CN101891117A - Container loading and unloading automatic control system under shore bridge - Google Patents
Container loading and unloading automatic control system under shore bridge Download PDFInfo
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- CN101891117A CN101891117A CN2009101981259A CN200910198125A CN101891117A CN 101891117 A CN101891117 A CN 101891117A CN 2009101981259 A CN2009101981259 A CN 2009101981259A CN 200910198125 A CN200910198125 A CN 200910198125A CN 101891117 A CN101891117 A CN 101891117A
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Abstract
The invention relates to a container loading and unloading automatic control system under a shore bridge, which moves a shore bridge cab control system into a cab above or below a second cross beam of the shore bridge in the mode of separating the shore bridge cab control system and a trolley. The container loading and unloading automatic control system under a shore bridge can monitor a hanger under the trolley and the container in real time through cameras and a laser scanner arranged on the trolley, identify images of container corners and frames through cameras arranged on four corners of the hanger, carry out positioning monitoring and container number identification to the container under the shore bridge through an image identifying monitor and a laser scanning truck positioning system which are arranged on the movable cab and the second cross beam, and transmit data in a second cross beam control system to a main control chamber so as to automatically load and unload the container over long distance.
Description
Affiliated technical field
These practical innovation and creation relate to the bank bridge when loading and unloading container, bank bridge driver does not follow dolly to move, and bank bridge operator's compartment moves in bank bridge certain location, by picture control, identification and laser ranging location, realize loading and unloading operation, especially be fit to the container handling operation of bank bridge double-box hanger.
Background technology
At present, during the container terminal loading and unloading freight container, bank bridge driver follows dolly to move together, observes the position of freight container downwards from nearly 100 meters high-altitude, carries out loading and unloading operation, long-term operation, increase bank bridge driver's vision and cervical vertebra fatigue, brought occupational disease for bank bridge driver, on the other hand, bank bridge driver catches the freight container reference position certain difficulty, and the contraposition of two suspenders of special opposite bank bridge and freight container is just difficult more.
Summary of the invention
In order to realize separating of bank bridge bridge control system and dolly, alleviate bank bridge driver's operation fatigue, a movably control system switching controls of the operator's compartment on operator's compartment and the former dolly is being installed in employing on two crossbeams of bank bridge, camera and laser scanner are installed to cabin with ship deck is made a video recording and laser scanning and ranging on dolly, on four angles of bank bridge crane tool camera being installed equally makes a video recording to container angle eye and frame, recognition image information and ranging information are transferred to bank bridge two crossbeams movably in the operator's compartment by wired and wireless mode, same on two crossbeams and the operator's compartment that moves image recognition control monitor unit and the laser-scan truck position fixing system location to freight container and truck also is installed, make things convenient for bank bridge loading and unloading operation, improve handling speed, solve separating of bank bridge driver's cab and dolly, realized automation control.
The objective of the invention is to be achieved by following technical proposals:
Movably an operator's compartment or a fixing operator's compartment are installed on two crossbeams of bank bridge, this operator's compartment can be installed in two crossbeams top, also can be installed in two crossbeams below, move by track, bank bridge driver has only the position of tens meters height Real Time Observation empty set card and real truck under distance between two suspenders and the bank bridge in two crossbeam operator'ies compartment, the data that the image recognition control monitor unit of the operator's compartment that is installed in two crossbeams simultaneously and moves and laser-scan truck position fixing system are observed and measured are by image recognition, operation is carried out in the position of image monitoring and PLC control suspender.By pattern recognition device case number (CN) is carried out data acquisition simultaneously, carry out data handing, realize the judgement of loading and unloading operation under the bridge crane to Central Control Room.
Four cameras are installed on four angles of suspender four the angle eyes and the frame of freight container carried out picture control and the identification of angle eye frame, be transferred to operator's compartment display system on two crossbeams, differentiate loading and unloading operation by the people by wired and wireless mode.
