CN107200229A - Harbour container level carries unmanned vehicle and accepts system and accept method - Google Patents
Harbour container level carries unmanned vehicle and accepts system and accept method Download PDFInfo
- Publication number
- CN107200229A CN107200229A CN201710472420.3A CN201710472420A CN107200229A CN 107200229 A CN107200229 A CN 107200229A CN 201710472420 A CN201710472420 A CN 201710472420A CN 107200229 A CN107200229 A CN 107200229A
- Authority
- CN
- China
- Prior art keywords
- ranging information
- unmanned vehicle
- distance measuring
- adjustable height
- adapting table
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
- B65G63/06—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations with essentially-vertical transit
- B65G63/062—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations with essentially-vertical transit for articles
- B65G63/065—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations with essentially-vertical transit for articles for containers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Unmanned vehicle, which is carried, the present invention relates to a kind of harbour container level accepts system, including vehicle frame, in addition to the adapting table that profile is square；The position of any three in four angles of the adapting table is provided with three electric cylinders being hinged with the vehicle frame for promoting the adapting table motion；The position of correspondence three electric cylinders is additionally provided with three distance measuring sensors for being used to detect container on the adapting table；The undertaking system also includes controller, and the controller is connected with the distance measuring sensor and the electric cylinder；The controller is used for the ranging information for receiving three distance measuring sensors, and the control information for obtaining electric cylinder is calculated according to the ranging information.It is consistent with the posture of the container by adjusting the bearing platform on level carrying unmanned vehicle, impact during contact is reduced, the goods in container is protected.
Description
Technical field
The present invention relates to harbour container hoist controlling field, carried in particular to a kind of harbour container level
Unmanned vehicle accepts system and a kind of harbour container level carries unmanned vehicle and accepts method.
Background technology
In port container terminal, container needs to be lifted on carrier from containerized shipment ship, or from stockyard
It is lifted on the carrier, in the actual hoisting process of container, due to each side, the container of lifting and removes
The bearing platform of fortune car is all maintained at the horizontality of a high level unavoidably, in other words both be often difficult to reach one it is parallel
State, or even both docking plane angles decentralization shipping process in can progressively become big, cause the container with holding
Produce impact when connecing platform contact, for some fragile carrying kinds of goods, these impacts will damage goods, cause damage.
The content of the invention
The present invention in order to during solving existing container hanging, what container was produced when being contacted with carrier adapting table
The problem of temporary impact produces damaging impact to goods in container, it is proposed that a kind of to be adjusted according to the lifting posture of container
The harbour container level of whole adapting table posture carries unmanned vehicle, specifically carries nothing there is provided a kind of harbour container level
People's car accepts system, including vehicle frame, in addition to the adapting table that profile is square；It is any in four angles of the adapting table
The position of three is provided with three electric cylinders being hinged with the vehicle frame for promoting the adapting table motion；On the adapting table
The position of correspondence three electric cylinders is additionally provided with three distance measuring sensors for being used to detect container；The undertaking system is also
Including controller, the controller is connected with the distance measuring sensor and the electric cylinder；The controller is used to receive three
The ranging information of the distance measuring sensor, and the control information for obtaining electric cylinder, specifically, institute are calculated according to the ranging information
Stating ranging information includes the first ranging information h1 of the first distance measuring sensor of correspondence, the second ranging of the second distance measuring sensor of correspondence
Information h2, the 3rd ranging information h3 of the 3rd distance measuring sensor of correspondence, the controller is to the first ranging information h1, described
Second ranging information h2 and the 3rd ranging information h3 are ranked up acquisition ultimate range hmax, minimum range hmin and centre
Apart from hmid, the ultimate range hmax is subtracted into minimum range hmin and obtains the first adjustable height hs1, by the intermediate distance
Hmid subtracts minimum range hmin and obtains the second adjustable height hs2, and the controller controls the minimum range hmin corresponding
Electric cylinder is fixed, controls the corresponding electric cylinders of the ultimate range hmax to rise the first adjustable height hs1, during control is described
Between rise the second adjustable height hs2 apart from the corresponding electric cylinders of hmid.
Further, in addition to the pressure sensor that is arranged on the adapting table, the controller control it is described in
Between rise apart from the corresponding electric cylinders of hmid after the second adjustable height hs2, receive the pressure signal of the pressure sensor, judge
After threshold value, the adjustable height for controlling three electric cylinders is zero.
