CN208292520U - Harbour gantry crane suspender based on machine vision it is automatic case apparatus - Google Patents
Harbour gantry crane suspender based on machine vision it is automatic case apparatus Download PDFInfo
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- CN208292520U CN208292520U CN201820193362.0U CN201820193362U CN208292520U CN 208292520 U CN208292520 U CN 208292520U CN 201820193362 U CN201820193362 U CN 201820193362U CN 208292520 U CN208292520 U CN 208292520U
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- image acquiring
- acquiring device
- gantry crane
- suspender
- harbour
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Abstract
The utility model discloses a kind of harbour gantry crane suspender based on machine vision it is automatic case apparatus, including the first image acquiring device, the second image acquiring device, third image acquiring device, junction box, controller, light source.First image acquiring device is installed on the datum mark of trolley bottom, and the second image acquiring device is installed on the land side of gantry crane crossbeam, and third image acquiring device is installed on the extra large side of gantry crane crossbeam, states light source and be set on suspender.First image acquiring device, the second image acquiring device, third image acquiring device are connected to junction box, and junction box connects the controller of distal end.The harbour gantry crane suspender based on machine vision of the utility model it is automatic case apparatus not only improve the working environment of harbour driver, reduce the human cost of employee, and improve the operating efficiency at harbour.
Description
Technical field
The utility model relates to harbour gantry crane automation equipments, more specifically to a kind of code based on machine vision
Head gantry crane suspender it is automatic case apparatus.
Background technique
Gantry crane crane is that harbour is commonly used in container handling, stacking and the equipment of carrying.Container terminal is real
Now automation or semi-automatic needs to load onto eyes to crane using alignment sensor, make crane can be realized safety and
Accurately case is operated.During motion control, crane needs various positioning, if crane positions, lifting altitude
Positioning, monkey positioning, suspender Micro-positioning, container position positioning.Light, electricity, magnetic, machine are combined in position fixing process
The technologies such as tool, hydraulic and image procossing, keep positioning accuracy higher.
Object recognizing sensor system would generally be used in position fixing process, object recognizing sensor system refers to passing through
Machine vision product, i.e. image-pickup device (two kinds of CMOS and CCD) and laser, will intake target be converted into image information and
Data information is transmitted to dedicated image processing module and data processing module, obtains clarification of objective after treatment, according to mesh
It marks feature and carries out motion control.
Image sensor system used in existing position fixing process generally comprises light source, camera lens, camera, image pick-up card
With the parts such as vision processor.Light source can be divided into visible light and black light, and light source provides enough illumination, mirror for vision system
Head by the target imaging in tested scene to visual imaging plane, be responsible for electric signal being changed into digitized map by image memory bank
Picture is gray-scale data the brightness transition of every bit and stores.Picture recognition module handles image, is analyzed, is known
Not and judge, finally provides target signature information.
Traditional gantry crane operation needs harbour driver to carry out operation gantry crane operation to live drivers' cab, not only makes
At the waste on personnel, while the working environment of harbour driver is also quite severe.Gantry crane in general sense is semi-automatic, although
Improve the working environment of harbour driver, at the same make harbour driver one people of Central Control Room can and meanwhile successively more banks of remote control
Bridge, but inevitably cause low in efficiency case since it remotely passes through camera.
Utility model content
For the low problem of harbour gantry crane operating efficiency existing in the prior art, the purpose of the utility model is to provide
A kind of harbour gantry crane suspender based on machine vision it is automatic case apparatus.
To achieve the above objectives, the present invention adopts the following technical solutions:
A kind of harbour gantry crane suspender based on machine vision it is automatic case apparatus, including the first image acquiring device, second
Image acquiring device, third image acquiring device, junction box, controller, light source.First image acquiring device is installed on trolley bottom
On the datum mark in portion, the second image acquiring device is installed on the land side of gantry crane crossbeam, and third image acquiring device is installed on gantry crane
The extra large side of crossbeam, states light source and is set on suspender.First image acquiring device, the second image acquiring device, third image obtain
Device is connected to junction box, and junction box connects the controller of distal end.
