WO2019024172A1

WO2019024172A1 - Automatic container landing and lift prevention method for automatic loading and unloading operation

Info

Publication number: WO2019024172A1
Application number: PCT/CN2017/100905
Authority: WO
Inventors: 陆荣国; 陆明路
Original assignee: 南通通镭软件有限公司
Priority date: 2017-08-03
Filing date: 2017-09-07
Publication date: 2019-02-07
Also published as: CN109384151A

Abstract

An automatic container landing and lift prevention method for an automatic loading and unloading operation. A set of automatic lifting device and automatic tilt adjustment device (1) is mounted next to a container truck parking lane (3) outside an automated terminal. A laser scanner (2) is mounted on the device. The laser scanner (2) performs a lifting and tilt detection on lockholes of an empty container flatbed (4, 7) entering the lane (3), measures the position of one or more nearest lockholes, extrapolates the approximate positions of all lockholes on the container flatbed (4, 7), and then carries out an accurate detection to find the accurate positions of all locks (6), so that accurate positioning of the container flatbed (4, 7) is implemented. For a heavy-duty container truck (5, 8) entering the lane (3), the laser scanner (2) horizontally scans the container truck (5, 8), and adjusts same to a corresponding height according to a container landing signal of a lifting sling (13) and a lifting sling height signal, measures the gap between a container (9, 10) and the flatbed (4, 7), so as to avoid lifting the container truck (5, 8) when the lock (6) of the container truck (5, 8) is not unlocked. By means of the method, the accurate positioning of the lock (6) of the foreign container truck (5, 8) in an automated field gantry crane stacking yard and a lift prevention detection can be implemented.

Description

Automatic boxing and anti-lifting method for automated loading and unloading operations

Technical field

The invention relates to the precise positioning of the container truck and the spreader and the anti-lifting of the truck in the container loading and unloading operation, and is particularly suitable for the automatic loading and unloading operation of the container at the port site.

Background technique

At present, there is no effective and accurate measurement method for the automatic loading and unloading operation of the container, the precise alignment of the gantry crane and the spreader, and the anti-hoisting of the truck. For example, the patent application number "200820055788.6" site container gantry crane rectification and card laser alignment and anti-lift device, and "201420312848.3" tire hanging positioning rectification and card alignment anti-lifting system, the laser scanning range finder is followed The gantry crane movements are limited to a certain height, and because of the different heights of the container trucks, the container truck locks cannot be accurately measured for the empty trucks. Although there is a pan/tilt rotation, it is impossible to detect the position of all the locks. In the container automatic loading and unloading operation, the automated lifting container can not be accurately aligned with the card lock, and if the lock is not fully unlocked, the container flatbed is different, because the scanner is fixed at a certain height and cannot be lifted. When the container is tested for anti-lifting, the container flatbed and the flatbed of the container will be lifted together, which poses a safety hazard. At present, there is no effective detection method to solve the precise positioning and anti-lifting of the container lock in the automatic loading and unloading operation of the foreign card. Detection method.

Summary of the invention

In the automated terminal container yard, there are a number of outer card parking lanes, and an automatic lifting device and automatic tilt adjustment device are installed beside the lane, and a laser scanner is installed on the device. The laser scanner can detect the lifting and tilting of the keyhole on the empty container flatbed entering the lane, and the position of the nearest one or more locking holes is measured by the laser scanner, and all the locking holes on the container flatbed can be deduced. Probably the location, then perform an accurate inspection to find the exact position of all the locks to achieve precise positioning of the container flatbed. For the heavy-duty container truck entering the lane, the laser scanner scans the container truck horizontally, and adjusts the automatic lifting device to the corresponding height according to the height information of the spreader's boxing signal and the spreader height signal to prevent the container. The truck lock is not unlocked and the truck is lifted. Through the above method, the precise positioning, automatic boxing and anti-lifting detection of the foreign container truck locks in the gantry crane yard of the automation site can be realized. The system can also be installed on the side pillar of the gantry crane, following the movement of the cart, on the bicycle Road container truck locks for precise positioning and anti-lift detection.

The invention provides a container truck positioning, a loading flatbed lock positioning and a container lifting anti-lifting device in an automatic loading and unloading operation.

