cart coordinate system；
(2) speed of travel：LVX, obtained from crane control system, need to negate in cart coordinate system.
3) suspender
(1) direction is gone up and down：DVDirZ, obtained from crane control system；
(2) real-time lifting speed：DVZ, it can be obtained from crane control system, but it is inaccurate, need independent measurement；
(3) lock pin locking states：DLStat is obtained from crane control system；
(4) boom extended state：DBStat is obtained from crane control system.
Lock pin locking states when being declined above lane by suspender can determine the work pattern of this subjob, including：
(1) it cases：DLStat=1, suspender locking；
(2) case is unloaded：DLStat=0, suspender unlock.
By the lock pin locking states and boom extended state of suspender, the real-time loading condition of suspender can be exported, including with
Lower 5 kinds：
(1) 20 Foot is unloaded：DLStat=0 and DBStat=0, lock pin is unlatched, boom is not stretched out；
(2) 40 Foot are unloaded：DLStat=0 and DBStat=1, lock pin is unlatched, boom is stretched out；
(3) single 20 Foot are loaded：DLStat=1 and DBStat=0, lock pin locking, boom are not stretched out；
(4) 40 Foot are loaded：DLStat=1 and DBStat=1, lock pin locking, boom are stretched out；
(5) double 20 Foot are loaded：DLStat=2 and DBStat=1, lock pin twin-lock closes, boom is stretched out.
4) trailer
The real-time loading condition of overall length trailer has following 6 kinds：
(1) unloaded：It does not case；
(2) single 40 Foot casees：Load a 40 Foot containers；
(3) single 45 Foot casees：Load a 45 Foot containers；
(4) double 20 Foot casees：Load two 20 Foot containers；
(5) left 20 Foot casees：Only left case position loads a 20 Foot containers；
(6) right 20 Foot casees：Only right case position loads a 20 Foot containers.
Above-mentioned loading condition can not be obtained from the control system of crane, need the real time scan number based on laser scanner
It is calculated and is derived according to the real-time working condition parameter with suspender.
Two, system structure
1, equipment composition and function
As shown in Figures 2 and 3, equipment composition, mounting means and the basic function of system include：
1) laser scanner：It 4, is mounted in a manner of horizontally or vertically on the leg of crane back door, obtains lane periphery work
Make the spatial information of environment, the calculating for working condition information provides real-time scan data；
2) trailer clearance indicator light：It 2, is mounted on position of the left and right sides of back door leg convenient for trailer driver observation,
It is received from system controller and sends trailer clearance/forbidden signal to trailer driver；
3) operation auxiliary display：1, it is mounted on crane cabin, is received from system controller and to crane department
Machine shows operation auxiliary data, improves the operating efficiency of driver.
4) system controller：1, it is mounted on the suitable position of crane, is communicated by Ethernet and laser scanner, and
It is communicated by industrial-controlled general line and crane control system.System controller utilizes crane, trailer and the basic work in stockyard
Condition parameter, the real-time working condition parameter obtained from crane control system and the real-time scan data obtained from laser scanner are completed
The calculating of complex conditions parameter and operation auxiliary data and the judgement of operation dangerous situation, and let pass to crane control system and trailer
Indicator light issues the instruction of dangerous situation evasive action, while providing to hoister includes that the operation that cart aligns and trolley aligns is auxiliary
Help data.
2, laser scanner mounting means and real-time scan data coordinate transform
The installation site of 4 laser scanners of system is described as follows：
1) left scanner (LLD)：Ideal mounting position is laser on the front-rear direction central location on the left of large vehicle walking portion
Scanning surface is parallel to the ground, therefore its scan origin coordinate is：LLDPos(LLDPosx,LLDPosy,LLDPosz), wherein：
(1)LLDPosx=-LML/ 2, it is adjusted；
(2)LLDPosy=-TChw/2-TChSafew-LMw/ 2, it is adjusted；
(3)LLDPoszAdjustable, under the premise of considering the equipment safety and reliably working of scanner, mounting height is most
May be low, improve the ability of discovery to low obstructions.