Further, the first image acquiring device, the second image acquiring device, third image acquiring device are camera shooting
Head.
Further, light source is infrared lamp, and quantity is three, is distributed in isosceles triangle.
Further, the infrared lamp support of triangle is installed, infrared lamp is installed on upward on infrared lamp support on suspender.
Further, suspender and container rigid connection, two base angles of the infrared lamp support of triangle are fixedly welded on
The upper surface of suspender.
Further, the first image acquiring device is welded on the lower surface of trolley, optical axis is directed toward ground, and be located at
Between the center of circle of infrared lamp be aligned in vertical direction.
In the above-mentioned technical solutions, the harbour gantry crane suspender based on machine vision of the utility model it is automatic case apparatus not
The working environment for only improving harbour driver, reduces the human cost of employee, and improves the operating efficiency at harbour.
Detailed description of the invention
Fig. 1 is the camera scheme of installation of Tthe utility model system；
Fig. 2 is the spreader position detecting system schematic diagram of Tthe utility model system；
Fig. 3 be the utility model it is automatic case align schematic diagram.
Specific embodiment
The technical solution of the utility model is further illustrated with reference to the accompanying drawings and examples.
Referring to Fig.1, the utility model disclose first a kind of harbour gantry crane suspender based on machine vision it is automatic case system,
It is installed on harbour gantry crane suspender, mainly includes the first image acquiring device, the second image acquiring device, the acquisition of third image
Device, junction box, image processing module, controller, light source.For above equipment, the first image acquiring device, image procossing mould
Block, light source together constitute fishing tackle position detecting device.Second image acquiring device, third image acquiring device and image procossing
Module together constitutes target chest (i.e. container) position detecting device.
As shown in Figure 1, the first image acquiring device is installed on the datum mark of 1 bottom of trolley, the second image acquiring device
It is installed on the land side of gantry crane crossbeam, third image acquiring device is installed on the extra large side of gantry crane crossbeam, and light source is set on suspender.The
One image acquiring device, the second image acquiring device, third image acquiring device are connected to junction box 2, and junction box 2 connects far
The image processing module and controller at end.
As a kind of embodiment of the utility model, the first image acquiring device, the second image acquiring device, third figure
As acquisition device is camera.Light source can choose as the most common infrared lamp, and quantity is three, be distributed in isosceles triangle.It hangs
The infrared lamp support of triangle is installed, infrared lamp is installed on upward on infrared lamp support on tool.Controller is PLC controller.
Target chest is container 6.A kind of embodiment of the above-mentioned selection as just the utility model, and not the utility model
Limitation.
With continued reference to Fig. 1, camera 3 (the first image acquiring device) is mounted on bridge crane trolley frame, is used for spreader position
Detection.Camera 10 (third image acquiring device), camera 11 (the second image acquiring device) are mounted on bridge crane crossbeam, sea
Each one of land side, installation site requires that entire working region can be covered, and the zoom data of camera can pass through ether
Net transmits out.
As shown in Figures 2 and 3, camera 3 is in 1 bottom of trolley, and the optical axis 8 of camera 3 is directed toward ground, camera 3 with it is small
For vehicle 1 by being welded to connect, 4 short side of tripod passes through welded connecting with suspender 5 downward.Three 7 front verticals of near infrared emission lamp
It is bolted upwards with tripod 4.The optical axis 8 of camera 3 is with the emission lamp center of circle among near infrared emission lamp 7 vertical
It is aligned on direction.Near infrared emission lamp 7 is connect with 24V DC power supply, and camera 3 is connect with 12V DC power supply, and is passed through
RS422 interface and external PLC controller communicate.Software handler is run in near-infrared camera 3.In putting case operation,
Container 6 to be put and suspender 5 are rigid connections, so detecting that the posture of suspender is just able to know that the posture of container.It is grabbing
In case operation, then without container 6 on suspender 5.
