CN107522114A - Automate front handling mobile crane - Google Patents
Automate front handling mobile crane Download PDFInfo
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- CN107522114A CN107522114A CN201710893713.9A CN201710893713A CN107522114A CN 107522114 A CN107522114 A CN 107522114A CN 201710893713 A CN201710893713 A CN 201710893713A CN 107522114 A CN107522114 A CN 107522114A
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- mobile crane
- handling mobile
- front handling
- industrial computer
- container
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- 230000007246 mechanism Effects 0.000 claims abstract description 67
- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- 238000012544 monitoring process Methods 0.000 claims description 16
- 238000004891 communication Methods 0.000 claims description 10
- 230000003993 interaction Effects 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 claims description 2
- 238000003780 insertion Methods 0.000 abstract description 4
- 230000037431 insertion Effects 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 238000004806 packaging method and process Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
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- 230000008859 change Effects 0.000 description 1
- 230000001595 contractor effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
- B66C13/44—Electrical transmitters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention provides one kind to automate front handling mobile crane, is related to engineering machinery automatic field.It includes front handling mobile crane body, industrial computer, global position system and vision sensor, the current scheduling for including present container position and present container case number (CN) that industrial computer is used to receive to Central Control Room transmission instructs, global position system is used to determine current front handling mobile crane position, industrial computer is used for according to present container position and current front handling mobile crane position, calculate the travel route of traveling mechanism, front handling mobile crane master controller is used to control traveling mechanism to be moved at container according to travel route, vision sensor is used for when traveling mechanism is moved at container, gather case number (CN) and the lockhole position of container, industrial computer is used for when judging that case number (CN) is identical with present container case number (CN), send a command to the lockhole of front handling mobile crane main controller controls jib drive suspender insertion lockhole position correspondence.The present invention can realize the automatic loading and unloading container in the case of unattended and rail-free.
Description
Technical field
The present invention relates to engineering machinery automatic field, and front handling mobile crane is automated in particular to one kind.
Background technology
As globalised economy develops, container cargo distribution transport increases quickly, in order to improve the effect of stevedoring container
Rate and the needs for saving manpower, since putting into operation Netherlands Rotterdam ECT harbours in 1993, all over the world to automating code
The exploration and practice of head deepen continuously, and achieve many achievements.Currently, automation and intelligent harbour have turned into the large-scale collection in the whole world
The development trend at vanning harbour.The automated container terminal developed recently in China is rapid, Xiamen ocean harbour, Qingdao Harbour, on
Harbour priority planning construction automated container terminal, and in construction or debugging all in full preparation.
At present, automatic dock is mainly realized in stockyard track crane and AGV dollies automates stacking operation, but
When program is cumbersome during container transition and container yard gantry hangs maintenance will a kind of ancillary equipment fill up, so want one kind clever
Transition living and the automatic cabinet allocation and transportation equipment that can not be orbited.
The content of the invention
It is an object of the invention to provide one kind to automate front handling mobile crane, and it can be realized in unattended and rail-free feelings
Automatic loading and unloading container under condition.
What embodiments of the invention were realized in：
The embodiments of the invention provide one kind to automate front handling mobile crane, and it includes front handling mobile crane body, industrial computer, satellite fix system
System and vision sensor, the front handling mobile crane body includes traveling mechanism, arm support, suspender and front handling mobile crane master controller, described
Arm support is connected with the suspender and the traveling mechanism respectively, and the industrial computer is arranged on the front handling mobile crane body, described to defend
Star alignment system is arranged on the traveling mechanism, and the vision sensor is arranged on the suspender, the industrial computer difference
It is connected with the global position system, the vision sensor and the front handling mobile crane master controller, wherein：The industrial computer is used
In the current scheduling instruction for receiving Central Control Room transmission, the current scheduling instruction includes present container position and present container
Case number (CN)；The global position system is used for the current front handling mobile crane position for determining the front handling mobile crane body；The industrial computer is used for root
According to the present container position and the current front handling mobile crane position, the traveling mechanism is calculated from the current front handling mobile crane position
To the travel route of the present container position；The front handling mobile crane master controller is used for according to travel route control
Traveling mechanism is moved at container；The vision sensor is used for when the traveling mechanism is moved at the container,
The case number (CN) of the container and the lockhole position of the container are gathered, and the case number (CN) and the lockhole position are sent to institute
State industrial computer；The industrial computer is used for when judging that the case number (CN) is identical with the present container case number (CN), sends command information
To the front handling mobile crane master controller, so that suspender described in jib drive inserts the lock described in the front handling mobile crane main controller controls
Lockhole corresponding to hole site.
