WO2020177288A1

WO2020177288A1 - Automatic container terminal stock yard landside automatic operation system and control method thereof

Info

Publication number: WO2020177288A1
Application number: PCT/CN2019/104302
Authority: WO
Inventors: 张连钢; 杨杰敏; 吕向东; 王心成; 李永翠; 李波; 秦洪建; 孙秀良; 王国勇; 赵臻; 修方强; 栾新刚
Original assignee: 青岛港国际股份有限公司; 青岛新前湾集装箱码头有限责任公司
Priority date: 2019-03-04
Filing date: 2019-09-04
Publication date: 2020-09-10
Also published as: CN109795953A; JP7184934B2; JP2022503432A

Abstract

An automatic container terminal stock yard landside automatic operation system and a control method thereof. The system comprises an automatic box loading module composed of a rail-mounted gantry crane positioning unit (11), a crane attitude adjustment unit (12), and a container truck towing disk lock head positioning unit (13), and an automatic operation detection module (2) composed of a container truck anti-hoisting unit (21), a container truck anti-movement unit (22), and a container bottom foreign body detection unit (23). The rail-mounted gantry crane positioning unit (11) realizes the positioning of a target container by a rail-mounted gantry crane; the crane attitude adjustment unit (12) obtains target container information and controls the alignment between a crane and the target container on the basis of the target container information; the container truck towing disk lock head positioning unit (13) is used for obtaining a container truck towing disk lock head image and positioning a lock head on the basis of the image; the container truck anti-hoisting unit (21), the container truck anti-movement unit (22), and the container bottom foreign body detection unit (23) are used for analyzing, on the basis of the obtained image, whether container truck hoisting, container truck movement or anomalies on the container bottom exist during the automatic operation. The automatic detection technology is used instead of manual detection to realize full automatic operation of a rail-mounted gantry crane landside.

Description

Landside automatic operation system of automated container terminal yard and its control method

Technical field

The invention belongs to the technical field of automated container terminals, and specifically relates to a land-side automatic operation system of an automated container terminal yard and a control method thereof.

Background technique

The interactive object of the automated container terminal yard rail hoisting on the land side for receiving/delivering containers is the truck.

Truck tractors have different shapes, and there are many types of trays. The form, length, height, and lock pin positions of the trays are different. Therefore, the parking positions of different trucks are different. Therefore, automated container terminals All of them have realized fully automatic operations in the yard and the seaside interaction zone, and only semi-automatic and manual remote operations can be realized in the yard's landside interaction zone.

Automated rail hoisting on the land side of the yard carries out automatic receiving/dispensing operations for trucks, which not only requires high accuracy of automatic positioning, but also needs to eliminate safety hazards caused by abnormal conditions during the operation, for example, when receiving containers. If the tray and the container are not separated, it will cause the rail crane to lift the truck and the container together; during the dispatching operation, the abnormal movement of the truck will cause the automatic unloading to fail, and the container may even collide with the truck driver’s cab; During container operation, foreign objects at the bottom of the container will cause inaccurate placement of the container, and the lock pin of the truck tray cannot completely enter the corner of the container. If it cannot be found in time, the container truck is prone to falling over during transportation. If these abnormal situations cannot be discovered in time, they will bring great hidden dangers to safe production.

technical problem

In the traditional manual operation of the rail crane, the operator dynamically observes the lifting operation during the operation, which can avoid the above situation in time; however, if the automatic rail crane is used for unmanned driving, in order to avoid the above abnormal situation, the automatic operation process on the land side is required Intervene in the manual inspection process, which ensures safety, but reduces the degree of automation of production, thereby reducing production efficiency.

Technical solutions

This application provides a land-side automated operation system for an automated container terminal yard and a control method thereof, which adopts automated detection technology to replace manual inspection, realizes the fully automated operation on the land side of the rail hoist, and solves the problem of the existing automated container terminal yard. On the other hand, manual intervention is required to check technical issues when implementing automated operation.