The object of the invention is achieved by the following technical solutions:

The automatic loading and unloading method of the automatic loading and unloading operation of the invention is characterized in that it comprises: an automatic lifting device, an automatic tilt adjusting device, a motor, a motor driver, a laser scanner, a container truck lock, a container, and a system processing , PLC, spreader height signal, trolley position signal, cart position locating device, box signal and automatic gantry crane;

The automatic lifting device and the automatic tilt adjusting device are installed beside the outer truck parking lane of the automatic dock yard; the laser scanner is installed on the automatic lifting device and the automatic tilt adjusting device, and the motor driver is controlled by the system processor. Adjusting the automatic lifting device and the automatic tilt adjusting device to adjust the height and tilt angle of the laser scanner; the height and tilt angle data of the laser scanner are provided by the automatic lifting device encoder and the automatic tilt adjusting device encoder; laser scanning The instrument is aligned with the container truck lock tracking detection, and the data measured by the laser scanner and the system processor look for the abrupt state of the lock head and the flatbed, determine the reference three-dimensional coordinate position of the X, Y, and Z axes of the lock, and send it to the PLC. To control the position of the spreader and the lock of the flatbed to achieve precise positioning, and realize the automatic container boxing under the spreader. The system processor is connected to the PLC and participates in the position analysis and lifting control of the site gantry crane. The automated site gantry crane includes a tire crane and a track crane.

The three-dimensional coordinate position, the X axis represents the lateral movement direction of the trolley and the spreader, the Y axis represents the driving direction of the field gantry crane, and the Z axis represents the vertical direction of the lifting and lowering of the spreader.

The container flatbed lock provides a target point of the measurement position, and determines the three-dimensional coordinate position information of the measured lock X, Y, and Z axes. The horizontal scanning of the laser scanner sends the measured data to the system processor to control the motor driver to drive the motor to lift or rotate, to find the lock on the truck of the truck, and to determine the X, Y, and Z axes of the lock on the flatbed. The three-dimensional coordinate position is provided to the PLC to control the three-dimensional coordinate position of the X, Y and Z axes of the container under the spreader; when the box is placed, the laser scanner scans and measures the edge position of the container, and calculates the distance difference between the container edge position and the keyhole position. The position of the keyhole on the container and the flatbed is accurately positioned, and the container under the spreader is automatically placed.

When the anti-lifting detection is performed, the laser scanner horizontally scans and adjusts the height of the gap between the container and the flatbed by the automatic lifting device, and finds that when there is no obstacle, the system allows the spreader to move up and lift the container.

When the laser scanner is horizontally scanned, the front, lock, and container of the container truck are measured, and the current container position information is displayed through the display screen and provided to the container truck driver.

The automatic lifting device and the automatic tilt adjusting device comprise a limit control device, a mechanical arm, a lifting platform and a rotating module, and the scanner can be moved up and down, and can be rotated forward and backward, and the position of the container flatbed lock is searched by the driving of the motor. . The limit device control prevents the motor from moving up and down beyond the range.

There are multiple lanes on the container automation dock. The automatic lifting device and the automatic tilting adjustment device are installed next to the lane, which does not affect the driving of the vehicle. It does not follow the automation site gantry crane crane movement, and can be installed in any lane of each lane. At one location, it is also possible to share a set of automatic lifting devices and automatic tilt adjustment devices in multiple lanes. The automatic lifting device and the automatic tilt adjusting device can be installed on the side of the gantry crane of the artificial control site, and the height from the ground is about 2 meters, and the height and inclination angle of the laser scanner can be adjusted. The horizontal scanning detects the lock between the container flatbed and the container and the flat plate. The gap enables automatic boxing and anti-lift detection.

The trolley position signal provides location information of the venue gantry crane. The cart position locating device provides location information of the gantry crane. The boxing signal provides a height position when the container is hoisted. The spreader height signal provides spreader height information.

The automatic tilt adjustment device and the laser scanner combine to realize the function of the 3D laser scanner.

When the container truck enters the outer card parking lane, the system processor controls the automatic lifting device and the automatic tilt adjusting device to slowly lower the laser scanner from a height. At this time, the laser scanner scans the lane horizontally, and if the truck head is scanned, The car is an empty container flatbed, and if it is scanned to the edge of the container, it is considered to be a heavy-duty container truck.

For the empty container flatbed entering the lane, the system processor controls the automatic lifting device, the automatic tilt adjusting device to drive the laser scanner to descend, and the laser scanner to measure the position of the nearest one or more locking holes. If it is detected that the first lock is far away (greater than or equal to the length of one container), the front end of the vehicle is considered to be high; if the first lock is detected to be close, the rear end is considered to be high. According to the height, the approximate position of all the lock holes on the container flatbed can be calculated, and then the tilt angle of the laser scanner can be adjusted by the automatic lifting device and the automatic tilt adjusting device to accurately detect until all the locks are measured, and all the locks are determined at X, The accurate three-dimensional coordinate position of the Y and Z axes realizes the precise positioning of the container flatbed.