The scan data point of left scanner is from device coordinate (x, y) to the mapping mode of cart coordinate (X, Y, Z)：
2) right scanner (RLD)：Ideal mounting position is laser on the front-rear direction central location on the right side of large vehicle walking portion
Scanning surface is parallel to the ground, therefore its scan origin coordinate is：RLDPos(RLDPosx,RLDPosy,RLDPosz), wherein：
(1)RLDPosx=LML/ 2, it is adjusted；
(2)RLDPosy=-TChw/2-TChSafew-LMw/ 2, it is adjusted；
(3)RLDPosz, it is adjusted, under the premise of considering the equipment safety and reliably working of scanner, mounting height is most
May be low, improve the ability of discovery to low obstructions.
The scan data point of right scanner is from device coordinate (x, y) to the mapping mode of cart coordinate (X, Y, Z)：
3) horizontal scanner (HLD)：Ideal mounting position is aligned for back door inboard leg, with suspender left and right directions central location
Position on, laser scanning face is parallel to the ground, therefore its scan origin coordinate is：HLDPos(HLDPosx,HLDPosy,
HLDPosz), wherein：
(1)HLDPosx=0, it is adjusted；
(2)HLDPosyIt is determined according to the actual installation condition of back door inboard leg；
(3)HLDPosz=TPH-max+LDSRadmax；
(4)LDSRadmaxThe maximum radius of scanner scanning hot spot in casing working area is carried for trailer：
LDSRadmax=LDSRad (sdXY-max)+HLDSafeH
(5)sdXY-maxTo unload the farthest of the remote angular distance HLD scan origin of trailer plate loading end on casing working position
Horizontal distance, calculation method are：
(6)HLDSafeHHeight is protected for security sweep, generally takes 5cm or so.
The scan data point of horizontal scanner is from device coordinate (x, y) to the mapping mode of cart coordinate (X, Y, Z)：
4) vertical scanner (VLD)：Ideal mounting position is cart back door inboard leg, the position right above horizontal scanner
On, laser scanning face is overlapped with YZ plane, therefore its scan origin coordinate is：VLDPos(VLDPosx,VLDPosy,
VLDPosz), wherein：
(1)VLDPosx=0, it is adjusted；
(2)VLDPosyIt is determined according to the actual installation condition of back door inboard leg；
(3)VLDPosz≥TCUZ-max+VLDSafeH；It necessarily is greater than the maximum value that trailer carries case upper level；
(4)VLDSafeHFor the safeguard protection distance of vertical scanning, 2~4 meters generally are taken according to actual installation condition.
The scan data point of vertical scanner is from device coordinate (x, y) to the mapping mode of cart coordinate (X, Y, Z)：
The installation site of above-mentioned each laser scanner is all ideal position, and adjustable location parameter need to be according to actual peace
Dress condition determines that the actual measurement data points of laser scanner are the laser that can be switched under ideal mounting means through coordinate translation
In scanner device coordinate system, following description is not influenced.
The real-time measuring data point that each laser scanner obtains needs mounting means and installation position according to laser scanner
It sets from laser scanner device coordinate system and is transformed into cart coordinate system, laser scanner real-time measuring data point hereinafter
Coordinate all refers to the coordinate in cart coordinate system.
3, primary control program process flow
As shown in figure 4, the primary control program of system operates on system controller, following process flow is sequentially completed：
1) real-time scan data is obtained from each laser scanner；
2) real-time working condition parameter is obtained from crane controller；
3) calculate and generate complex conditions parameter and job state data；
4) the possibility dangerous situation under current work state is detected；
5) it such as finds certain operation dangerous situation, corresponding dangerous situation evasive action is issued to crane control system and is instructed, or/and
The forbidden instruction of trailer is issued by trailer clearance indicator light；
6) operation auxiliary data are calculated based on complex conditions parameter, and aobvious to hoister by operation auxiliary display
Show.
4, complex conditions parameter calculates
Complex conditions parameter is based on base regime parameter, the real-time working condition parameter, the level that obtain from crane control system
The real-time scan data obtained with vertical scanner is calculated, for detecting operation dangerous situation and calculating operation auxiliary data.
1) cart braking distance
Cart braking distance complex conditions parameter is matched with the real-time scan data of lateral probe movement instrument, " big for detecting
Vehicle collision " dangerous situation, calculation method are as follows：
2) vertical scanner complex conditions parameter
As shown in figure 5, the vertical cross-section profile real time scan number of the suspender and performance box obtained from vertical scanner scanning
In, the geometrical characteristic of the YZ section based on hanger main girder and performance box can extract the position and dimensional information of the two.
