CN108328480A - Gantry crane intelligence is to case system and method - Google Patents

Abstract

The invention discloses an intelligent box alignment system and method for a quayside crane. The system includes a bridge crane, a scanning device, a card collection guide display board, a controller and a PLC. Among them, the bridge crane includes a trolley running along the track, a spreader is installed under the trolley, a scanning device is installed in the middle of the left and right connecting beams of the bridge crane, and a collection card position display board is respectively installed on the four door legs of the bridge crane . The controller of the right contact beam is connected to the controller of the left contact beam through optical fiber, and then the controller of the left contact beam is further connected to the PLC, and the controller of the left contact beam is connected to the two collection cards on the sea and land sides of the right door leg for position display card, the controller of the right contact beam controls the two collection card position display cards connected to the sea and land sides of the left door leg. The scanning device detects the position of the collection truck or trailer in real time, and the controller performs data processing, communicates with the PLC, and controls the display of the collection truck position display board through the controller to guide the collection truck to the correct position.

Description

Intelligent tank matching system and method for quayside cranes

technical field

The present invention relates to a wharf control system and method, and more specifically, to an intelligent container alignment system and method for quayside cranes.

Background technique

With the rapid development of the global economy, port trade has become an important part of a country or region's economic development. Therefore, it is imperative to improve the efficiency of port operations.

The operation process of the traditional quay crane is to rely on human control of the spreader to carry out the operation of grabbing and putting boxes. The terminal driver can remotely control multiple quay bridges by himself in the central control room, but the change of the large vehicle is based on the 20/40/45-foot scale line on the lower beam on the sea side and draws 4 symmetrical lines on the display screen, according to the symmetry of the lines However, since the camera cannot guarantee a 100% installation level, the display line cannot be kept the same as the actual situation, resulting in low accuracy and inevitably resulting in low efficiency. However, due to long-time work driver fatigue and other reasons, accidents such as the spreader colliding with the box or smashing the box often occur, which not only reduces the efficiency of on-site operations, but also has great potential safety hazards.

In the traditional loading and unloading operation of the quay crane, the truck driver can only stop the truck based on manual experience, and there is often a large loading and unloading error between the truck and the crane spreader, and the truck driver has to adjust the truck repeatedly Position until the quay crane spreader can load and unload boxes, which reduces the work efficiency of the truck and quay crane.

Contents of the invention

Aiming at the problem of low working efficiency of trucks and quay cranes existing in the prior art, the object of the present invention is to provide an intelligent box alignment system and method for quay cranes.

To achieve the above object, the present invention adopts the following technical solutions:

An intelligent box-checking system for quayside cranes, including a crane, a scanning device, a card collection guide display board, a controller and a PLC. Among them, the bridge crane includes a trolley running along the track, a spreader is installed under the trolley, a scanning device is installed in the middle of the left and right connecting beams of the bridge crane, and a collection truck position display board is respectively installed on the four door legs of the bridge crane . Both the scanning device and the card position display board are connected to the controller, and one controller controls one scanning device, wherein the controller of the right contact beam is connected with the controller of the left contact beam through an optical fiber, and then the controller of the left contact beam is further connected PLC, the controller of the left connection beam controls the two collection card position display boards connected to the sea and land sides of the right door leg, and the controller of the right connection beam controls the two collection card position displays connected to the sea and land sides of the left door leg Card. The scanning device detects the position of the collection truck or trailer in real time, and the controller performs data processing, communicates with the PLC, and controls the display of the collection truck position display board through the controller to guide the collection truck to the correct position.

Further, the controller calculates the offset of the center of the truck relative to the center of the lane according to the scan data, and calibrates the position of the trolley through the controller.

Further, the controller calculates the inclination angle of the truck according to the scanning data, and calibrates the inclination angle of the spreader through the PLC.

Further, the scanning device is a 3D laser scanner.

Further, the card position display board includes the current working lane number, a display module for displaying distance and direction.