The utility model obtains suspender control point coordinates using spreader position detection device and target chest position detection fills
It sets and obtains targeted containers control point coordinates, the control point coordinates that PLC controller is provided according to the device can calculate trolley
The mobile distance with cart, it is accurate quickly and efficiently to realize then by the movement of gantry crane monkey and suspender fine motion
Suspender operates case.
The utility model within 3cm, guarantees that gantry crane container can be folded accurately during putting case to case accuracy rating
Case has stronger adaptive capacity to environment, can use under harbour rugged environment.The harbour gantry crane suspender assists case
System has the advantages that detection accuracy height is easily achieved, and can satisfy the demand of user's remote operation.
Those of ordinary skill in the art it should be appreciated that more than embodiment be intended merely to illustrate that this is practical new
Type, and be not used as the restriction to the utility model, as long as in the spirit of the utility model, to the above
Variation, the modification of embodiment will all be fallen in the Claims scope of the utility model.
Claims (5)
1. a kind of harbour gantry crane suspender based on machine vision it is automatic case apparatus characterized by comprising
First image acquiring device, the second image acquiring device, third image acquiring device, junction box, controller, light source；
The first image acquisition device is installed on the datum mark of trolley bottom, and second image acquiring device is installed on bank
The land side of bridge grider, the third image acquiring device are installed on the extra large side of gantry crane crossbeam；
The light source is set on suspender；
The first image acquisition device, the second image acquiring device, third image acquiring device are connected to junction box, described
Junction box connects the controller of distal end,
Wherein, the light source is infrared lamp, and quantity is three, is distributed in isosceles triangle.
2. as described in claim 1 the harbour gantry crane suspender based on machine vision it is automatic case apparatus, it is characterised in that:
The first image acquisition device, the second image acquiring device, third image acquiring device are camera.
3. as claimed in claim 2 the harbour gantry crane suspender based on machine vision it is automatic case apparatus, it is characterised in that:
The infrared lamp support of triangle is installed, the infrared lamp is installed on upward on the infrared lamp support on the suspender.
4. as claimed in claim 3 the harbour gantry crane suspender based on machine vision it is automatic case apparatus, it is characterised in that:
The suspender and container rigid connection, two base angles of the infrared lamp support of the triangle are fixedly welded on suspender
Upper surface.
5. as claimed in claim 4 the harbour gantry crane suspender based on machine vision it is automatic case apparatus, it is characterised in that:
The first image acquisition device is welded on the lower surface of trolley, and optical axis is directed toward ground, and infrared with being located in the middle
The center of circle of lamp is aligned in vertical direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820193362.0U CN208292520U (en) | 2018-02-05 | 2018-02-05 | Harbour gantry crane suspender based on machine vision it is automatic case apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820193362.0U CN208292520U (en) | 2018-02-05 | 2018-02-05 | Harbour gantry crane suspender based on machine vision it is automatic case apparatus |
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| Publication Number | Publication Date |
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| CN208292520U true CN208292520U (en) | 2018-12-28 |
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| CN201820193362.0U Active CN208292520U (en) | 2018-02-05 | 2018-02-05 | Harbour gantry crane suspender based on machine vision it is automatic case apparatus |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114782483A (en) * | 2022-06-17 | 2022-07-22 | 广州港数据科技有限公司 | Intelligent tallying tracking method and system for quayside crane |
-
2018
- 2018-02-05 CN CN201820193362.0U patent/CN208292520U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114782483A (en) * | 2022-06-17 | 2022-07-22 | 广州港数据科技有限公司 | Intelligent tallying tracking method and system for quayside crane |
| CN114782483B (en) * | 2022-06-17 | 2022-09-16 | 广州港数据科技有限公司 | Intelligent tallying tracking method and system for quayside crane |
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