After the system locates the lock of the container flatbed, the position information of the lock is sent to the PLC, and the laser scanner rises to a height of about 1.7m for horizontal scanning to track and locate the position of the container flatbed. If the container flatbed moves, the moved position is sent to the PLC in real time. When the spreader is put into the box, the laser scanner scans to the side of the container, and compares the three-dimensional coordinate position information of the container edge on the X, Y, and Z axes with the three-dimensional coordinate position information of the lock head on the X, Y, and Z axes. Achieve precise binning.

For the double 20-foot empty container truck entering the lane, the laser scanner first detects the lock of the previous 20-foot container flatbed and provides the position information to the PLC. The gantry crane first unpacks the previous 20-foot container. The scanner then inspects the next 20-foot container truck lock and provides location information to the PLC, which then bins the next 20-foot container.

For the heavy-duty container trucks entering the lane, when the gantry crane lifts the container on the collection card, the laser scanner scans the container truck horizontally and automatically raises and lowers according to the height information of the spreader's boxing signal and the spreader height signal. The device is adjusted to the corresponding height, and the laser scanner is aligned with the space gap scanning distance between the container flatbed and the bottom surface of the container. When the lock on the container flatbed is not rotated, the container lock hole is still hooked, and the container flatbed is taken by the container belt. From the laser scanning, an object under the bottom of the container is detected, and the device immediately emits an audible and visual alarm, and sends a stop lifting signal to the site gantry crane PLC. If no obstacles are found, the system allows the spreader to move up and lift the container. For dual 20-foot heavy-duty container trucks entering the lane, the laser scanner first performs an anti-lift test on the next 20-foot container. The site gantry crane first lifts the next 20-foot container and provides location information to the PLC for laser scanning. The instrument then conducts an anti-lift test on the previous 20-foot container and then lifts the previous 20-foot container.

The method can realize the precise alignment of the gantry lock and the gantry crane in the gantry crane in the automatic loading and unloading operation, and prevent the hoisting of the hoisting when the container is hoisted.

Due to the adoption of the above technical solution, the invention has the beneficial effects of solving the precise positioning and anti-lifting detection of the external container truck lock of the automatic dock, reducing the labor intensity of the driver, preventing the lifting of the card, eliminating potential safety hazards, and improving the site automation dock. The production efficiency of container gantry crane lifting container loading and unloading.

DRAWINGS

Figure 1 Schematic diagram of container automation terminal structure

Figure 2 Schematic diagram of laser scanner scanning container truck entering the lane

Fig. 3 Schematic diagram of the detection principle of the laser scanner on the lock of the container flatbed

Figure 4 Schematic diagram of precise positioning of container and lock

Figure 5 Schematic diagram of laser scanner's position detection for double 20-foot and 40-foot container flatbed locks

Figure 6 Schematic diagram of the anti-lifting detection principle

Figure 7 component electrical connection diagram

In the figure, (1) automatic lifting device, automatic tilt adjustment device, (2) laser scanner, (3) lane, (4) double 20-foot empty container flatbed, (5) double 20-foot heavy-duty container truck, ( 6) lock head, (7) 40-foot empty container flatbed, (8) 40-foot heavy-duty container truck, (9) 20-foot container, (10) 40-foot container, (11) site gantry crane, (12) scanning surface , (13) spreader, (14) system processor, (15) PLC, (16) motor, (17) motor driver.

Detailed ways:

The automatic lifting device and the automatic tilt adjusting device (1) are installed beside the outer collecting parking lane (3) of the automated dock yard; the laser scanner (2) is installed in the automatic lifting device and the automatic tilt adjusting device (1) On, the motor drive (17) and the motor (16) control the automatic lifting device, the automatic tilt adjustment device (1) adjust the lifting and tilting angle of the laser scanner (2), and align the container truck lock (6) Tracking detection, data measured by laser scanner (2) And the software program processes the data to find the abrupt state of the lock head (6) and the container flatbed, determines the reference three-dimensional coordinate position of the lock head (6), and sends it to the PLC (15) to control the spreader (13) and the container flatbed lock (6) The position is realized to achieve precise positioning, and the container under the spreader is automatically placed. The system processor (14) is connected to the PLC (15) and participates in the position analysis and lifting control of the site gantry crane.