To solve the above technical problems, this application adopts the following technical solutions to achieve:

A land-side automated operation system for an automated container terminal yard is proposed, which includes an automatic loading module and an automatic operation detection module; the automatic loading module includes a rail crane positioning unit, a spreader attitude adjustment unit and a truck tray lock positioning unit Unit; the automatic operation detection module includes a truck anti-lifting unit, a truck anti-movement unit, and a box bottom foreign object detection unit; the track crane positioning unit is used for track crane positioning of the target container; the spreader posture adjustment The unit is used to obtain and control the alignment of the spreader and the target container based on the target container information; the truck tray lock positioning unit is used to acquire and locate the position of the lock based on the truck tray lock image; The truck anti-lifting unit is used to obtain and determine whether the truck is hoisted based on the image information of the truck and the container; the truck anti-moving unit is used to acquire and determine whether the truck is parking based on the image information of the truck Whether the position is shifted; the box bottom foreign object detection unit is used to obtain and determine whether there is a foreign object at the bottom of the box based on the image information between the bottom of the container and the truck tray.

A land-side automated operation control method for an automated container terminal yard is proposed, which is applied to the above-mentioned automated container terminal yard land-side automated operation system, and includes the following steps: if a container receiving operation instruction is received, the track crane positioning unit controls The rail crane carts and trolleys run above the target container on the landside truck and control the spreader to descend; the spreader attitude adjustment unit controls the spreader to move in the horizontal plane to eliminate the positional deviation between the spreader and the target container, and achieve Alignment of the spreader with the target container; after the spreader lifts the container, the truck anti-lifting unit determines whether the truck is hoisted, sends an alarm message when it is hoisted, and stops the lifting action; and, During the lifting of the container by the spreader, the foreign body detection unit at the bottom of the box detects whether there is a foreign body at the bottom of the box, sends an alarm message when there is a foreign body, and stops the lifting action of the spreader; if a container dispatching operation instruction is received, the track crane positioning unit controls the lifting The tool belt runs to the top of the land-side target truck, the truck tray lock head positioning unit positions the lock head, and the spreader attitude adjustment unit controls the spreader to translate in the horizontal plane to eliminate the container lifted by the spreader The position deviation between the lock head of the target truck tray and the lock head of the target truck tray realizes the alignment between the container lifted by the spreader and the lock head of the target truck tray; during the descending process of the spreader, the truck anti-mobile unit judges the target truck parking position If there is a shift, an alarm message will be issued when the shift occurs and the spreader's lowering action will be stopped; and, during the lowering of the spreader, the box bottom foreign body detection unit detects whether there is a foreign body at the bottom of the box, and sends an alarm message and stops when there is a foreign body The spreader is lowered.

Beneficial effect

Compared with the prior art, the advantages and positive effects of this application are: in the land-side automated operation system and control method of the automated container terminal yard proposed in this application, the system includes an automatic loading module and an automatic operation detection module. The hoist positioning unit, the spreader attitude adjustment unit and the truck tray lock head positioning unit together form an automatic loading module, which realizes the precise positioning between the spreader, container and truck tray, greatly improving the automatic loading of the rail hoist from the truck The success rate of loading/unloading the container; the truck anti-lifting unit, the truck anti-moving unit and the box bottom foreign object detection unit jointly form an automatic operation detection module to ensure that the manual inspection link is not added during the interactive operation of the track crane and the truck. Automated detection technology replaces manual detection, realizes fully automated operations on the land side of the rail hoist, solves the technical problem of manual intervention and inspection when the existing automated container terminal yard realizes automated operation on the land side, and improves the automation of landside operations It greatly saves working time, improves production efficiency, and avoids hidden dangers in production safety caused by abnormalities.

Description of the drawings

Figure 1 is a system architecture diagram of the land-side automated operation system of the automated container yard proposed by this application.

The best mode of the invention

The specific implementation of the present application will be described in further detail below in conjunction with the accompanying drawings.