To achieve the above object, the present invention also adopts the following technical solutions:

An intelligent box-aligning method for quayside cranes, characterized in that it comprises: installing a scanning device at the middle position of the left and right connecting beams of the bridge crane, respectively installing a card position display board on the four door legs of the bridge crane; scanning Both the device and the card position display board are connected to the controller, and one controller controls one scanning device, wherein the controller of the right contact beam is connected with the controller of the left contact beam through optical fiber, and then the controller of the left contact beam is further connected to the PLC ;The controller of the left connection beam controls the connection to the two collection card position display boards on the sea and land sides of the right door leg, and the controller of the right connection beam controls the connection to the two collection card position display boards on the sea and land side of the left door leg; the scanning device real-time Detect the position of the collection truck or trailer and process the data by the controller, communicate with the PLC, and control the display of the collection truck position display board through the controller to guide the collection truck to the correct position.

Further, the offset of the center of the truck relative to the center of the lane is calculated according to the scan data, and the position of the car is calibrated.

Further, the inclination angle of the truck is calculated according to the scanning data, and the inclination angle of the spreader is calibrated.

In the above-mentioned technical solution, the system and method of the intelligent docking system and method of the quayside crane of the present invention detect the position information of the collection truck or the trailer through the laser and perform real-time data processing, and display in real time on the collection truck position display board that the correct parking position is in the direction of the cart. The distance deviation value above guides the truck driver to move the truck forward and backward, and quickly and accurately dock to the correct docking position, which greatly improves the working efficiency of the quay bridge; real-time detection of the truck or container relative to the center of the lane The offset and inclination of the line can be adjusted to adjust the position of the trolley and the inclination of the spreader, so as to realize the function of intelligent box alignment.

Description of drawings

Fig. 1 is the schematic diagram of hardware installation position of the present invention;

Fig. 2 is a system structure diagram of the present invention;

Fig. 3 is a display state diagram of the card collection position display board;

Fig. 4 is method flowchart of the present invention;

Fig. 5 is a flow chart of shipment of an embodiment of the present invention;

Fig. 6 is a flow chart of unloading a ship according to an embodiment of the present invention.

Detailed ways

The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Referring to Fig. 1 and Fig. 2, the present invention firstly discloses a quay crane intelligent box alignment system, and its main hardware equipment includes a bridge crane 1, a scanning device 2, a card position display board 3, a controller 4 and a PLC 5. As an embodiment of the present invention, the scanning device 2 includes a left side 3D laser 21 and a right side 3D laser 22, and the controller 4 includes a controller of the left connecting beam and a controller of the right connecting beam, but the above selection is only used as An embodiment of the present invention, but not a limitation of the present invention.

As shown in Fig. 1 and Fig. 2, the bridge crane 1 includes a trolley running along the track, and a spreader is arranged under the trolley. A 3D laser scanner is respectively installed in the middle of the left and right connecting beams of the bridge crane, that is, the left 3D laser 21 and the right 3D laser 22 respectively. The four door legs of the bridge crane are respectively provided with a collection card position display board 3. Specifically, according to the positions of the door legs, the collection card position display board 3 is respectively located on the right sea side door leg, the right land side door leg, the left Sea side door leg, left land side door leg. The scanning device 2 and the card position display board 3 are all connected to the controller 4, and one controller 4 controls one scanning device 2, wherein the controller of the right connecting beam is connected with the controller of the left connecting beam through an optical fiber, and then the left connecting beam The controller is further connected to PLC5. Wherein, the controller of the left connection beam controls the two collection card position display boards connected to the sea and land side of the right door leg, and the controller of the right connection beam controls the two collection card position display boards connected to the sea and land side of the left door leg.

As the control method of the present invention, the controller 4 performs the following data processing according to the scanning data of the scanning device 2:

1. Calculate the position of the collection card, and control the display of the collection card position display board 3 through the controller 4.

2. Calculate the offset of the center of the truck relative to the center of the lane, and transmit the data to the PLC, and calibrate the position of the car through the PLC.

3. Calculate the inclination angle of the truck, and send the data to the PLC, and calibrate the inclination angle of the spreader through the PLC.

As shown in FIG. 3 , the card collection position display board 3 includes display modules 31 , 32 , and 33 for displaying the number of the current working lane and displaying distance and direction. The truck position display board 3 is installed at the four door legs of the bridge crane, and is composed of a working lane number (module 31), a distance display (module 32) and a direction display (module 33).