Further, in addition to the support base fixed on the vehicle frame with vehicle frame is arranged on, the height of the support base matches somebody with somebody
It is set to so that when the adjustable height of three electric cylinders is zero, the support base is contacted with the adapting table.
Further, the electric cylinder includes electric cylinder body and can be driven stretching for relatively described electric cylinder linear motion
Contracting bar, the expansion link end is hinged with adapting table, and the bottom of the electric cylinder body is hinged with vehicle frame.
Further, the distance measuring sensor is reflected infrared sensors or ultrasonic sensor.
On the other hand, based on above-mentioned undertaking system, nobody is carried present invention also offers a kind of harbour container level
Car accepts method, including：
The first ranging information h1 that S110, acquisition the first distance measuring sensor detection are obtained, the second ranging sensing
The second ranging information h2, the 3rd ranging information h3 that the 3rd distance measuring sensor detection is obtained that device detection is obtained；
S120, to the first ranging information h1, the second ranging information h2 and the 3rd ranging information h3 carry out
Sequence obtains ultimate range hmax, minimum range hmin and intermediate distance hmid；
S130, the ultimate range hmax is subtracted to minimum range hmin obtain the first adjustable height hs1, by the centre
Minimum range hmin, which is subtracted, apart from hmid obtains the second adjustable height hs2；
S140, the corresponding electric cylinders of the control minimum range hmin are fixed, control hmax pairs of the ultimate range
The electric cylinder answered rises the first adjustable height hs1, controls the corresponding electric cylinders of the intermediate distance hmid to rise the second lifting high
Spend hs2.
Further, also include after step s 140：
S150, the pressure signal for receiving the pressure sensor, judge to be more than after threshold value, control three electric cylinders
Adjustable height is zero.
Further, the step of adjustable height for three electric cylinders being controlled described in the step S150 is zero is wrapped
Include, disconnect the power supply signal of three electric cylinders.
Further, it is described to judge to include the step of being more than threshold value, the weight of the container is obtained, is judged more than described
The weight of container 2/3rds when for judge be more than threshold value.
The present invention is relative to prior art, by adjusting bearing platform and the container on level carrying unmanned vehicle
Posture is consistent, reduces impact during contact, protects the goods in container.
Brief description of the drawings
The features and advantages of the present invention can be more clearly understood from by reference to accompanying drawing, accompanying drawing is schematical without that should manage
Solve to carry out any limitation to the present invention, in the accompanying drawings：
Fig. 1 is that the harbour container level in some embodiments of the invention carries unmanned vehicle undertaking system structure diagram；
Fig. 2 shows for the state that the port container level in some embodiments of the invention carries unmanned vehicle undertaking system
It is intended to；
Fig. 3 is that the harbour container level in some embodiments of the invention carries the state signal that unmanned vehicle accepts system
Figure；
Fig. 4 is that the harbour container level in some embodiments of the invention carries the flow signal that unmanned vehicle accepts method
Figure.
Embodiment
It is below in conjunction with the accompanying drawings and specific real in order to be more clearly understood that the above objects, features and advantages of the present invention
Mode is applied the present invention is further described in detail.It should be noted that in the case where not conflicting, the implementation of the application
Feature in example and embodiment can be mutually combined.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still, the present invention may be used also
Implemented with being different from other modes described here using other, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
In harbour container automatic dock, container is using full-automatic lifting mode.Under normal conditions, by
In a variety of causes, it is difficult to ensure the plane of adapting table in the container base plane and unmanned vehicle of lifting largely flat
OK, when this results in container and adapting table contact larger unbalance loading can be brought to impact, not only kinds of goods more fragile in container
Subject to damage, also can cause greater impact to carrier vehicle body.The present invention is for this situation presents a kind of harbour container
Level carries unmanned vehicle and accepts system, operates on unmanned vehicle, and the posture of container is detected in hoisting process, and then adjustment is held
Connect the posture of platform so that there is more contact point when container is contacted with adapting table, reduce unbalance loading impact.