The three-dimensional coordinate position, the X axis represents the lateral movement direction of the trolley and the spreader (13), the Y axis represents the driving direction of the field gantry crane (11), and the Z axis represents the vertical direction of the lifting and lowering of the spreader (13).

When the container truck enters the outer card parking lane (3), the system processor (14) controls the automatic lifting device and the automatic tilt adjusting device (1) to cause the laser scanner (2) to slowly descend from a height, at this time the laser scanner ( 2) Horizontal scanning of the lane (3). If the truck head is scanned, the vehicle is an empty container flatbed. If it is scanned to the edge of the container, the vehicle is considered to be a heavy-duty container truck.

Taking a 40-foot empty container flatbed (7) as an example, for a 40-foot empty container flatbed (7) entering the lane (3), the system processor (14) controls the automatic lifting device and the automatic tilt adjustment device (1) to drive the laser. The scanner (2) is lowered, and the position of the nearest one or more keyholes (6) is measured by the laser scanner (2), and the approximate lock hole (6) of the 40-foot empty container flatbed (7) can be derived. Position, then adjust the inclination of the laser scanner (2) by automatic lifting device and automatic tilt adjustment device (1) to accurately detect until all the locks (6) are measured, find all the locks (6) in X, Y, The accurate three-dimensional coordinate position of the Z-axis enables precise positioning of the 40-foot empty container flatbed (7).

After the system locates the container flatbed lock (6), the position information of the lock (6) is sent to the PLC (15), and the laser scanner (2) is raised to a height of 1.7 m for horizontal scanning to track the position of the container flatbed. Positioning. If the container flatbed moves, the moving position is sent to the PLC (15) in real time. When the spreader (13) is placed in the box, the laser scanner (2) scans to the side of the 40-foot container (10), and the three-dimensional coordinate position information and lock of the 40-foot container (10) edge on the X, Y, and Z axes. (6) Compare the three-dimensional coordinate position information of the X, Y, and Z axes to achieve accurate binning.

For the double 20-foot empty container flatbed (4) entering the lane, the laser scanner first detects the previous 20-inch empty-capacity container flatbed (4) lock (6) and provides position information to the PLC (15) The site gantry crane (15) first unpacks the previous 20-foot container (9), and the laser scanner (2) detects the next 20-foot empty container flatbed (4) lock (6) and positions it. Information is provided to the PLC (15) and the next 20-foot container (9) is binned.

Taking a 40-foot heavy-duty container truck (8) as an example, for a container loaded into a heavy-duty container truck, when the gantry crane lifts the container on the collection card, the laser scanner (2) horizontally scans the container truck and according to the spreader ( 13) The height information provided by the box signal and the spreader height signal adjusts the automatic lifting device to the corresponding height. The laser scanner (2) is aligned with the 40-foot heavy-duty container truck (8) and the 40-foot container (10) Space gap scanning distance between the bottom surfaces, when The lock (6) on the 0-foot heavy-duty container truck (8) is not rotated open, still hooking the container lock hole, and the 40-foot heavy-duty container truck (8) is taken up by a 40-foot container (10) with a laser scanner ( 2) When an object is detected under the bottom surface of the 40-foot container (10), the device immediately emits an audible and visual alarm, and sends a stop lifting signal to the site gantry crane PLC (15). If no obstacles are found, the system allows the spreader to move up and lift the 40-foot container (10).

For the double 20-foot heavy-duty container truck (5) entering the lane, the laser scanner first performs an anti-lift test on the next 20-foot container (9), and the site gantry crane (11) first hangs the next 20-foot container (9) The position information is provided to the PLC (15), and the laser scanner (2) performs an anti-lift test on the previous 20-foot container (9) to lift the previous 20-foot container (9).

It should be understood by those skilled in the art that the above embodiments are merely illustrative of the present invention and are not intended to limit the invention, as long as the scope of the present invention is changed. Variations are intended to fall within the scope of the appended claims.

