CN216785531U - Gantry crane and container identification system - Google Patents
Gantry crane and container identification system Download PDFInfo
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- CN216785531U CN216785531U CN202220552960.9U CN202220552960U CN216785531U CN 216785531 U CN216785531 U CN 216785531U CN 202220552960 U CN202220552960 U CN 202220552960U CN 216785531 U CN216785531 U CN 216785531U
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Abstract
The application relates to the technical field of container detection, in particular to a gantry crane and a container identification system. The gantry crane comprises at least one pair of supporting legs and a radar, wherein two card collecting lanes are arranged between the pair of supporting legs, the radar is arranged on the supporting legs, and the pose of the radar is constructed in such a way that the central line of a scanning area is aligned with the boundary line of the two card collecting lanes. When the collecting card device is used, the gantry crane can realize that the collecting card runs between the supporting legs in two lanes, the radar arranged on the supporting legs can detect the two lanes to obtain radar point cloud data, and the installation pose of the radar can guarantee that the collecting cards on the two collecting card lanes can be detected simultaneously. After the radar detects the container, radar point cloud data can be obtained, the length, the height, the number and the position of the container can be obtained through the analysis of the radar point cloud data by the processor with the calculation function at the background, and the case type identification, the position identification and the number identification of the container on the container collecting card can be realized for the container loaded by the container collecting card.
Description
Technical Field
The application relates to the technical field of container detection, in particular to a gantry crane and a container identification system.
Background
During the automated operation of the gantry crane on the container, the container truck is constantly driven over the legs of the gantry crane. The types of containers are various, the containers are divided into high containers and low containers, and the containers are also divided into containers with different sizes such as 20 feet, 40 feet and 45 feet, and the containers and the number and the positions of the containers are distinguished in automatic operation. After the specific condition of the container is known, the automatic operation of the container by the gantry crane is more convenient. Therefore, how to identify the parameters of the container loaded by the container truck traveling in the gantry crane is a technical problem to be solved in the field.
SUMMERY OF THE UTILITY MODEL
In view of the above, the present application provides a gantry crane and a container identification system, which can identify and obtain parameters of a container loaded by a container truck traveling in the gantry crane.
In a first aspect, the present application provides a gantry crane, comprising: the pair of supporting legs are provided with two card collecting lanes; and a radar disposed on the leg, the radar having a pose configured to: the central line of the scanning area of the radar is aligned with the boundary line of the two card collecting lanes.
When the container truck passes through the truck collecting lane between the support legs of the gantry crane, the radar of which the center line of the scanning area is aligned with the boundary line of the two truck collecting lanes can completely detect the truck on the two truck collecting lanes, so that the container on the truck can be detected. Specifically, the two truck collecting lanes are respectively an operation lane and a passing lane, the trucks can normally operate on the operation lane, and the passing lane can facilitate the trucks to pass. The gantry crane in the aspect can realize that the collecting card runs on two lanes between the supporting legs, the radar arranged on the supporting legs can detect the two lanes to obtain radar point cloud data, and the installation pose of the radar can guarantee that the collecting cards on the two collecting card lanes can be detected simultaneously. After the radar detects the container, radar point cloud data can be obtained, the length, the height, the number and the position of the container can be obtained through the analysis of the radar point cloud data by the processor with the calculation function at the background, and the case type identification, the position identification and the number identification of the container on the container collecting card can be realized for the container loaded by the container collecting card.
With reference to the first aspect, in one possible implementation manner, a vertical height between a position where the radar is disposed on the leg and the ground is any one of 4 to 10 meters.
With reference to the first aspect, in one possible implementation manner, the vertical height between the position where the radar is arranged on the support leg and the ground is 7 meters.
With reference to the first aspect, in one possible implementation manner, the number of the radars is multiple.
With reference to the first aspect, in one possible implementation manner, the support legs located on two opposite sides of the truck bed are respectively provided with at least one radar.
With reference to the first aspect, in a possible implementation manner, a plurality of container stacking ranks are further disposed between the pairs of the support legs.
With reference to the first aspect, in a possible implementation manner, two truck collecting lanes are disposed adjacent to each other, one truck collecting lane is disposed adjacent to each of the support legs, and the radar is disposed on each of the support legs adjacent to each of the truck collecting lanes.
With reference to the first aspect, in one possible implementation manner, the total width of the two card-collecting lanes is greater than or equal to two-seventh of the distance between the paired legs.