Specifically, as shown in figure 1, carrying unmanned vehicle the invention provides a kind of harbour container level accepts system 100,
Including vehicle frame 110, in addition to the adapting table 120 that profile is square；In four angles A, B, C, D of the adapting table 120
The position of any three is provided with three electric cylinders being hinged with the vehicle frame 110 for promoting the adapting table 120 to move
130；The position of correspondence three electric cylinders 130 is additionally provided with three and is used to detect container 200 on the adapting table 120
Distance measuring sensor 140；The undertaking system 100 also includes controller 150, the controller 150 and the distance measuring sensor 140
Connected with the electric cylinder 130；The controller 150 is used for the ranging information for receiving three distance measuring sensors 140, and root
The control information for obtaining electric cylinder 130 is calculated according to the ranging information, specifically, the ranging information includes the first ranging of correspondence
First ranging information h1 of sensor 141, the second ranging information h2 of the second distance measuring sensor 142 of correspondence, the 3rd ranging of correspondence
3rd ranging information h3 of sensor 143,150 pairs of controller the first ranging information h1, second ranging information
H2 and the 3rd ranging information h3 are ranked up acquisition ultimate range hmax, minimum range hmin and intermediate distance hmid, will
The ultimate range hmax subtracts minimum range hmin and obtains the first adjustable height hs1, and the intermediate distance hmid is subtracted most
Small distance hmin obtains the second adjustable height hs2, and the controller 150 controls the corresponding electric cylinders of the minimum range hmin
130 is fixed, controls the corresponding electric cylinders of the ultimate range hmax to rise the first adjustable height hs1, controls the centre
Rise the second adjustable height hs2 apart from the corresponding electric cylinders of hmid, while controlling two electric cylinders 130 to act.Lifting machine will
In the decentralization process of container 200, the detection of distance measuring sensor 140 and the distance of container 200 obtain packaging by three distance values
The posture of case 200, then by calculating adjustment electric cylinder 130 so that the posture of adapting table 120 and the posture pair of container 200
Should.As shown in Fig. 2 the container 200 then transferred is contacted with adapting table 120, impact is reduced, goods is protected.Pass through row
Sequence is found apart from maximum, median and minimum value, and obtains the difference relative to minimum value, is adjusted and held on the basis of minimum value
The posture of platform 120 is connect, the position of the corresponding adapting table 120 of minimum value is fixed, the one of correspondence maximum adapting table 120 is then adjusted
Angle, then adjusts another angle of the adapting table 120 of correspondence median, finally causes the posture and container 200 of adapting table 120
Posture is consistent.
After container 200 falls on adapting table 120, the electric cylinder 130 of support adapting table 120 will be by great role
Power, it is necessary to discharge the undertaking power of electric cylinder 130 after entirely falling within adapting table 120, protects electric cylinder 130, while also protecting
Unmanned vehicle is demonstrate,proved in ensuing handling process so that container 200 is fixed steadily, specifically, and the undertaking system 100 is also wrapped
The pressure sensor 160 being arranged on the adapting table 120 is included, the controller 150 is controlling hmid pairs of the intermediate distance
The electric cylinder 130 answered rises after the second adjustable height hs2, receives the pressure signal of the pressure sensor, judges to be more than threshold value
Afterwards, the adjustable height for controlling three electric cylinders 130 is zero.The power supply of specific cut-off electric cylinder 130, also can be actively
Control the extended length of electric cylinder 130.
In order to ensure that the adjustable height of the electric cylinder 130 becomes after zero, vehicle frame 110 can be accepted described in gentle support
Platform 120, in addition to the support base 112 fixed on the vehicle frame 110 with vehicle frame 110 is arranged on, the height of the support base 112 is matched somebody with somebody
It is set to so that when the adjustable height of three electric cylinders 130 is zero, the support base 112 is contacted with the adapting table 120,
Or after the driving power supply of the electric cylinder 130 is broken, adapting table 120 freely lands to be contacted with the support base 112, such as
Shown in Fig. 3.
The electric cylinder 130 includes electric cylinder body 131 and relatively described electric cylinder body 131 can be driven to move along a straight line
Expansion link 132, the end of expansion link 132 is hinged with adapting table 120, bottom and the vehicle frame 110 of the electric cylinder body 131
It is hinged.
The distance measuring sensor 140 is reflected infrared sensors or ultrasonic sensor, and the controller 150 is sent
Distance measuring instruction gives the distance measuring sensor 140, then receives the data of the distance measuring sensor 140, or inquiry correspondence caching
Read the data that distance measuring sensor 140 is returned in real time.
The present invention reduces the impact of container by pre-adjusting the posture of adapting table, protects kinds of goods, also protects
Carry unmanned vehicle.
