CN211004242U - Full-automatic operation system of crane - Google Patents
Full-automatic operation system of crane Download PDFInfo
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- CN211004242U CN211004242U CN201921900115.0U CN201921900115U CN211004242U CN 211004242 U CN211004242 U CN 211004242U CN 201921900115 U CN201921900115 U CN 201921900115U CN 211004242 U CN211004242 U CN 211004242U
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Abstract
The utility model discloses a hoist full automatization operating system deploys in cart, dolly and the hoist of hoist, realizes the full scene full automatization of hoist operation, the cart is provided with cart track deviation correcting module, cart yard orientation module, cart shank collision avoidance module, the dolly is provided with dolly orientation module, dolly anti-swing module, route planning module, prevents playing bowling module, the hoist is provided with yard rollover module, collection card grab and put case module, collection card and prevents hoisting detection module, collection card orientation module and case number identification module, each module of cart, dolly and hoist is mutually supported and is realized the full scene full automatization of hoist operation. The utility model provides a hoist full automatization operating system, fundamentally has solved hoist manual work's manpower and efficiency problem, has not only improved hoist automated control degree, also can bigger liberation manpower to there is positive meaning to promoting environmental protection work.
Description
Technical Field
The utility model relates to a hoist transportation field especially relates to a hoist full automatization operating system.
Background
The rubber-tyred gantry container crane is a special crane for specialized container terminals and storage yards. The main functions of the tyre crane are to load and unload the containers on the outer container truck or the inner container truck to the yard, to arrange the containers in the yard and to load and unload the containers in the yard to the outer container truck or the inner container truck. The loading and unloading efficiency of the tyre crane on containers in various scenes directly influences the operation efficiency and economic benefit of a wharf and a storage yard.
At present, the operation of tyre cranes in ports and special storage yards at home and abroad is mainly field manual operation and semi-automatic remote cooperation. In the field manual operation, because a driver is influenced by weather conditions, operation environment and operation time, factors influencing safe operation such as fatigue, operation blind areas and the like are easily generated, and further, the operation efficiency is influenced. The limitation of on-site manual operation is relieved to a certain extent through semi-automatic remote cooperation, but the problems that the continuity of operation and the operation efficiency are influenced due to frequent switching between automatic operation and remote manual assistance still exist. And in some specific scenes, such as the scene of carrying out box operation on an external card, the efficiency of remote manual assistance may be lower than that of field manual operation due to the delay of remote video transmission.
Some more advanced ports currently employ some automated auxiliary means to conditionally implement a part of automated functions of the tire crane, such as Positioning via Global Positioning System (GPS) or Positioning via a visual Positioning device equipped with a special reference device. Such a driving assistance function may be used as an assistance for semi-automated remote cooperation. But the industry never realizes an integral full-automatic system for the operation of the whole tyre crane.
Therefore, it is necessary to provide a fully automated crane operation system that can perform fully automated operations such as a tire crane.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that a hoist operating system is provided, full automatization operation such as tyre crane can be realized.
The utility model discloses a solve above-mentioned technical problem and the technical scheme who adopts provides a hoist full automatization operating system, deploys in cart, dolly and the hoist of hoist, realizes the full scene full automatization of hoist operation, include:
the cart is provided with a cart track deviation rectifying module, a cart yard positioning module and a cart leg anti-collision module, wherein the cart track deviation rectifying module is used for enabling the cart to keep walking in the center of a track and avoiding the cart from deviating from a walking route; the cart yard positioning module is used for controlling the cart to accurately move, so that the cart is aligned to a target operation area; the cart leg anti-collision module is used for avoiding collision of the cart in the walking process;
the trolley is provided with a trolley positioning module, a trolley anti-shaking module, a path planning module and an anti-bowling module, wherein the trolley positioning module is used for determining the position of the trolley; the trolley anti-shaking module is used for reducing shaking of a lifting appliance in the movement process of the trolley; the path planning module is used for optimizing the trolley operation route; the bowling preventing module is used for preventing a lifting appliance and a container on the lifting appliance from colliding with a container in a storage yard;
the crane is provided with a container truck grabbing and releasing module, a container truck lifting-prevention detection module, a container truck positioning module, a storage yard container turning module and a container number identification module, wherein the container truck grabbing and releasing module is used for accurately positioning a container truck so that the lifting appliance can accurately grab and release the container; the container truck lifting prevention detection module is used for confirming that the container body is safely separated from the container truck; the collecting card positioning module is used for determining the collecting card parking position; the yard box turnover module is used for accurately positioning the container trucks so as to accurately pile and turn over boxes; the box number identification module is used for identifying a box surface image, the box surface image comprises box number information, and an operation instruction is completed after the box number information is confirmed;
all modules of the cart, the trolley and the lifting appliance are matched with each other to realize full scene full automation of crane operation.