This application proposes a land-side automated operation system for automated container terminal yards, which is suitable for automatic operation and automatic detection of land-side receiving/delivery of containers at automated container terminal yards, integrated operation encoder technology, magnetic scale positioning technology, and laser scanning technology , Machine vision and image processing technologies to realize automatic and precise positioning of trucks and containers on the land side of the yard, automatic detection and alarm for abnormalities, no manual intervention detection, and improved automation; specifically, as shown in Figure 1, including automatic loading Module 1 and automatic operation detection module 2; automatic loading module 1 includes rail hoist positioning unit 11, spreader posture adjustment unit 12 and truck tray lock positioning unit 13; automatic operation detection module 2 includes truck anti-lifting unit 21. The collection card anti-movement unit 22 and the box bottom foreign object detection unit 23.

The rail crane positioning unit 11 is used for the rail crane to locate the target container; the spreader attitude adjustment unit 12 is used for obtaining target container information, so as to control the alignment of the spreader and the target container based on the target container information; the truck tray lock The positioning unit 13 is used to obtain the image of the truck tray lock head, so as to locate the position of the lock head based on the truck tray lock head image; the truck anti-lifting unit 21 is used to obtain the image information of the truck tray and the container to achieve Determine whether the truck is hoisted based on the image information of the truck and the container; the truck anti-moving unit 22 is used to obtain the image information of the truck to realize whether the parking position of the truck is shifted based on the image information of the truck; The foreign object detection unit 23 is used to obtain image information between the bottom of the container and the truck tray, so as to determine whether there is a foreign object at the bottom of the container based on the image information between the bottom of the container and the truck tray.

The rail hoist positioning unit 11 is the positioning of the space position of the rail hoist, which specifically includes the trolley positioning device 111, the trolley positioning device 112 and the lifting positioning device 113, which respectively realize the positioning of the trolley, the positioning of the trolley, and the lifting and positioning of the spreader ; The trolley positioning device 111 includes a trolley incremental encoder coaxially installed on the trolley motor and a radio frequency magnetic nail installed on the field. The information provided by the trolley incremental encoder and the radio frequency magnetic nail is mutually verified to achieve rail hoisting The positioning of the trolley; the trolley positioning device 112 includes a trolley incremental encoder coaxially installed on the trolley motor and a linear magnetic scale absolute encoder installed on the track beam of the trolley, through the trolley incremental encoder and linear magnetic scale absolute value The information provided by the encoder is mutually verified to realize the positioning of the rail crane trolley; the lifting positioning device 113 includes a lifting incremental encoder installed coaxially with the lifting motor and a three-in-one electronic cam installed coaxially with the wire rope drum. The absolute value encoder, through the mutual verification of the information provided by the lifting incremental encoder and the absolute value encoder, realizes the lifting positioning of the rail sling.

The rail hoist positioning unit 11 also includes a micro-motion positioning device 114, which includes four electric push rods with absolute encoders installed on the upper frame of the spreader, and the spreader is controlled by the four micro-motion motors. The positioning error in the direction of the cart and the cart.

The spreader attitude adjustment unit 12 includes a laser scanner, CPU, PLC, and micro-motion mechanism installed on the rail crane; the laser scanner is used to scan the target container to obtain target container information. The target container information includes but is not limited to the height of the container, Information such as length, box outline and/or lock head position of the truck tray on the land side; CPU, used to receive the target container information obtained by the laser scanner, and perform calculation processing on the target container information, and assign PLC control spreaders based on the processing results The direction and displacement of the micro-motion mechanism on the rack can realize the horizontal displacement and horizontal rotation of the spreader relative to the zero position of the spreader, eliminate the positional deviation of the spreader and the target container, and realize the spreading of the spreader and the target container. Accurate alignment.

The truck tray lock positioning unit 13 includes a number of lifting devices installed on one side of the truck track and a camera installed on the lifting device. The other side of the truck track is equipped with an isolation plate marked with a detection scale. The camera is adjusted based on the lifting device. Highly align the lock head to shoot. Each camera captures the projection of the lock head on the scale of the isolation plate. Based on the projection of the lock head captured by the camera on the isolation plate, calculate the position of the lock head, and then integrate all the camera shots. According to the image, the precise position of the lock head is calculated according to the box type and the vehicle type, and the lock head can be positioned, thereby realizing the accurate positioning of the target container.