With reference to the first aspect, in a possible implementation manner, the method further includes: and the connecting piece is respectively connected with the supporting leg and the radar.
In a second aspect, the present application provides a container identification system comprising: the gantry crane described above; and the industrial personal computer is in communication connection with the radar.
The container identification system provided by the second aspect of the present application includes the gantry crane in any one of the above implementation manners, and therefore has the technical effect of any one of the above gantry cranes, and is not described herein again.
Drawings
Fig. 1 is a schematic structural diagram of a gantry crane according to an embodiment of the present application.
Fig. 2 is a top view of a container stacking position and a truck-collecting lane in a gantry crane according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Exemplary gantry Crane
Fig. 1 is a schematic structural diagram of a gantry crane according to an embodiment of the present application. The present application provides a gantry crane, in one embodiment, as shown in fig. 1, the gantry crane 1 includes at least a pair of legs 101 and a radar 102, two truck-collecting lanes 103 are disposed between the pair of legs 101, and the radar 102 is disposed on the legs 101. The pose of the radar 102 is configured as follows: the center line of the scanning area of the radar 102 is aligned with the boundary line of the two card collecting lanes 103.
In use, when a container truck (herein referred to as a truck) passes through a container truck lane (herein referred to as a truck lane) between the legs 101 of the gantry crane 1, the radar 102 whose scanning area center line is aligned with the boundary line of the two truck lanes 103 can completely detect the trucks 2 on the two truck lanes 103, so that the containers on the trucks 2 can be detected. The range of the cage within the dashed line emanating from the radar 102 in fig. 1 represents the approximate scan area of the radar 102. Specifically, the two card collecting lanes 103 are respectively an operation lane and a passing lane, the card collecting 2 can normally operate on the operation lane, and the passing lane can facilitate passing of some card collecting 2. The gantry crane 1 of the embodiment can realize that the container truck 2 runs between the support legs 101 in two lanes, the radars 102 installed on the support legs 101 can detect the two lanes to obtain radar point cloud data, and the installation positions and postures of the radars 102 can guarantee that the container trucks 2 on the two container truck lanes 103 can be detected simultaneously.
Specifically, after the radar detects the container, radar point cloud data can be obtained, the length, the height, the number and the position of the container can be obtained through analysis of the radar point cloud data by the processor with the calculating function in the background, and box type identification, position identification of the container on the container collecting card 2 and number identification of the container loaded by the container collecting card 2 can be realized.
The specific algorithm for identifying the container according to the radar point cloud data is as follows:
judging the length of the container: carrying out segmentation identification according to the length of the Y axis in the radar point cloud data to obtain the length of each container;
and (3) judging the height of the container: after the radar point cloud data is subjected to point cloud filtering, smoothing the point cloud at the top of the container, and fitting a plane to search the top of the container so as to obtain the height of the container;
and (3) judging the number of containers: after point cloud filtering is carried out on the radar point cloud data, point cloud crack detection is carried out, and the edges of cracks are detected in the detection process, so that the number of containers is obtained;
judging the position of the container: and identifying the truck head from the radar point cloud data, identifying the edge of the container closest to the head, and determining the position of the current container according to the edge of the container and the position of the head.
The above algorithm processes for analyzing containers according to radar point cloud data are all prior art, and are not described herein again.
In an embodiment, the radar 102 is disposed at a preset height position of the leg 101, the preset height position is mainly determined according to the pose of the radar 102, and the height position of the radar 102 is set on the premise of ensuring that the central line of the scanning area of the radar 102 is aligned with the boundary line of the two truck-collecting lanes 103. If the height of the radar 102 is too low, it may not be able to completely scan the two truck lanes 103, and if the height of the radar 102 is too high, it may be too far away from the truck 2 to improve the scanning resolution. When the radar 102 is installed, the preset height position can be determined according to a point cloud image obtained by scanning the radar 102, and when the point cloud image can completely cover the two card collecting lanes 103 and the resolution of the point cloud image is enough to distinguish the length, height, number and position of the container, the height position of the radar 102 is suitable.
Specifically, the vertical height between the position of the radar 102 disposed on the support leg 101 and the ground is any value from 4 to 10 meters, and this height range can ensure that the radar 102 completely scans the two truck collection lanes 103 and can also ensure that the scanning resolution is sufficiently high.
In one embodiment, the vertical height between the position of the radar 102 on the support leg 101 and the ground is 7 meters, which is suitable, and is neither too high nor too low.