Preferably, the container truck pick-and-place module comprises an outer container truck pick-and-place module and an inner container truck pick-and-place module.
Preferably, the cart track deviation rectifying module is used for keeping the cart to walk in the center of the track, and the step of avoiding the cart from deviating from the walking route comprises automatically rectifying deviation through a control algorithm to enable the cart deviating from the track to return to the middle of the track again.
Preferably, the cart yard positioning module is used for controlling a cart to accurately move, so that the aligning of the target working area comprises identifying and positioning yard landmarks through an image acquisition device and positioning the position of the cart in a yard by combining with GNSS.
Preferably, the cart leg anti-collision module is used for avoiding collision of the cart in the walking process, and comprises a forward laser radar arranged on a cart leg, and when an obstacle exists in the forward direction, the cart is triggered to decelerate and/or brake; or the area array laser radar is arranged on the leg of the cart, and the cart is decelerated and/or braked when a short-distance obstacle is detected.
Preferably, the trolley positioning module is configured to determine the position of the trolley, and includes that the original onboard programmable logic controller obtains position information of the trolley encoder, and feeds the position information back to the newly-added onboard programmable logic controller, and the newly-added onboard programmable logic controller realizes accurate positioning of the trolley through a control algorithm.
Preferably, the trolley anti-swing module is used for reducing the swing of the lifting appliance in the movement process of the trolley, and the step of reducing the swing of the lifting appliance in the movement process of the trolley by an anti-swing control algorithm in an onboard newly-added programmable logic controller is included.
Preferably, the bowling preventing module is used for preventing the lifting appliance and the containers on the lifting appliance from colliding with the containers in the storage yard, and comprises the steps of obtaining a box height map of the current berth of the storage yard through laser scanning, enabling the lifting appliance to move along a preset track and detecting a safe distance, and if the safe distance is exceeded, lifting the lifting appliance height and/or decelerating or braking the trolley.
Preferably, the collecting card anti-lifting detection module is used for confirming that the box body is safely separated from the collecting card and identifying an image between the box body and the vehicle body through the image acquisition device so as to judge whether the box body is completely separated from the collecting card.
Preferably, the crane comprises a tyre crane, a rail crane and a bridge crane.
The utility model discloses contrast prior art has following beneficial effect: the utility model provides a full-automatic operation system of a crane, which is provided with a cart track deviation rectifying module, a cart yard positioning module and a cart leg anti-collision module; the system is provided with a trolley positioning module, a trolley anti-shaking module, a path planning module and an anti-bowling module; the tire crane box-overturning device is provided with a container truck grabbing and releasing box module, a container truck anti-hoisting detection module, a container truck positioning module, a yard box-overturning module and a box number identification module, so that the problems of manpower and efficiency of manual operation of the tire crane are fundamentally solved, the automation control degree of the tire crane is improved, and the manpower can be liberated to a greater extent. In addition, the working efficiency of the tyre crane is improved, the utilization rate of energy is improved, diesel oil consumed during working and environmental pollution caused by the diesel oil are reduced, and the tyre crane has positive significance for promoting environment-friendly work.
Drawings
Fig. 1 is a block diagram of a fully automated crane operation system according to an embodiment of the present invention.
Detailed Description
The invention is further described with reference to the following figures and examples.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that the present invention may be practiced without these specific details. Accordingly, the particular details set forth are merely exemplary, and the particular details may be varied from the spirit and scope of the present invention and still be considered within the spirit and scope of the present invention.