The truck anti-lifting unit 21 includes a camera installed on the side or rear of the truck road, used to collect the image information of the truck and the container during the unloading process, and perform the anti-lifting detection judgment after image analysis. At the start, the alarm information is output, and the lifting operation is automatically stopped. At the same time, the image obtained by the camera is displayed on the remote monitoring screen. The remote operator can confirm whether the current alarm is a false alarm or a real alarm through the image display. If it is a false alarm, eliminate it The automatic operation of alarm recovery, if the alarm is true, follow up troubleshooting.

The truck anti-movement unit 22 includes a camera installed on the side or rear of the truck road to obtain the image information of the truck during the descent of the spreader. After image analysis, the truck parking position is detected and judged. When a movement occurs, the alarm information is output, and the spreader is automatically stopped from falling, and the image obtained by the camera is displayed on the remote monitoring screen. The remote operator can confirm whether the current alarm is a false alarm or a real alarm through the image display, if it is a false alarm , Then eliminate the alarm and resume the automatic operation. If the alarm is true, perform the follow-up troubleshooting.

In a specific embodiment of the present application, the detection and determination of the parking position of the truck specifically includes: the camera obtains the image information of the truck at a set time interval, such as 0.5 seconds, or obtains the use of the video stream of the truck, after image or video analysis After judging that the location of the collection card has moved, add 1 to the movement judgment flag, and then continuously judge whether the location of the collection card has moved, and add 1 to the judgment flag every time it occurs. If within the set time period, such as 2 seconds, the judgment flag If the accumulated value exceeds 5 times, it is determined that the truck parking position has moved.

The foreign body detection unit 23 at the bottom of the box includes a number of cameras installed on the side of the lane of the truck crossing area to obtain the image information between the bottom of the container and the truck tray. After image analysis, it is judged whether there is a foreign body at the bottom of the box. If there is a foreign body, output Alarm information, and automatically stop the lifting/lowering of the spreader, and display the image obtained by the camera on the remote monitoring screen. The remote operator can confirm whether the current alarm is a false alarm or a real alarm through the image display. If it is a false alarm, the alarm will be eliminated Resume the automatic operation, if the alarm is true, proceed to the follow-up troubleshooting.

In combination with the above described alarm methods in the truck anti-lifting unit 21, the truck anti-movement unit 22, and the box bottom foreign object detection unit 23, the automatic job detection module 2 in the embodiment of the present application further includes a detection abnormality processing unit 24 for in the collection When the card is hoisted, the truck parking position is shifted, and/or there is a foreign object at the bottom of the box, an alarm message is issued, and the abnormal information is displayed on the remote monitoring screen, and the remote monitoring command is received and executed; the remote monitoring command is to continue the automated operation Order or stop the automated operation order.

Based on the above-mentioned automated container terminal yard land-side automated operation system, a specific embodiment is used to illustrate the control method and operation process based on the automated container terminal yard land-side automated operation system.

If receiving the container operation instruction sent by the automated rail crane control system, the rail crane positioning unit 11 controls the rail crane truck and trolley to run above the target container of the land-side truck, and controls the spreader to descend; the spreader attitude adjustment unit controls The spreader moves in the horizontal plane to eliminate the position deviation between the spreader and the target container, and realize the alignment of the spreader and the target container; after the spreader lifts the container, the truck anti-lifting unit judges whether the truck is lifted. When being hoisted, the detection abnormality processing unit 24 issues an alarm message and stops the lifting action; and, when the container is hoisted by the spreader, the box bottom foreign object detection unit detects whether there is a foreign object at the bottom of the box, and sends an alarm message when there is a foreign object And stop the lifting action of the spreader; display the abnormal information on the remote monitoring screen, and receive and execute the remote monitoring instruction. The remote monitoring instruction here is the instruction to continue the automation operation or the instruction to stop the automation operation.