The monitoring in real time in the loading and unloading moving process of camera and laser scanner is being installed on the dolly.When moving to the top of ship, by laser scanner measurement on the dolly to container position, provide altitude information that spreader height is controlled by PLC by coder, realize the crashproof function of lifting, the surveillance map image signal of the camera on the dolly offers two crossbeam operator'ies compartment in real time, monitor and loading and unloading operation, also the data transmission in the two crossbeam bridge control systems can be realized remote container loading-unloading automatic to Central Control Room.
The beneficial effect of the invention is: the contraposition by being installed in the easier realization suspender of mobile operator's compartment and freight container on two crossbeams and operator's compartment separate with dolly, solved driver's occupational disease, reduce labour intensity, by laser measurement location and picture control and image container number is discerned, realized the automation control of bank bridge.
Description of drawings
Below in conjunction with drawings and Examples the invention is further specified:
Figure (1) is the section-drawing of the invention
Figure (2) is the electrical equipment control figure of the invention
1. move laser-scan truck position fixing system among the figure, 2. move the image recognition control monitor unit, 3. track, 4. laser-scan truck position fixing system, 5. image recognition control monitor unit, 6. display system, 7. bank bridge, 8. operator's compartment under two crossbeams, 9. operator's compartment on two crossbeams, 10. suspender camera, 11. suspender, camera on 12. dollies, laser scanner on 13. dollies, 14. dolly, 15. coders, 16.PLC control system, 17. empty real truck, 18. tracks, freight container on 19. ships.
The specific embodiment
Shown in Fig. 1: when top at empty and real truck (17) of dolly (14) motion, one of the two crossbeams installation of bank bridge (7) is operator's compartment (9) or fixing operator's compartment (9) movably.The top (8) that this operator's compartment can be installed in two crossbeams also can be installed in two crossbeams belows (9) and move by track (18).Bank bridge driver oneself moves to any track (3) top in two crossbeam operator'ies compartment (9), have only the position of tens meters height Real Time Observation empty set card (17) and real truck (17) under distance between two suspenders (11) and the bank bridge.The data that the mobile pattern recognition system (2) (5) of the operator's compartment that is installed in two crossbeams simultaneously and moves and laser-scan truck position fixing system (1) (4) are observed and measured are carried out operation by the position of image recognition (2) (5) picture control and PLC (16) control suspender (11).By pattern recognition device (2) (5) case number (CN) is carried out data acquisition simultaneously, carry out data handing to Central Control Room and realize loading and unloading operation under the bridge crane.
Shown in Fig. 1, four cameras (10) are installed to four angle eyes of freight container (19) on freight container on the truck (17) and the ship with frame carries out picture control and four angle eye frames are monitored on four angles of suspender (11).Transmit display system in the operator's compartment that closes on two crossbeams (6) by wired and wireless mode and judge loading and unloading operation by chaufeur.
Shown in figure (1), laser scanner (13) monitoring in real time in the loading and unloading moving process on camera (12) and the dolly is installed on the dolly.When the freight container that moves to ship (19) when top by dolly on the data of the freight container that measures of laser scanner (13) provide altitude information that suspender (11) is highly controlled by PLC control system (16) by coder (15), realize the crashproof function of loading and unloading, the surveillance map image signal of camera on the dolly (12) offers the display system (6) of two crossbeam operator'ies compartment (8) in real time and monitors and loading and unloading operation, finishes whole handling process.
Claims (7)
1. container loading-unloading automatic control system under the bank bridge, it is characterized in that, it comprises: An Qiao, two crossbeam operator'ies compartment, suspender, camera, laser scanner, coder, PLC, display system, image recognition control monitor unit, laser-scan truck position fixing system are formed, it is characterized in that a mobile operator's compartment has been installed on two crossbeams of bank bridge, the bridge control system on the dolly is switched to two crossbeam operator'ies compartment.
2. according to claim 1, container loading-unloading automatic control system under the described bank bridge has camera and laser scanner on the dolly, a plurality of cameras are arranged on the suspender.