Please refer to fig. 1, the embodiment provides a full-automatic operation system of a crane, which includes a cart 11, a trolley 12 and a spreader 13 for realizing full scene full automation of crane operation, and the cart 11 is provided with a cart trajectory deviation rectifying module 111, a cart yard positioning module 112 and a cart leg anti-collision module 113, wherein the cart trajectory deviation rectifying module 111 is used for enabling the cart to travel in the center of a trajectory to prevent the cart 11 from deviating from a traveling route, the cart yard positioning module 112 is used for controlling the cart 11 to accurately travel to align the cart 11 with a target operation area, and the cart leg anti-collision module 113 is used for preventing the cart 11 from colliding in a traveling process; the trolley 12 is provided with a trolley positioning module 121, a trolley anti-rolling module 122, a path planning module 123 and an anti-bowling module 124, wherein the trolley positioning module 121 is used for determining the position of the trolley 12, the trolley anti-rolling module 122 is used for reducing the rolling of the spreader 13 during the movement of the trolley 12, the path planning module 123 is used for optimizing the operation route of the trolley 12, and the anti-bowling module 124 is used for preventing the spreader 13 and the containers on the spreader 13 from colliding with the containers in the yard; the lifting appliance 12 is provided with a container collecting and releasing module 131, a container collecting and lifting preventing detection module 132, a container collecting and releasing positioning module 133, a container yard turning module 134 and a container number identification module 135, wherein the container collecting and releasing module 131 is used for accurately positioning a container collecting to enable the lifting appliance 13 to accurately collect and release the container collecting and releasing, the container collecting and lifting preventing detection module 132 is used for confirming that a container body is safely separated from the container collecting, the container collecting and positioning module 133 is used for determining the parking position of the container collecting, the container yard turning module 134 is used for accurately positioning the container collecting to accurately stack and turn the container collecting, the container number identification module 135 is used for identifying a surface image of the container body, the surface image of the container body comprises container number information, and an operation instruction is completed after the container number information is confirmed; all modules of the cart 11, the trolley 12 and the lifting appliance 13 are matched with each other to realize full scene automation of crane operation.
In a specific implementation, the container module 131 includes an outer container module and an inner container module.
In a specific implementation, the cart track deviation rectifying module 111 is configured to prevent the cart 11 from deviating from the traveling route, including automatically rectifying deviation through a control algorithm, and returning the cart 11 deviating from the track to the middle of the track, where the cart 11 generally keeps traveling in the middle of the track, and if the deviation occurs, automatically rectifying deviation through an intelligent algorithm, and returning the cart 11 to the middle of the track, specifically, an image of the track may be acquired in real time through a camera and transmitted to a field Industrial Computer (Industrial Personal Computer, hereinafter abbreviated as IPC) for data analysis, and a course angle and a distance deviating from the track center of the cart 11 are returned, and a Programmable logic Controller (Programmable L organic Controller, hereinafter abbreviated as P L C) may acquire the course angle and the distance deviating from the track center to rectify the track 11, and may fuse laser point cloud data to rectify a deviation result, where the course accuracy may reach 0.1 °, and the rectification accuracy may reach 3 cm.
In a specific implementation, the cart yard positioning module 112 is configured to control the cart 11 to accurately move, so that the aligning the target operation area includes identifying and positioning a yard landmark through an image acquisition device and positioning the position of the cart 11 in the yard by combining with a Global Navigation Satellite System (GNSS). The image capture device may be, for example, a camera and the yard landmark may be a registration number.
In a specific implementation, the cart leg collision avoidance module 113 is configured to avoid collision of the cart 11 during walking, and includes a front laser radar mounted on a leg of the cart 11, and is configured to trigger deceleration and/or braking of the cart 11 when an obstacle is detected in a forward direction. Through the regional protect function of sensor, prevent that cart 11 from colliding with barriers such as truck, people in the direction of advance, also can prevent simultaneously that two tire hangers from colliding with, the crashproof performance index of cart can reach: distance 20m, Field of View (FOV) 45. The area array laser radar can be installed on the leg of the cart 11, when the obstacle in a larger range in a short distance is detected, the cart 11 is triggered to decelerate and/or brake to stop running, and the anti-collision performance index of the cart can reach: distance 3m, FOV 110.