In the real time scan outline data of vertical scanner, the extracting mode of feature contour is：
Based on features described above outline data, the calculation method of the complex conditions parameter of suspender is：
Above-mentioned complex conditions parameter is for detecting " touch and pound headstock ", " trailer is sling ", " the horizontal drawing of suspender " dangerous situation.
3) horizontal scanner complex conditions parameter
From the trailer, performance box and the horizontal cross-sectional profile in stockyard real-time scan data that horizontal scanner obtains, base
In the geometrical characteristic of the XY section of each job factor, position and the dimensional information of each element can be extracted, and can further be counted
Calculate the complex conditions parameter of trailer and stockyard.
(1) trailer complex conditions parameter and loading condition
As shown in fig. 6, from the horizontal cross-sectional profile of trailer and performance box, within the scope of lane, based on trailer carry case and
The geometrical characteristic of the XY section of headstock, the position and dimensional information, extracting mode that can extract the two are：
Based on features described above outline data, the calculation method of the complex conditions parameter of trailer is：
The side of the real-time loading condition of trailer is determined according to the complex conditions parameter of trailer and the real-time loading condition of suspender
Method is：
Trailer complex conditions parameter and loading condition are for detecting " touch and pound headstock ", " trailer is sling ", " the horizontal drawing of suspender " danger
Feelings are also used for calculating operation auxiliary data.
(2) stockyard complex conditions parameter
As shown in fig. 7, trailer is after unloaded or performance box is lifted, within the scope of stockyard, horizontal scanner can be scanned
The cross section profile of each front row bottom case can extract what cart currently aligned based on the geometrical characteristic of its XY section in stockyard
The location information of front-seat bottom case, extracting mode are：
Based on features described above outline data, the calculation method of stockyard complex conditions parameter is：
Stockyard complex conditions parameter is for calculating operation auxiliary contraposition data.
5, dangerous situation decision logic and the instruction of dangerous situation evasive action
The dangerous situation evasive action instruction that the determination method and needs of various operation dangerous situations are taken is as follows：
1) cart collides
Cart collides dangerous situation determination method：Within the scope of most short braking distance on the current direction of travel of cart, left/
If barrier is arrived in right scanner scanning, there are carts to collide dangerous situation.It includes that left collision dangerous situation and the right side are touched that cart, which collides dangerous situation,
Dangerous situation is hit, left collision dangerous situation detection logic and the instruction of dangerous situation evasive action are as follows：
The detection logic of the right collision dangerous situation of cart and the instruction of dangerous situation evasive action are as follows：
2) it touches and pounds headstock
It touches and pounds the determination method of headstock dangerous situation and be：Under the suspender working face at the top of trailer headstock between at a distance from be less than
When suspender brakes guard space, if the upright projection of the upright projection coverage area of suspender (including performance box) and trailer headstock
Coverage area is overlapped, then exists to touch and pound headstock dangerous situation.Touch the detection logic for pounding headstock dangerous situation and the instruction of dangerous situation evasive action
For：
3) case is touched in lane
The determination method that case dangerous situation is touched in lane is：When the distance between working face and trailer load box top are small under band box hanger
When suspender brakes guard space, if the upright projection that the upright projection coverage area of suspender performance box and trailer carry case covers
Range is overlapped, then there is lane and touch case dangerous situation.The detection logic of case dangerous situation is touched in lane and safeguard procedures are：
4) trailer is sling
The determination method that trailer slings dangerous situation is：When unloading casing working, when face height is more than to sling inspection under band box hanger
When surveying height, if horizontal scanner is in the upright projection coverage area of suspender performance box and the upright projection covering of trailer plate
Detect that target exists in the overlay region of range, that is to say, that be not properly separated, then exist between performance box and trailer plate
Trailer slings dangerous situation.Trailer slings the detection logic of dangerous situation and the instruction of dangerous situation evasive action is：
5) the horizontal drawing of suspender
Suspender it is horizontal draw dangerous situation detection method be：Face height, which is less than, when unloading casing working, under band box hanger slings inspection
Survey height, or more than sling detection height but detect that trailer slings dangerous situation；And when vanning, suspender lock pin is not yet solved
When suspender not yet rises to safe altitude after lock, or unlock, there are the horizontal drawing dangerous situations of suspender.Suspender it is horizontal draw dangerous situation detection logic and
Dangerous situation evasive action instructs：
6, operation auxiliary data
1) trailer carries case and aligns data
When unloading casing working crawl trailer load case, when suspender drops to appropriate height, system carries the position of case according to trailer
The contraposition data between suspender and performance box are calculated, and cart and trolley are shown to hoister by operation auxiliary display
Mobile adjustment amount, the contraposition data of system-computed are the overall movement vector of suspenderX value be the mobile adjustment of cart
Amount,Y value be the mobile adjustment amount of trolley, calculation method is：
2) land stockyard case column contraposition data
Unload casing working land stockyard place performance box when or vanning stockyard grab goal box when, system according to
The left-right position of the front-seat bottom case of in stockyard and cart current location contraposition calculates suspender and aligns the left-right position between case
Deviation, and by operation auxiliary display to the mobile adjustment amount of hoister display cart, calculation method is as follows：
If hoister strictly completes code casing working in stockyard by operation auxiliary data, each case column can be done step-by-step
Close alignment in the lateral direction can be obviously improved operating efficiency after some time.