If receiving the box dispatching operation instruction sent by the automated rail crane control system, the rail crane positioning unit 11 controls the spreader and the box to move above the land-side target truck, and the truck tray lock positioning unit is 13 yuan to locate the lock. The spreader attitude adjustment unit 12 controls the translation of the spreader in the horizontal plane to eliminate the positional deviation between the container lifted by the spreader and the lock head of the target truck tray, and realize the alignment between the container lifted by the spreader and the lock head of the target truck tray ; During the lowering of the spreader, the truck anti-movement unit 22 determines whether the target truck parking position has shifted, and when the shift occurs, the abnormality processing unit 24 detects an alarm and stops the lowering action of the spreader, and the abnormal information Display on the remote monitoring screen, receive and execute remote monitoring instructions; and, during the lowering of the spreader, the box bottom foreign object detection unit 23 detects whether there is a foreign object at the bottom of the box, and when there is a foreign object, the abnormal detection processing unit 24 issues an alarm message and stops the lifting It has a descending action; and displays abnormal information on the remote monitoring screen, and receives and executes remote monitoring instructions. The remote monitoring instructions here are instructions to continue or stop automated operations.

The land-side automated operation system and method of the automated container terminal yard proposed in the present application includes an automatic loading module and an automatic operation detection module, wherein a rail crane positioning unit, a spreader attitude adjustment unit and a truck tray lock positioning unit The automatic loading module is formed together to realize the precise positioning between the spreader, the container and the truck tray, which greatly improves the success rate of the rail crane automatically picking and placing the container from the truck; the truck anti-lifting unit, the truck anti-movement The unit and the foreign body detection unit at the bottom of the box together form an automatic operation detection module to ensure that manual inspection is not required when the track hanging side and the truck interact with each other. Automatic detection technology is used instead of manual inspection, and the fully automated operation on the track hanging side is solved. It solves the technical problem that the land side of the existing automated container terminal requires manual intervention and inspection when realizing automated operation, improves the automation of land side operations, greatly saves operation time, improves production efficiency, and avoids safety caused by abnormalities. Production hazards.

It should be pointed out that the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by those skilled in the art within the essential scope of the present invention, It should also belong to the protection scope of the present invention.

Claims

The land-side automatic operation system of an automated container terminal yard is characterized by comprising an automatic loading module and an automatic operation detection module; the automatic loading module includes a rail crane positioning unit, a spreader attitude adjustment unit and a truck tray lock Positioning unit; the automatic operation detection module includes a collection card anti-lifting unit, a collection card anti-movement unit and a box bottom foreign body detection unit;

The track crane positioning unit is used for the track crane to position the target container; the spreader posture adjustment unit is used for acquiring and controlling the alignment of the spreader and the target container based on the target container information; the truck tray lock The head positioning unit is used to obtain and locate the position of the lock head based on the image of the lock head of the truck tray;

The truck anti-lifting unit is used to acquire and determine whether the truck is hoisted based on the image information of the truck and the container; the truck anti-moving unit is used to acquire and determine whether the truck is hoisted based on the image information of the truck Whether the parking position is shifted; the box bottom foreign object detection unit is used to obtain and determine whether there is a foreign object at the bottom of the box based on the image information between the bottom of the container and the truck tray.
The land-side automated operation system of an automated container terminal yard according to claim 1, wherein the track crane positioning unit includes a cart positioning device, a trolley positioning device and a lifting positioning device;

The trolley positioning device includes a trolley incremental encoder coaxially installed on the trolley motor and radio frequency magnetic nails installed on the field. The large trolley incremental encoder and the information provided by the radio frequency magnetic nails Car positioning

The trolley positioning device includes a trolley incremental encoder coaxially installed on the trolley motor and a linear magnetic scale absolute encoder installed on the rail beam of the trolley, through which the trolley incremental encoder and the linear magnetic scale absolute value encoder The information provided by the encoder realizes the positioning of the trolley;