In preferred embodiments of the present invention, above-mentioned automation front handling mobile crane also includes at least one first laser radar, institute
At least one first laser radar is stated to may be contained within being connected with the industrial computer on the traveling mechanism, wherein：Described at least one
Individual first laser radar is used to scan the complaint message on the travel route, and the complaint message is sent to the industry control
Machine；The industrial computer is used for when judging the complaint message to there is obstacle, sends command information to the front handling mobile crane main control
Device, so that traveling mechanism described in the front handling mobile crane main controller controls slows down or parking.
In preferred embodiments of the present invention, above-mentioned automation front handling mobile crane also includes second laser radar, and described second swashs
Optical radar is arranged on the suspender and is connected with the industrial computer, wherein：The second laser radar is used to work as the traveling machine
When structure is moved at the container, the profile of the container is scanned, and the profile of the container is sent to the work
Control machine；The industrial computer is used for the motion track that the suspender is generated according to the profile of the container, sends the moving rail
Mark is to the front handling mobile crane master controller, so that suspender described in the front handling mobile crane main controller controls is by motion track insertion institute
State lockhole.
In preferred embodiments of the present invention, above-mentioned automation front handling mobile crane also includes RFID magnetic dot sensors, the RFID
Magnetic dot sensor is arranged on the front handling mobile crane body and is connected with the industrial computer, wherein：The RFID magnetic dots sensor is used for
Scanning is embedded in the magnetic dot on the travel route, and the magnetic dot internal memory contains position coordinates, and the position coordinates is sent
To the industrial computer；The industrial computer is used for when judging that the position coordinates mismatches with the current front handling mobile crane position, school
Just described travel route sends alarm.
In preferred embodiments of the present invention, above-mentioned automation front handling mobile crane also includes CCTV monitoring systems, the CCTV prisons
Control system is connected with the industrial computer, wherein：The CCTV monitoring systems are used for the image information for obtaining the front handling mobile crane body,
Described image information is sent to the industrial computer；The industrial computer be used for by described image information send to the Central Control Room with
Carry out remote monitoring.
In preferred embodiments of the present invention, above-mentioned automation front handling mobile crane also includes wireless communication module, the channel radio
Letter module is arranged on the front handling mobile crane body to be connected with the industrial computer, and the industrial computer is used to pass through the radio communication mold
Block carries out data interaction with the Central Control Room.
In preferred embodiments of the present invention, above-mentioned automation front handling mobile crane also includes length angular transducer, the length
Angular transducer is arranged on the arm support to be connected with the front handling mobile crane master controller, wherein：The length angular transducer is used
In the extension elongation and luffing angle that detect the arm support, and by the extension elongation and the luffing angle send to it is described just
Hang master controller in face；The front handling mobile crane master controller is used to calculate the arm support according to the extension elongation and the luffing angle
Locus and the arm support motion track.
In preferred embodiments of the present invention, above-mentioned automation front handling mobile crane also includes display, and the display is arranged at
It is connected on the front handling mobile crane body with the front handling mobile crane master controller, the display is used to show the automation front handling mobile crane
Information.
In preferred embodiments of the present invention, above-mentioned traveling mechanism includes traveling mechanism body, the first proportioning valve and the
Two proportioning valves, first proportioning valve, which is arranged on the steering pilot valve of the traveling mechanism body, to be used to control the traveling machine
Structure body is turned to, and second proportioning valve, which is arranged on the brake valve block of the traveling mechanism body, to be used for the traveling mechanism
Body carries out brake control.