In a specific implementation, the trolley positioning module 121 is configured to determine the position of the trolley 12, where the position includes that an onboard original programmable logic controller obtains position information of an encoder of the trolley 12, and feeds the position information back to an onboard newly added programmable logic controller, where the onboard newly added programmable logic controller realizes accurate positioning of the trolley 12 through a control algorithm, and performance indexes of the onboard newly added programmable logic controller may reach: the positioning precision is 2 cm.
In a specific implementation, the trolley anti-swing module 122 is configured to reduce the swing of the spreader 13 during the movement of the trolley 12, and includes reducing the swing of the spreader 13 during the movement of the trolley 12 through an anti-swing control algorithm by an onboard newly added programmable logic controller.
In a specific implementation, the bowling prevention module 124 is configured to prevent the spreader 13 and the containers on the spreader 13 from colliding with the containers in the yard, including obtaining a box height map of a current berth of the yard through laser scanning, moving the spreader 13 along a preset track and detecting a safe distance, if the safe distance is exceeded, raising the height of the spreader 13 and/or decelerating or braking the trolley 12, if the lifting time of the spreader 13 is within an allowable range, decelerating the trolley 12, and if the lifting time of the spreader 13 is not within the allowable range, braking the trolley 12. In particular, if the tank bottom is less than 30cm from the lower deck or pile top, the spreader 13 is lowered at a speed of 10% of the maximum speed. In particular implementations, the hub anti-lift detection module 132 is configured to confirm that the pod is safely removed from the hub including identifying an image between the pod and the vehicle via the image capture device to determine whether the pod is completely removed from the hub. The image acquisition device may be, for example, a camera. When the container truck is used for grabbing the container, whether the container body is separated from the container truck is confirmed, so that the container truck and the container body are prevented from being lifted together. The performance index can reach 100 percent.
Wherein, the performance index of the stock dump box turnover module 134 can reach: the inter-box deviation of the stacking accuracy is less than 3 cm.
In specific implementations, the crane includes a tyre crane, a rail crane and a bridge crane, and may be other cranes known to those skilled in the art, and will not be described herein.
In summary, in the fully automatic operation system of the crane provided in this embodiment, the cart track deviation rectifying module 111, the cart yard positioning module 112, and the cart leg anti-collision module 113 are arranged on the cart 11; the trolley 12 is provided with a trolley positioning module 121, a trolley anti-rolling module 122, a path planning module 123 and an anti-bowling module 124; the truck catching and releasing box module 131, the truck anti-lifting detection module 132, the truck positioning module 133, the yard turnover box module 134 and the box number identification module 135 are arranged on the lifting appliance 12, so that the problems of manpower and efficiency of manual operation of the tire crane are fundamentally solved, the automation control degree of the tire crane is improved, and the manpower can be released to a greater extent;
further, a typical tire crane requires 4 operators to perform 4 shifts 2 operations, with an average labor cost per person of about 30 million dollar renowned bills per year. If the full-automatic operation system of the crane provided by the embodiment is adopted, after the traditional tire crane is replaced, the direct economic benefit is 120 ten thousand yuan RMB per year, and the economic benefit of the semi-automatic remote cooperative tire is far exceeded. In addition, the working efficiency of the tyre crane is improved, the utilization rate of energy is improved, diesel oil consumed during working and environmental pollution caused by the diesel oil are reduced, and the tyre crane has positive significance for promoting environment-friendly work.
Although the present invention has been described with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides a hoist full automatization operating system, deploys in cart, dolly and the hoist of hoist, realizes the full scene full automatization of hoist operation, its characterized in that includes:
the cart is provided with a cart track deviation rectifying module, a cart yard positioning module and a cart leg anti-collision module, wherein the cart track deviation rectifying module is used for enabling the cart to keep walking in the center of a track and preventing the cart from deviating from a walking route; the cart yard positioning module is used for controlling the cart to accurately move, so that the cart is aligned to a target operation area; the cart leg anti-collision module is used for avoiding collision of the cart in the walking process;
the trolley is provided with a trolley positioning module, a trolley anti-shaking module, a path planning module and an anti-bowling module, wherein the trolley positioning module is used for determining the position of the trolley; the trolley anti-shaking module is used for reducing shaking of a lifting appliance in the movement process of the trolley; the path planning module is used for optimizing the trolley operation route; the bowling preventing module is used for preventing a lifting appliance and a container on the lifting appliance from colliding with a container in a storage yard;
the lifting appliance is provided with a container collecting and releasing module, a container collecting and lifting prevention detection module, a container collecting and positioning module, a storage yard container turning module and a container number identification module, wherein the container collecting and releasing module is used for accurately positioning a container collecting and positioning the container collecting and releasing module so that the lifting appliance can accurately grasp and release the container; the container truck lifting prevention detection module is used for confirming that the container body is safely separated from the container truck; the collecting card positioning module is used for determining the collecting card parking position; the yard box turnover module is used for accurately positioning the container trucks so as to accurately pile and turn over boxes; the box number identification module is used for identifying a box surface image, the box surface image comprises box number information, and an operation instruction is completed after the box number information is confirmed;
all modules of the cart, the trolley and the lifting appliance are matched with each other to realize full scene full automation of crane operation.