The lifting positioning device includes a lifting incremental encoder coaxially installed with a lifting motor and an absolute value encoder coaxially installed with the steel wire rope drum, through which the lifting incremental encoder and the absolute value encoder The provided information realizes lifting positioning.
The land-side automated operation system of an automated container terminal yard according to claim 2, wherein the spreader attitude adjustment unit comprises a laser scanner, a CPU, a PLC and a micro-motion mechanism installed on a rail hoist;

The laser scanner is configured to scan a target container to obtain the target container information, and the target container information includes height, length, box outline and/or land-side truck tray lock position information; the CPU is used for Receive and process the target container information, and assign the PLC to control the direction and displacement of the micro-motion mechanism based on the processing result.
The land-side automated operation system of an automated container terminal yard according to claim 2, wherein the rail crane positioning unit further comprises a micro-movement positioning device, and the micro-movement positioning device includes four slings mounted on the upper rack. The electric push rod with absolute encoder adjusts the positioning error of the spreader in the direction of the cart and the cart through the control of four micro-motion motors.
The land-side automated operation system of an automated container terminal yard according to claim 1, wherein the truck tray lock head positioning unit includes a plurality of lifting devices installed on one side of the truck track and installed on the lifting device The camera is installed on the other side of the truck road with an isolation board marked with a detection scale, and the lock is positioned based on the projection of the lock on the isolation board captured by the camera.
The land-side automated operation system of an automated container terminal yard according to claim 1, wherein the truck anti-lifting unit includes a camera installed on the side or rear of the truck road for collecting and unloading. Collect the image information of cards and containers.
The land-side automated operation system of an automated container terminal yard according to claim 1, wherein the truck anti-movement unit includes a camera installed on the side or the rear of the truck lane for capturing the descent process of the spreader Image information of CIMC Card.
The land-side automated operation system of an automated container terminal yard according to claim 1, wherein the foreign body detection unit at the bottom of the container includes a plurality of cameras installed on one side of the lane of the truck crossing area to obtain the bottom and the collection of the container. Image information between carts and trays.
The land-side automated operation system of an automated container terminal yard according to claim 1, wherein the automatic operation detection module further includes a detection abnormality processing unit, which is used to detect when the truck is hoisted and the truck parking position occurs. When there is a foreign object in the position and/or the bottom of the box, an alarm message is issued, and the abnormal information is displayed on the remote monitoring screen, and the remote monitoring instruction is received and executed; the remote monitoring instruction is an instruction to continue or stop an automated operation.
The land-side automated operation control method of an automated container terminal yard is applied to the land-side automated operation system of an automated container terminal yard according to any one of claims 1-9, and includes the following steps:

If receiving the instruction of the container operation, the rail crane positioning unit controls the rail crane trolley and trolley to run above the target container of the land-side truck and controls the spreader to descend; the spreader attitude adjustment unit controls the spreader to be on the horizontal plane In order to eliminate the positional deviation between the spreader and the target container, and realize the alignment of the spreader and the target container; after the spreader lifts the container, the truck anti-lifting unit judges whether the truck is When lifting, an alarm message is issued and the lifting action is stopped; and, during the lifting of the container by the spreader, the foreign body detection unit at the bottom of the box detects whether there is a foreign body at the bottom of the box, sends an alarm message when there is a foreign body, and stops the lifting action of the spreader;

If a container dispatching operation instruction is received, the track crane positioning unit controls the spreader belt box to run above the land-side target truck, the truck tray lock positioning unit positions the lock, and the spreader posture adjustment The unit controls the spreader to move in the horizontal plane to eliminate the position deviation between the container lifted by the spreader and the lock head of the target truck tray, and realize the alignment between the container lifted by the spreader and the lock head of the target truck tray; the spreader is lowered During the process, the truck anti-movement unit judges whether the parking position of the target truck is shifted, and sends an alarm message when the shift occurs, and stops the lowering action of the spreader; and, during the lowering of the spreader, the foreign object at the bottom of the box is detected The unit detects whether there is a foreign body at the bottom of the box, and sends an alarm message when there is a foreign body and stops the lowering of the spreader.