Module 31 represents the working lane of the collection truck, for example, "5" in Fig. 3 indicates that the current collection truck should enter the No. 5 lane. Module 32 has two display modes: numbers and red lights. The number indicates the distance that the collection card needs to move. For example, if the module 32 displays 99, it means that the collection card moves 99cm. If the red light of the module 32 is on, it means that the position of the collection card is correct. Module 33 has two display modes: arrow and green light. When the arrow is up, it means that the collection truck needs to move forward; when the arrow is down, it means that the collection truck needs to retreat; when the green light is on, it means that the current lane is free; if the green light is flashing, it means that the collection truck can leave.

The intelligent container alignment system of the quayside bridge first obtains the collection truck guidance task information from the remote control interface of the driver's cab. The task information includes the collection truck operation lane number, the collection truck driving direction, and the position of the 20-foot box. The remote control interface of the driver's cab is embedded in the fault display of the quay crane driver's cab or the touch screen of the semi-automatic truck collection guidance system of the crane, consisting of the working lane number, start/stop and working status indicators. The status indicator is used to display the working status of the system in real time. When the collection truck enters the working lane and the system is detecting and guiding, the status indicator light is green; when the collection truck or trailer reaches the correct position, the status indicator light is red; the spreader completes loading/unloading and lifts to the specified After the altitude, the status indicator light is off, and the system is in idle state; if the system equipment fails, the status indicator light is yellow.

Referring to Fig. 4, the present invention also discloses a method for intelligent box alignment of quayside cranes corresponding to the above-mentioned system, which mainly includes the following steps:

S1: Install a 3D laser scanner in the middle of the left and right contact beams of the bridge crane, and set the card position display boards on the four door legs of the bridge crane.

S2: Both the scanning device and the card position display board are connected to the controller, and one controller controls one scanning device, wherein the controller of the right contact beam is connected with the controller of the left contact beam through an optical fiber, and then the controller of the left contact beam Further connect the PLC.

S3: The scanning device detects the position of the collection truck or trailer in real time, and the controller performs data processing, communicates with the PLC, and controls the display of the collection truck position display board through the controller to guide the collection truck to the correct position.

S4: The driver selects the working lane on the remote console in the cab, and the 3D laser scanner will scan the working lane.

S5: The controller calculates the offset of the center of the truck relative to the center of the lane based on the scan data, so as to calibrate the position of the trolley during semi-automatic operation.

S6: The controller calculates the inclination angle of the truck according to the scan data, and calibrates the inclination angle of the spreader through the PLC.

The above control method will be further described below through two embodiments.

As shown in Figure 5, the shipping process includes the following steps:

S51: The system enters a standby state.

S52: The cassette box enters the work area. At this time, the driver selects the working lane on the remote control interface of the cab, and the 3D laser scanner will scan the working lane.

S53: According to the scanning data of the 3D laser scanner, the quay crane intelligent container alignment system calculates the position of the collection truck or trailer in real time, and controls the collection truck position display board to display guidance information to guide the collection truck to stop at the correct position. For example: the display board prompts the collection card to move forward 99cm.

S54: The display board reminds the collection card to move forward slowly.

S55: The collection card arrives at the correct position.

When the collection truck reaches the correct position, the system of the present invention detects the offset of the collection truck center relative to the center of the lane according to the data scanned by the 3D laser scanner, thereby calibrating the position of the trolley during semi-automatic operation to ensure that the trolley stops at the collection truck directly above the . The controller will calculate the inclination angle of the truck according to the scan data, and calibrate the inclination angle of the spreader through the PLC, so as to realize the intelligent box alignment function.

S56: Complete the box grabbing operation, and lift the spreader.

S57: The hint set card can leave.

S58: The truck leaves empty.

As shown in Figure 6, the unloading process includes the following steps:

S61: The system enters a standby state.

S62: The empty container of the collecting truck enters the operation area. At this time, the driver selects the working lane on the remote console in the cab, and the 3D laser scanner will scan the working lane.

S63: According to the scanning data of the 3D laser scanner, the quay crane intelligent container alignment system calculates the position of the collection truck or trailer in real time, and controls the location display board of the collection truck to display guidance information to guide the collection truck to stop at the correct position. For example: the display board prompts the collection card to move forward 99cm.

S64: The display board reminds the collection card to move forward slowly.

S65: The collection card reaches the correct position.