Claims

An automatic loading and unloading method for automatic loading and unloading operations, comprising: automatic lifting device, automatic tilt adjusting device, motor, motor driver, laser scanner, container truck lock, container, system processor, PLC , spreader height signal, trolley position signal, cart position locating device, box signal and site gantry crane;

The automatic lifting device and the automatic tilt adjusting device are installed beside the outer truck parking lane of the automatic dock yard; the laser scanner is installed on the automatic lifting device and the automatic tilt adjusting device, and the motor driver is controlled by the system processor. Adjusting the automatic lifting device and the automatic tilt adjusting device to adjust the height and tilt angle of the laser scanner; the height and tilt angle data of the laser scanner are provided by the automatic lifting device encoder and the automatic tilt adjusting device encoder; laser scanning The instrument is aligned with the container truck lock tracking detection, and the data measured by the laser scanner and the system processor look for the abrupt state of the lock head and the flatbed, determine the reference three-dimensional coordinate position of the X, Y, and Z axes of the lock, and send it to the PLC. To control the position of the spreader and the flatbed lock to achieve precise positioning;

The horizontal scanning of the laser scanner sends the measured data to the system processor to control the motor driver to drive the motor to lift or rotate, to find the lock on the truck of the truck, and to determine the X, Y, and Z axes of the lock on the flatbed. The three-dimensional coordinate position is provided to the PLC to control the three-dimensional coordinate position of the X, Y and Z axes of the container under the spreader; when the box is placed, the laser scanner scans and measures the edge position of the container, and calculates the distance difference between the container edge position and the keyhole position. The position of the keyhole on the container and the flatbed is accurately positioned, and the container under the spreader is automatically placed in the box;

When performing the anti-lifting detection, the laser scanner horizontally scans and adjusts the height of the gap between the container and the flatbed by the automatic lifting device, and finds that when there is no obstacle, the system allows the spreader to move up and lift the container;

When the laser scanner scans and measures, the front, lock, and container of the container truck are measured, and the current container position information is displayed through the display screen, and provided to the container truck driver;

The automatic lifting device and the automatic tilt adjusting device can be installed on the side of the gantry crane of the artificial control site, and the height from the ground is about 2 meters, and the height and inclination angle of the laser scanner can be adjusted. The horizontal scanning detects the lock between the container flatbed and the container and the flat plate. The gap enables automatic boxing and anti-lift detection.
The method according to claim 1, wherein the automatic lifting device and the automatic tilt adjusting device comprise a limit control device, a mechanical arm, a lifting platform and a rotating module, and the scanner can be moved up and down, and can be moved back and forth. The rotation is tilted, and the position of the lock of the flatbed is sought by the driving of the motor; the limit device control prevents the motor from moving up and down beyond the range.
The method according to claim 1, wherein said automatic lifting device and automatic tilt adjusting device are installed beside the lane without affecting the running of the vehicle.
The method according to claim 1, wherein if the first lock is detected to be far away (greater than or equal to a container length), the front end of the vehicle is considered to be high; if the first lock is detected to be close, Think that the tail is high; according to the high Low can calculate the approximate position of all the lock holes on the container flatbed, and then adjust the tilt angle of the laser scanner by the automatic lifting device and the automatic tilt adjustment device to accurately detect until all the locks are measured, and all the locks are determined at X, Y. The accurate three-dimensional coordinate position of the Z-axis enables accurate positioning of the container flatbed.
The method of claim 1 wherein the laser scanner first detects the lock of the previous 20 foot container flatbed truck and provides location information to the PLC for the dual 20 foot empty container truck entering the lane. The gantry crane first unpacks the previous 20-foot container, and the laser scanner detects the next 20-foot container flatbed lock and provides location information to the PLC, which then bins the next 20-foot container.
The method of claim 1 wherein the laser scanner first performs an anti-lift detection on the next 20-foot container for the dual 20-foot heavy-duty container truck entering the lane, and the site gantry crane first performs the next 20-foot container. Lifting and providing location information to the PLC, the laser scanner then performs an anti-lift test on the previous 20-foot container and then lifts the previous 20-foot container.
The method of claim 1 wherein said boxing signal provides a height position when the container is lifted; said spreader height signal provides spreader height information.
The method according to claim 1, wherein said cart position locating device provides position information of the gantry crane; and said cart position signal provides position information of the gantry crane.
The method according to claim 1, wherein said container truck lock provides a target point of the measurement position, and determines three-dimensional coordinate position information of the measured lock X, Y, Z axes; said three-dimensional coordinate position The X axis represents the lateral movement direction of the trolley and the spreader, the Y axis represents the direction of the gantry crane driving direction, and the Z axis represents the vertical direction of the lifting and lowering of the spreader.
The method of claim 1 wherein said automatic tilt adjustment device and laser scanner combine to implement the functionality of a 3D laser scanner.