In preferred embodiments of the present invention, above-mentioned suspender includes spreader body and rotary encoder, the revolution coding
Device is arranged on the suspender revolving support of the spreader body to be connected with the front handling mobile crane master controller, and the rotary encoder is used
In the angle of revolution for detecting the suspender, so that the front handling mobile crane master controller accurately controls the angle of revolution of the suspender.
Compared with prior art, automation front handling mobile crane provided in an embodiment of the present invention includes front handling mobile crane body, industrial computer, defended
Star alignment system and vision sensor, front handling mobile crane body include traveling mechanism, arm support, suspender and front handling mobile crane master controller.
By by industrial computer be used for receive Central Control Room send current scheduling instruct, current scheduling instruction include present container position with
Present container case number (CN), global position system are used for the current front handling mobile crane position for determining front handling mobile crane body, and industrial computer is used for basis
Present container position and current front handling mobile crane position, calculate traveling mechanism from current front handling mobile crane position to present container position
Travel route, front handling mobile crane master controller are used to control traveling mechanism to be moved at container according to travel route, vision sensor
For when traveling mechanism is moved at container, gathering the case number (CN) of container and the lockhole position of container, and by case number (CN) and
Lockhole position industrial computer, industrial computer are used for when judging that case number (CN) is identical with present container case number (CN), and instruction occurs to just
Master controller is hung in face, makes the lockhole of front handling mobile crane main controller controls jib drive suspender insertion lockhole position correspondence, so as to
Realize the automatic loading and unloading container in the case of unattended and rail-free.
Other features and advantages of the present invention will illustrate in subsequent specification, also, partly become from specification
It is clear that or understood by implementing the embodiment of the present invention.The purpose of the present invention and other advantages can be by being write
Specifically noted structure is realized and obtained in specification, claims and accompanying drawing.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.By the way that shown in accompanying drawing, above and other purpose of the invention, feature and advantage will more
Clearly.The identical reference instruction identical part in whole accompanying drawings.Do not painted by actual size equal proportion scaling deliberately
Accompanying drawing processed, it is preferred that emphasis is show the purport of the present invention.
Fig. 1 is the structural representation of automation front handling mobile crane provided in an embodiment of the present invention；
Fig. 2 is a kind of structured flowchart of automation front handling mobile crane provided in an embodiment of the present invention；
Fig. 3 is another structured flowchart of automation front handling mobile crane provided in an embodiment of the present invention；
Fig. 4 is the operation principle schematic diagram of the first laser radar of automation front handling mobile crane provided in an embodiment of the present invention.
Icon：100- automates front handling mobile crane；110- front handling mobile crane bodies；111- traveling mechanisms；112- arm supports；113- suspenders；
114- front handling mobile crane master controllers；120- industrial computers；130- global position systems；140- vision sensors；150- radio communication molds
Block；160- first laser radars；170- second laser radars；180-RFID magnetic dot sensors；190-CCTV monitoring systems；200-
Length angular transducer；210- displays.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, rather than whole embodiments.The present invention implementation being generally described and illustrated herein in the accompanying drawings
The component of example can be configured to arrange and design with a variety of.
Therefore, below the detailed description of the embodiments of the invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.It is common based on the embodiment in the present invention, this area
The every other embodiment that technical staff is obtained under the premise of creative work is not made, belong to the model that the present invention protects
Enclose.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, or should
Invention product using when the orientation usually put or position relationship, be for only for ease of the description present invention and simplify description, without
It is instruction or implies that signified device or element there must be specific orientation, with specific azimuth configuration and operation, therefore not
It is understood that as limitation of the present invention.In addition, term " first ", " second ", " the 3rd " etc. are only used for distinguishing description, and can not manage
Solve to indicate or implying relative importance.
In addition, the term such as term " level ", " vertical ", " pendency " is not offered as requiring part abswolute level or pendency, and
It is to be slightly tilted.Such as " level " only refers to that its direction is more horizontal with respect to for " vertical ", is not to represent the structure
Must be fully horizontal, but can be slightly tilted.