2. The fully automated crane operation system of claim 1, wherein the collector pick and place module comprises an outer collector pick and place module and an inner collector pick and place module.
3. The crane full automation operation system of claim 1, wherein the cart track deviation rectification module is used for keeping the cart running in track center, and the avoidance of the cart from running route comprises automatically rectifying deviation through a control algorithm to make the cart which deviates from track return to track middle again.
4. The fully automated crane operation system according to claim 1, wherein the cart yard positioning module is configured to control the cart to accurately move, and aligning the target operation area comprises identifying and positioning yard landmarks via the image capturing device and positioning the cart position in the yard in combination with GNSS.
5. The fully automatic crane operation system according to claim 1, wherein the trolley leg collision avoidance module is used for avoiding collision of the trolley during walking and comprises a forward laser radar arranged on the trolley leg, and the trolley is triggered to decelerate and/or brake when an obstacle in the forward direction is detected; or the area array laser radar is arranged on the leg of the cart, and the cart is decelerated and/or braked when a short-distance obstacle is detected.
6. The fully automatic crane operation system according to claim 1, wherein the trolley positioning module is configured to determine the position of the trolley, and includes an onboard original programmable logic controller acquiring trolley encoder position information and feeding back the acquired trolley encoder position information to an onboard newly added programmable logic controller, and the onboard newly added programmable logic controller implements accurate positioning of the trolley through a control algorithm.
7. The fully automated crane operation system of claim 1, wherein the trolley anti-sway module for reducing sling sway during movement of the trolley comprises reducing sling sway during movement of the trolley by an anti-sway control algorithm on an onboard newly added programmable logic controller.
8. The fully automated crane operation system of claim 1, wherein the bowling module for preventing collision of the spreader and the container on the spreader with the container in the yard comprises obtaining a box height map of a current bay of the yard by laser scanning, the spreader moving along a predetermined trajectory and detecting a safe distance, and if the safe distance is exceeded, raising the spreader height and/or decelerating or braking the trolley.
9. The fully automated crane operation system of claim 1, wherein the anti-pick and pick-up detection module for confirming safe disengagement of the pod from the hub comprises recognizing an image between the pod and the vehicle body via the image capture device to determine whether the pod is fully disengaged from the hub.
10. The crane full automation operating system of claim 1, the crane including a tire crane, a rail crane and a bridge crane.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921900115.0U CN211004242U (en) | 2019-11-06 | 2019-11-06 | Full-automatic operation system of crane |
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| CN201921900115.0U CN211004242U (en) | 2019-11-06 | 2019-11-06 | Full-automatic operation system of crane |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111932203A (en) * | 2020-08-03 | 2020-11-13 | 上海海勃物流软件有限公司 | Automatic position selection and distribution method, terminal and medium for turning containers in container area |
| CN111994799A (en) * | 2020-08-05 | 2020-11-27 | 龙合智能装备制造有限公司 | Carrier of unmanned intelligent portal frame structure and using method thereof |
-
2019
- 2019-11-06 CN CN201921900115.0U patent/CN211004242U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111932203A (en) * | 2020-08-03 | 2020-11-13 | 上海海勃物流软件有限公司 | Automatic position selection and distribution method, terminal and medium for turning containers in container area |
| CN111994799A (en) * | 2020-08-05 | 2020-11-27 | 龙合智能装备制造有限公司 | Carrier of unmanned intelligent portal frame structure and using method thereof |
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