Another aspect of the present invention, additionally provides a kind of harbour container level and carries unmanned vehicle undertaking method, including above-mentioned
Harbour container level carry unmanned vehicle accept system, as shown in figure 4, the undertaking method includes：
The first ranging information h1 that S110, acquisition the first distance measuring sensor detection are obtained, the second ranging sensing
The second ranging information h2, the 3rd ranging information h3 that the 3rd distance measuring sensor detection is obtained that device detection is obtained；
S120, to the first ranging information h1, the second ranging information h2 and the 3rd ranging information h3 carry out
Sequence obtains ultimate range hmax, minimum range hmin and intermediate distance hmid；
S130, the ultimate range hmax is subtracted to minimum range hmin obtain the first adjustable height hs1, by the centre
Minimum range hmin, which is subtracted, apart from hmid obtains the second adjustable height hs2；
S140, the corresponding electric cylinders of the control minimum range hmin are fixed, control hmax pairs of the ultimate range
The electric cylinder answered rises the first adjustable height hs1, controls the corresponding electric cylinders of the intermediate distance hmid to rise the second lifting high
Spend hs2.
By obtaining maximum, then the corresponding electric cylinder of fixed maximum values is different, adjusts other two electric cylinders so that
Posture is consistent.
In order to reduce the undertaking power of electric cylinder in transportation, also include after step s 140：
S150, the pressure signal for receiving the pressure sensor, judge to be more than after threshold value, control three electric cylinders
Adjustable height is zero.Or wrap the step of the adjustable heights of three electric cylinders is controlled described in the step S150 is zero
Include, disconnect the power supply signal of three electric cylinders.
It is described to judge to include the step of being more than threshold value, the weight of the container is obtained, is judged more than the container
Weight 2/3rds when for judge be more than threshold value.
In the present invention, term " first ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that indicate or
Imply relative importance.Term " multiple " refers to two or more, unless otherwise clear and definite restriction.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (9)
1. a kind of harbour container level carries unmanned vehicle and accepts system, including vehicle frame, it is characterised in that also including profile be four
Square adapting table；The position of any three in four angles of the adapting table is provided with three and is hinged use with the vehicle frame
In the electric cylinder for promoting the adapting table motion；The position of correspondence three electric cylinders is additionally provided with three on the adapting table
Distance measuring sensor for detecting container；The undertaking system also includes controller, and the controller is sensed with the ranging
Device and electric cylinder connection；The controller is used for the ranging information for receiving three distance measuring sensors, and according to described
Ranging information calculates the control information for obtaining electric cylinder, specifically, and the ranging information includes the first distance measuring sensor of correspondence
First ranging information h1, the second ranging information h2 of the second distance measuring sensor of correspondence, the 3rd of the 3rd distance measuring sensor of correspondence are surveyed
Away from information h3, the controller is to the first ranging information h1, the second ranging information h2 and the 3rd ranging information
H3 is ranked up acquisition ultimate range hmax, minimum range hmin and intermediate distance hmid, and the ultimate range hmax is subtracted
Minimum range hmin obtains the first adjustable height hs1, and the intermediate distance hmid is subtracted into minimum range hmin obtains second liter
Height hs2 drops, and the controller controls the corresponding electric cylinders of the minimum range hmin fixed, controls the ultimate range
The corresponding electric cylinders of hmax rise the first adjustable height hs1, control the corresponding electric cylinders of the intermediate distance hmid to rise second
Adjustable height hs2.
2. harbour container level according to claim 1 carries unmanned vehicle and accepts system, it is characterised in that also including setting
The pressure sensor being placed on the adapting table, the controller is controlling the corresponding electric cylinder risings of the intermediate distance hmid
After second adjustable height hs2, the pressure signal of the pressure sensor is received, judges to be more than after threshold value, controls three electricity
The adjustable height of dynamic cylinder is zero.
3. harbour container level according to claim 2 carries unmanned vehicle and accepts system, it is characterised in that also including setting
The support base fixed on the vehicle frame with vehicle frame is put, the level configurations of the support base is so that when three electric cylinders
When adjustable height is zero, the support base is contacted with the adapting table.
4. harbour container level according to claim 1 or 2 carries unmanned vehicle and accepts system, it is characterised in that described
Electric cylinder includes electric cylinder body and can be driven the expansion link of relatively described electric cylinder linear motion, the expansion link end with
Adapting table is hinged, and the bottom of the electric cylinder body is hinged with vehicle frame.