3. according to claim 1, container loading-unloading automatic control system under the described bank bridge has the image display system suspender control system of unifying in the two crossbeam operator'ies compartment.
4. according to claim 1, container loading-unloading automatic control system under the described bank bridge, certain position that two crossbeam operator'ies compartment can move and lock by track.
5. according to claim 1, container loading-unloading automatic control system under the described bank bridge has image recognition control monitor unit and laser-scan truck position fixing system on two crossbeams.
6. according to claim 1, container loading-unloading automatic control system under the described bank bridge, the control system of two crossbeam operator'ies compartment also can be controlled by being transferred to Central Control Room.
7. according to claim 1, container loading-unloading automatic control system under the described bank bridge, the image recognition control monitor unit is made up of camera and case number (CN) means of identification.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101981259A CN101891117B (en) | 2009-11-03 | 2009-11-03 | Automatic control system for loading and unloading containers under shore bridge |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101981259A CN101891117B (en) | 2009-11-03 | 2009-11-03 | Automatic control system for loading and unloading containers under shore bridge |
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| Publication Number | Publication Date |
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| CN101891117A true CN101891117A (en) | 2010-11-24 |
| CN101891117B CN101891117B (en) | 2012-05-23 |
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| CN2009101981259A Active CN101891117B (en) | 2009-11-03 | 2009-11-03 | Automatic control system for loading and unloading containers under shore bridge |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102436203A (en) * | 2011-08-17 | 2012-05-02 | 深圳市锐能机械有限公司 | Automatic container check and monitoring system |
| CN104683772A (en) * | 2015-03-23 | 2015-06-03 | 广州港集团有限公司 | Port container all-directional pattern recognition and tally information monitoring system and corresponding monitoring method |
| CN106477457A (en) * | 2015-09-01 | 2017-03-08 | 张紫勇 | Container sling intelligent and safe case apparatus |
| CN106516990A (en) * | 2017-01-06 | 2017-03-22 | 北京国泰星云科技有限公司 | Container wharf field bridge anti-collision control system and method based on object contour tracing |
| CN107089599A (en) * | 2017-06-29 | 2017-08-25 | 北京国泰星云科技有限公司 | The suspender safety anticollision system and method recognized based on container case area contoured three-dimensional |
| CN108036778A (en) * | 2017-12-26 | 2018-05-15 | 清华大学 | Container automatic recognition system and recognition methods and port facilities |
| CN108358052A (en) * | 2018-01-12 | 2018-08-03 | 中国葛洲坝集团第工程有限公司 | A kind of fortune tank car trailing type shoulder pole girder conveying device |
| CN108681702A (en) * | 2018-05-11 | 2018-10-19 | 中远网络物流信息科技有限公司 | A kind of container handling stowage shellfish position information determines method and system |
| CN108946481A (en) * | 2018-08-06 | 2018-12-07 | 武汉港迪智能技术有限公司 | A kind of railway container gantry crane tele-control system |
| CN109795892A (en) * | 2017-11-17 | 2019-05-24 | 上海海勃物流软件有限公司 | A kind of container handling ship case position automatic recognition system and recognition methods |
| CN110104563A (en) * | 2019-04-02 | 2019-08-09 | 广东博智林机器人有限公司 | A kind of more car body row crane systems of single-beam and fault handling method |
| CN110345927A (en) * | 2019-07-10 | 2019-10-18 | 湖北三环智能科技有限公司 | The positioning system and localization method of the loading position AGV under a kind of gantry crane |
| CN112623957A (en) * | 2020-12-17 | 2021-04-09 | 江阴帕沃特起重机械有限公司 | Intelligent hoisting device for battery replacement station and use method thereof |