When the collection truck reaches the correct position, the system of the present invention detects the offset of the collection truck center relative to the center of the lane according to the data scanned by the 3D laser scanner, thereby calibrating the position of the trolley during semi-automatic operation to ensure that the trolley stops at the collection truck directly above the . The controller will calculate the inclination angle of the truck according to the scan data, and calibrate the inclination angle of the spreader through the PLC, so as to realize the intelligent box alignment function.

S66: The operation of unloading the box is completed, and the spreader is lifted.

S67: The hint set card can leave.

S68: The collection box leaves.

In summary, the system and method of the present invention can solve the following technical problems:

1. Detect the truck entering the working lane.

2. Real-time detection of the collection card position, guide the collection card to the correct position.

3. Realize the position detection function of trucks or containers

4. Realize the inclination detection function of trucks or containers.

5. Realize the remote control function of the cab.

In addition, the system of the present invention uses the above technical solution to display the distance deviation value from the correct parking position in the direction of the cart in real time on the truck position display board to guide the truck driver to move the truck forward and backward, quickly and efficiently. Accurately dock to the correct docking position, which greatly improves the working efficiency of the quay crane; real-time detection of the offset and inclination of the truck or container relative to the center line of the lane, so as to adjust the position of the trolley and the inclination of the spreader, so as to realize intelligent function of the box.

Those of ordinary skill in the art should recognize that the above embodiments are only used to illustrate the present invention, rather than as a limitation to the present invention, as long as within the scope of the spirit of the present invention, the above-described embodiments Changes and modifications will fall within the scope of the claims of the present invention.

Claims (8)

1. a kind of gantry crane intelligence is to case system, including bridge crane, scanning means, truck guiding display board, controller and PLC, special Sign is：

The bridge crane includes the trolley of orbiting, and suspender is equipped with below the trolley；

A scanning means is respectively installed in the centre position of the left and right connection beam of the bridge crane, is set respectively on four door legs of bridge crane There is collection card position display board；

The scanning means sum aggregate card position display board is connected to controller, and a controller controls a scanning means, The controller of middle right side connection beam is connected by optical fiber with the controller of Left-wing Federation binder, and then the controller of Left-wing Federation's binder is further PLC is connected, two of the controller control connection offside door leg sea land side of Left-wing Federation's binder collect card position display boards, right association beam Two collection card position display boards of controller control connection offside door leg sea land side；

The scanning means detects the position of truck or trailer and carries out data processing by the controller in real time, with the PLC Communication, and by the display of the controller domination set card position display board, guiding set is snapped into up to correct position.

2. gantry crane intelligence as described in claim 1 is to case system, it is characterised in that：

The controller calculates offset of the truck center relative to lane center according to scan data, and is calibrated by controller The position of the trolley.

3. gantry crane intelligence as described in claim 1 is to case system, it is characterised in that：

The controller calculates the inclination angle of truck according to scan data, and the inclination angle of suspender is calibrated by PLC.

4. gantry crane intelligence as described in claim 1 is to case system, it is characterised in that：

The scanning means is 3D laser scanners.

5. gantry crane intelligence as described in claim 1 is to case system, it is characterised in that：

The collection card position display board includes the display module in work at present track number, display distance and direction.

6. a kind of gantry crane intelligence is to case method, which is characterized in that including：

One scanning means is respectively installed in the centre position of the left and right connection beam of bridge crane, is respectively equipped on four door legs of bridge crane Collect card position display board；

Scanning means sum aggregate card position display board is connected to controller, and a controller controls a scanning means, wherein right The controller of side connection beam is connected by optical fiber with the controller of Left-wing Federation binder, and then the controller of Left-wing Federation's binder further connects PLC；Two collection card position display boards of the controller control connection offside door leg sea land side of Left-wing Federation's binder, the control of right association beam Two collection card position display boards of device control connection offside door leg sea land side；

Scanning means detects the position of truck or trailer and carries out data processing by the controller in real time, is communicated with the PLC, And by the display of the controller domination set card position display board, guiding set is snapped into up to correct position.

7. gantry crane intelligence as claimed in claim 6 is to case method, it is characterised in that：

Offset of the truck center relative to lane center is calculated according to scan data, and calibrates the position of the trolley.

8. gantry crane intelligence as claimed in claim 6 is to case method, it is characterised in that：

The inclination angle of truck is calculated according to scan data, and calibrates the inclination angle of suspender.