5. harbour container level according to claim 1 or 2 carries unmanned vehicle and accepts system, it is characterised in that described
Distance measuring sensor is reflected infrared sensors or ultrasonic sensor.
6. a kind of harbour container level carries unmanned vehicle and accepts method, it is characterised in that including any institute of Claims 1 to 5
The harbour container level stated carries unmanned vehicle and accepts system, and the undertaking method includes：
The first ranging information h1 that S110, acquisition the first distance measuring sensor detection are obtained, second distance measuring sensor is visited
The second the ranging information h2, the 3rd ranging information h3 that the 3rd distance measuring sensor detection is obtained measured；
S120, the first ranging information h1, the second ranging information h2 and the 3rd ranging information h3 are ranked up
Obtain ultimate range hmax, minimum range hmin and intermediate distance hmid；
S130, the ultimate range hmax is subtracted to minimum range hmin obtain the first adjustable height hs1, by the intermediate distance
Hmid subtracts minimum range hmin and obtains the second adjustable height hs2；
S140, the corresponding electric cylinders of the control minimum range hmin are fixed, control the ultimate range hmax corresponding
Electric cylinder rises the first adjustable height hs1, controls the corresponding electric cylinders of the intermediate distance hmid to rise the second adjustable height
hs2。
7. harbour container level according to claim 6 carries unmanned vehicle and accepts method, it is characterised in that in step
Also include after S140：
S150, the pressure signal for receiving the pressure sensor, judge to be more than after threshold value, control the lifting of three electric cylinders
Highly it is zero.
8. harbour container level according to claim 7 carries unmanned vehicle and accepts method, it is characterised in that the step
The step of adjustable height that three electric cylinders are controlled described in S150 is zero includes, and disconnects the power supply of three electric cylinders
Signal.
9. harbour container level according to claim 7 carries unmanned vehicle and accepts method, it is characterised in that the judgement
The step of more than threshold value, includes, and obtains the weight of the container, when judging to be more than 2/3rds of the weight of the container
To judge to be more than threshold value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710472420.3A CN107200229B (en) | 2017-06-21 | 2017-06-21 | Harbour container level carries unmanned vehicle and accepts system and accept method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710472420.3A CN107200229B (en) | 2017-06-21 | 2017-06-21 | Harbour container level carries unmanned vehicle and accepts system and accept method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107200229A true CN107200229A (en) | 2017-09-26 |
| CN107200229B CN107200229B (en) | 2019-06-25 |
Family
ID=59907073
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710472420.3A Expired - Fee Related CN107200229B (en) | 2017-06-21 | 2017-06-21 | Harbour container level carries unmanned vehicle and accepts system and accept method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107200229B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107650888A (en) * | 2017-10-10 | 2018-02-02 | 深圳市招科智控港口科技有限公司 | A kind of horizontal unmanned vehicle container of carrying of harbour container accepts system and method |
| CN108483044A (en) * | 2018-05-24 | 2018-09-04 | 上海福耀客车玻璃有限公司 | A kind of device automatically correcting an angle |
| CN108909575A (en) * | 2018-07-13 | 2018-11-30 | 利辛县风雅颂机电科技有限公司 | A kind of logistics transporting device of self-balancing |
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| CN1179765A (en) * | 1995-03-27 | 1998-04-22 | 东洋运搬机株式会社 | Container handling device and control system |
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| CN105246802A (en) * | 2013-03-27 | 2016-01-13 | Y·K·陈 | Frame structure for multi-storey container handling and storage facility |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3339092A1 (en) * | 1983-07-09 | 1985-01-24 | Blaser, René, Luzern | Device for transporting containers between container stores and at least one travelling gantry crane and for loading the containers from the crane onto a transporting apparatus and vice versa |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107650888A (en) * | 2017-10-10 | 2018-02-02 | 深圳市招科智控港口科技有限公司 | A kind of horizontal unmanned vehicle container of carrying of harbour container accepts system and method |
| CN107650888B (en) * | 2017-10-10 | 2020-04-21 | 深圳市招科智控科技有限公司 | Container receiving system and method for horizontally transporting unmanned vehicles for port containers |
| CN108483044A (en) * | 2018-05-24 | 2018-09-04 | 上海福耀客车玻璃有限公司 | A kind of device automatically correcting an angle |
| CN108909575A (en) * | 2018-07-13 | 2018-11-30 | 利辛县风雅颂机电科技有限公司 | A kind of logistics transporting device of self-balancing |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107200229B (en) | 2019-06-25 |
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