In an embodiment, the number of the radars 102 is multiple, so that multiple radar point cloud data can be obtained, and then the multiple radar point cloud data are analyzed respectively to obtain data of multiple groups of containers. In the plural sets of container data, if the individual container data is greatly different from other container data, the container data having a large difference is removed. Under the data support of multiple groups of container data, the identification accuracy of the container can be improved.
In an embodiment, the landing legs 101 on two opposite sides of the truck collecting lane 103 are respectively provided with at least one radar 102, when the truck collecting lane is used, radar detection can be respectively performed on the trucks 2 from two sides of the truck collecting lane 103, and under the data support of two sets of container data, the identification accuracy of the containers can be improved. When the two groups of container data are different, radar detection and radar point cloud data analysis need to be carried out again. It is also applicable to the case where two rows of containers are loaded on the container truck 2, and the radars 102 on both sides identify the two rows of containers of the container truck 2, respectively.
Fig. 2 is a top view of a container stacking position and a truck-collecting lane in a gantry crane according to an embodiment of the present invention. In an embodiment, as shown in fig. 2, a plurality of container stacking positions 104 are further disposed between the pairs of legs 101, in this embodiment, when in use, the container stacking positions 104 can be used for stacking containers, and when the container truck 2 is parked, the crane of the gantry crane 1 grabs and places the container loaded on the container truck 2 on the container stacking positions 104.
In one embodiment, two card collecting lanes 103 are arranged adjacently, one card collecting lane 103 is arranged adjacent to the leg 101, and the radar 102 is arranged on the leg 101 adjacent to the card collecting lane 103. In this embodiment, the truck 2 travels near the support legs 101, and this embodiment can make the radar arranged on the support legs 101 adjacent to the truck collecting lane 103 collect the trucks 2 traveling on the two truck collecting lanes 103 more easily.
In one embodiment, the total width of the two card collecting lanes 103 is greater than or equal to two-seventeen of the distance between the pair of legs 101, and in this embodiment, the total width of the two card collecting lanes 103 is not too small for two card collectors to travel simultaneously. Other vacant positions between pairs of legs 101 may be used as container stacking rows 104 to accommodate containers.
Specifically, as shown in fig. 2, the number of the container stacking positions 104 may be 5 rows, that is, 5 rows of container stacking positions and 2 truck collecting lanes 103 are included between the legs 101 of the gantry crane 1, and the truck collecting lanes 103 are a working lane and a passing lane, respectively. The container truck 2 runs in the container truck road 103 without interfering with the container stacking position 104. Compare in traditional gantry crane, this embodiment is for improving operating efficiency, and the mode in rank +1 album card lane is stacked to 6 original rows of containers, changes into the mode in rank +2 album card lane is stacked to 5 rows of containers. The scheme can improve the smoothness of the operation of the portal crane, improve the operation efficiency, simultaneously utilize the radar to carry out real-time scanning on the two truck collecting lanes, identify the information such as the truck collecting state, the number of containers, the position and the like in the truck collecting lanes, and provide effective data for automatic operation.
In an embodiment, the gantry crane 1 further comprises a connecting member 3, and the connecting member 3 is connected to the leg 101 and the radar 102, respectively. In use, the leg 101 and the radar 102 are connected by the connector 3, and the radar 102 can be detached from the connector 3 at any time. The link 3 may also have a pose adjustment function in which the link 3 can adjust the pitch angle of the radar 102, thereby making it possible to easily adjust the alignment direction of the center line of the scanning area of the radar 102, but the pose of the radar 102 is already determined when the radar 102 is installed.
In one embodiment, the radar 102 is removably attached to the attachment member 3 so that the radar 102 can be removed at any time for maintenance or repair.
Exemplary Container identification System
This application still provides a container identification system, and in an implementation, this container identification system includes aforementioned gantry crane and industrial computer, the industrial computer with the radar communication is connected, the industrial computer is used for the basis radar point cloud data that the radar was surveyed obtains the appearance information and the numerical information of the container that the collection card loaded on the collection truck way.
This embodiment is when using, and when the collection card went on the collection truck way between gantry crane's landing leg, the radar on gantry crane's the landing leg was to collection truck way carry out radar detection, and after radar detection obtained radar point cloud data, give the industrial computer with radar point cloud data transmission, the industrial computer carries out the analysis to radar point cloud data.