| CN115180304A (en) * | 2022-06-13 | 2022-10-14 | 厦门盈趣汽车电子有限公司 | Container shipment auxiliary positioning system |
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| CN201161875Y (en) * | 2007-11-13 | 2008-12-10 | 上海明路绳网索具有限公司 | Collection card laser contraposition and spreader control installation under travelling bridge |
| CN101492142B (en) * | 2009-02-27 | 2010-09-15 | 大连华锐股份有限公司 | Ingot gripper crane and operation method |
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- 2009-11-03 CN CN2009101981259A patent/CN101891117B/en active Active
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102436203A (en) * | 2011-08-17 | 2012-05-02 | 深圳市锐能机械有限公司 | Automatic container check and monitoring system |
| CN104683772A (en) * | 2015-03-23 | 2015-06-03 | 广州港集团有限公司 | Port container all-directional pattern recognition and tally information monitoring system and corresponding monitoring method |
| CN106477457A (en) * | 2015-09-01 | 2017-03-08 | 张紫勇 | Container sling intelligent and safe case apparatus |
| CN106516990A (en) * | 2017-01-06 | 2017-03-22 | 北京国泰星云科技有限公司 | Container wharf field bridge anti-collision control system and method based on object contour tracing |
| CN106516990B (en) * | 2017-01-06 | 2018-03-13 | 北京国泰星云科技有限公司 | Container terminal field bridge anti-collision control system and method based on object contour tracking |
| CN107089599A (en) * | 2017-06-29 | 2017-08-25 | 北京国泰星云科技有限公司 | The suspender safety anticollision system and method recognized based on container case area contoured three-dimensional |
| CN107089599B (en) * | 2017-06-29 | 2018-10-19 | 北京国泰星云科技有限公司 | Suspender safety anticollision system and method based on the identification of container case area contoured three-dimensional |
| WO2019000859A1 (en) * | 2017-06-29 | 2019-01-03 | 北京国泰星云科技有限公司 | Safe anti-collision system and method for lifting appliance based on three-dimensional recognition of container area outline |
| CN109795892A (en) * | 2017-11-17 | 2019-05-24 | 上海海勃物流软件有限公司 | A kind of container handling ship case position automatic recognition system and recognition methods |
| CN108036778A (en) * | 2017-12-26 | 2018-05-15 | 清华大学 | Container automatic recognition system and recognition methods and port facilities |
| CN108036778B (en) * | 2017-12-26 | 2024-04-02 | 清华大学 | Container automatic identification system and identification method and port facility |
| CN108358052A (en) * | 2018-01-12 | 2018-08-03 | 中国葛洲坝集团第工程有限公司 | A kind of fortune tank car trailing type shoulder pole girder conveying device |
| CN108681702B (en) * | 2018-05-11 | 2020-10-23 | 中远海运科技(北京)有限公司 | Method and system for determining loading and unloading stowage decibel information of container |
| CN108681702A (en) * | 2018-05-11 | 2018-10-19 | 中远网络物流信息科技有限公司 | A kind of container handling stowage shellfish position information determines method and system |
| CN108946481A (en) * | 2018-08-06 | 2018-12-07 | 武汉港迪智能技术有限公司 | A kind of railway container gantry crane tele-control system |
| CN110104563A (en) * | 2019-04-02 | 2019-08-09 | 广东博智林机器人有限公司 | A kind of more car body row crane systems of single-beam and fault handling method |
| CN110345927A (en) * | 2019-07-10 | 2019-10-18 | 湖北三环智能科技有限公司 | The positioning system and localization method of the loading position AGV under a kind of gantry crane |
| CN112623957A (en) * | 2020-12-17 | 2021-04-09 | 江阴帕沃特起重机械有限公司 | Intelligent hoisting device for battery replacement station and use method thereof |
| CN115180304A (en) * | 2022-06-13 | 2022-10-14 | 厦门盈趣汽车电子有限公司 | Container shipment auxiliary positioning system |
| CN115180304B (en) * | 2022-06-13 | 2024-02-06 | 厦门盈趣汽车电子有限公司 | Container shipment auxiliary positioning system |
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| CN101891117B (en) | 2012-05-23 |
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