Claims (6)
1. a kind of safety of gantry crane protection and operation auxiliary system, it is characterised in that：Including system controller and respectively with
Laser scanner, trailer clearance indicator light and the operation auxiliary display of the system controller connection；The system controller
It is communicated by Ethernet and the laser scanner, and is communicated by industrial-controlled general line and crane control system, using rising
Heavy-duty machine, trailer and the base regime in stockyard parameter, the real-time working condition parameter obtained from crane control system and from the laser
The real-time scan data that scanner obtains completes complex conditions parameter and the calculating of operation auxiliary data and sentencing for operation dangerous situation
It is fixed, and the instruction of dangerous situation evasive action is issued to crane control system and the trailer clearance indicator light, while cart being aligned
The operation auxiliary display is sent to the operation auxiliary data of trolley contraposition to be shown.
2. a kind of safety of gantry crane protection according to claim 1 and operation auxiliary system, it is characterised in that：It is described
Laser scanner includes left scanner, right scanner, horizontal scanner and vertical scanner, for obtaining lane periphery building ring
The spatial information in border, and send the system controller to.
3. a kind of safety of gantry crane protection according to claim 2 and operation auxiliary system, it is characterised in that：It is described
Left scanner is mounted on the front-rear direction central location on the left of the leg large vehicle walking portion of crane back door, laser scanning face and ground
In parallel；The right scanner is mounted on the front-rear direction central location on the right side of the leg large vehicle walking portion of crane back door, and laser is swept
It is parallel to the ground to retouch face；The horizontal scanner is mounted on crane back door inboard leg and suspender left and right directions central location pair
On neat position, laser scanning face is parallel to the ground；The vertical scanner is mounted on crane back door inboard leg, horizontal sweep
On the position of the surface of instrument, laser scanning face is perpendicular to the ground and is parallel to carriage walking direction.
4. a kind of safety of gantry crane protection according to claim 3 and operation auxiliary system, it is characterised in that：Each institute
The installation site for stating laser scanner can carry out necessary adjustment according to the actual installation condition of crane back door leg.
5. a kind of safety of gantry crane protection according to claim 1 and operation auxiliary system, it is characterised in that：It is described
Trailer clearance indicator light is mounted on position of the crane back door leg two sides convenient for trailer driver observation.
6. a kind of safety of gantry crane protection according to claim 1 and operation auxiliary system, it is characterised in that：It is described
Operation auxiliary display is mounted on crane cabin.
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| CN201820654995.7U CN208166413U (en) | 2018-05-04 | 2018-05-04 | A kind of protection of safety of gantry crane and operation auxiliary system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108584716A (en) * | 2018-05-04 | 2018-09-28 | 蛇口集装箱码头有限公司 | A kind of protection of safety of gantry crane and operation auxiliary system |
| 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 |
-
2018
- 2018-05-04 CN CN201820654995.7U patent/CN208166413U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108584716A (en) * | 2018-05-04 | 2018-09-28 | 蛇口集装箱码头有限公司 | A kind of protection of safety of gantry crane and operation auxiliary system |
| CN108584716B (en) * | 2018-05-04 | 2024-02-13 | 蛇口集装箱码头有限公司 | Portal crane safety protection and operation auxiliary system |
| 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 |
| CN113753760B (en) * | 2020-06-04 | 2023-10-03 | 重庆柯沃起重机械有限公司 | Intelligent stacking brick loading system |
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