The length, height, quantity and position of the container can be obtained through analysis of the radar point cloud data, and box type identification, position identification of the container on the container collecting card and quantity identification of the container loaded by the container collecting card can be achieved.
The specific algorithm for analyzing the container according to the radar point cloud data is as follows:
judging the length of the container: carrying out segmentation identification according to the length of the Y axis in the radar point cloud data to obtain the length of each container;
and (3) judging the height of the container: after the radar point cloud data is subjected to point cloud filtering, smoothing the point cloud at the top of the container, and fitting a plane to search the top of the container so as to obtain the height of the container;
and (3) judging the number of containers: after point cloud filtering is carried out on the radar point cloud data, point cloud crack detection is carried out, and the edges of cracks are detected in the detection process, so that the number of containers is obtained;
judging the position of the container: and identifying the truck head from the radar point cloud data, identifying the edge of the container closest to the head, and determining the position of the current container according to the edge of the container and the position of the head.
The algorithm process for analyzing the container according to the radar point cloud data is the prior art, and is not described herein again.
Specifically, the industrial computer can set up in the command center that is far away apart from gantry crane and is used for remote data processing, and the industrial computer also can set up on gantry crane.
In one embodiment, the container identification system further comprises a cloud storage, and the cloud storage is in communication connection with the industrial personal computer. When the radar point cloud data acquisition system is used, the cloud storage can store radar point cloud data acquired by the industrial personal computer, and other computing processing equipment in communication connection with the cloud storage can acquire the radar point cloud data from the cloud storage and analyze and calculate the radar point cloud data. The cloud storage can also store the analysis result of the industrial personal computer on the radar point cloud data, namely, the length, height, quantity, position and other information of the container.
In an embodiment, the cloud storage is in communication connection with some intelligent terminal devices, so that the radar point cloud data and/or the analysis result can be sent to the intelligent terminal devices, workers holding the intelligent terminal devices can check the radar point cloud data and/or the analysis result at any time and any place, more information is obtained, and the workers can know the container information loaded by the collecting card running in the gantry crane more conveniently.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the apparatus and devices of the present application, the components may be disassembled and/or reassembled. These decompositions and/or recombinations are to be considered as equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modifications, equivalents and the like that are within the spirit and principle of the present application should be included in the scope of the present application.
Claims (10)
1. A gantry crane, comprising:
at least one pair of legs (101), two card collecting lanes (103) are arranged between the pair of legs (101); and
a radar (102) disposed on the leg (101), the radar (102) having a pose configured to: the central line of the scanning area of the radar (102) is aligned with the boundary line of the two card collecting lanes (103).
2. Gantry crane according to claim 1,
the vertical height between the position of the radar (102) arranged on the supporting leg (101) and the ground is any value of 4-10 meters.
3. Gantry crane according to claim 2,
the vertical height between the position of the radar (102) arranged on the supporting leg (101) and the ground is 7 meters.
4. Gantry crane according to claim 1,
the number of the radars (102) is plural.
5. Gantry crane according to claim 4,
the supporting legs (101) positioned on two opposite sides of the card collecting lane (103) are respectively provided with at least one radar (102).
6. Gantry crane according to claim 1,
and a plurality of container stacking ranks are arranged between the pairs of supporting legs (101).
7. Gantry crane according to claim 6,
two card collecting lanes (103) are arranged adjacently, one card collecting lane (103) is arranged adjacently to the supporting leg (101), and the radar (102) is arranged on the supporting leg (101) adjacent to the card collecting lane (103).
8. Gantry crane according to claim 1,
the total width of the two card collecting lanes (103) is greater than or equal to two-seventh of the distance between the pair of legs (101).
9. Gantry crane according to any one of claims 1 to 8, further comprising:
and the connecting piece (3) is respectively connected with the supporting leg (101) and the radar (102).
10. A container identification system, comprising:
the gantry crane according to any one of claims 1 to 9; and
and the industrial personal computer is in communication connection with the radar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220552960.9U CN216785531U (en) | 2022-03-14 | 2022-03-14 | Gantry crane and container identification system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220552960.9U CN216785531U (en) | 2022-03-14 | 2022-03-14 | Gantry crane and container identification system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216785531U true CN216785531U (en) | 2022-06-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202220552960.9U Active CN216785531U (en) | 2022-03-14 | 2022-03-14 | Gantry crane and container identification system |
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| CN (1) | CN216785531U (en) |
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- 2022-03-14 CN CN202220552960.9U patent/CN216785531U/en active Active
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