In the description of the invention, it is also necessary to explanation, unless otherwise clearly defined and limited, term " setting ",
" installation ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or one
Connect body；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirect by intermediary
It is connected, can is the connection of two element internals.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
First embodiment
Fig. 1 and Fig. 2 is refer to, the present embodiment provides a kind of automation front handling mobile crane 100, and it includes front handling mobile crane body 110, work
Control machine 120, global position system 130 and vision sensor 140, wherein, the industrial computer 120, global position system 130 with
And vision sensor 140 may be contained within front handling mobile crane body 110.
In the present embodiment, the front handling mobile crane body 110 includes traveling mechanism 111, arm support 112, suspender 113 and front
Master controller 114 is hung, wherein, one end of the arm support 112 is connected with traveling mechanism 111, and arm support 112 is away from traveling mechanism 111
One end is connected with suspender 113, and the front handling mobile crane master controller 114 can be arranged at traveling mechanism 111, arm support 112 or suspender 113
On, do not limit herein.As a kind of mode, the front handling mobile crane body 110 can also include damping oil cylinder, and the damping oil cylinder is set
It is placed between arm support 112 and suspender 113 and is connected respectively with arm support 112 and suspender 113.
Further, the industrial computer 120 is arranged on front handling mobile crane body 110, i.e., industrial computer 120 can be arranged at traveling
On mechanism 111, arm support 112 or suspender 113, do not limit herein；Global position system 130 is arranged on traveling mechanism 111；Depending on
Feel that sensor 140 is arranged on suspender 113.In the present embodiment, the industrial computer 120 respectively with global position system 130, regard
Feel that sensor 140 and front handling mobile crane master controller 114 connect, as a kind of mode, industrial computer 120 by wire respectively with satellite
Alignment system 130, vision sensor 140 and front handling mobile crane master controller 114 connect, to realize the transmission of data or interaction.
Wherein, the traveling mechanism 111 includes traveling mechanism body, the first proportioning valve and the second proportioning valve, the first ratio
Example valve, which is arranged on the steering pilot valve of traveling mechanism body, to be used to control traveling mechanism body to turn to, and the second proportioning valve is arranged at
It is used to carry out brake control to traveling mechanism body on the brake valve block of traveling mechanism body.It should be understood that in the present embodiment
In, for the traveling mechanism 111 relative to the traveling mechanism of common front handling mobile crane, steering column and steering pilot valve are changed to electricity by hydraulic control
Prosecutor formula, realization automatically control travel direction, and stroke detection is installed on steering cylinder and realizes the closed-loop control turned to, its
Secondary, brake pedal and brake pilot valve are changed to automatically controlled mode by hydraulic control, and realization automatically controls brake, and pressure is installed on brake fluid line
Force snesor realizes the closed-loop control of brake system.
Wherein, the arm support 112 is the principal organ of the loading and unloading container of front handling mobile crane body 110, is completed by control cylinder
The bowing of arm support 112, face upward the stretching of action and arm support 112, contracting action.
Wherein, the suspender 113 includes spreader body and rotary encoder, and rotary encoder is arranged at hanging for spreader body
It is connected on tool revolving support with front handling mobile crane master controller 114, the rotary encoder is used for the angle of revolution for detecting spreader body,
So that front handling mobile crane master controller 114 accurately controls the angle of revolution of suspender 113.It should be understood that in the present embodiment, it is described to hang
Tool 113 is provided with the rotary encoder of detection spreader body angle of revolution relative to common suspender on its suspender revolving support,
The angle of revolution of spreader body so can be accurately controlled when spreader body is to container lockhole, while in the side of spreader body
Move on oil cylinder and stroke detection is installed, and spreader body sidesway magnetic valve is changed to proportioning valve, so as to realize that spreader body side is moved
The closed-loop control of work.
As an embodiment of the present embodiment, the current scheduling that the industrial computer 120 is used to receive Central Control Room transmission refers to
Order, wherein, the current scheduling instruction includes present container position and present container case number (CN), it is possible to understand that, the work
Control machine 120 is the core for automating front handling mobile crane 100, completes the most of computing and information processing of automation front handling mobile crane 100,
Wherein, the most of component and subsystem of the automation front handling mobile crane 100 are connected thereto, and therefore, the industrial computer 120 should be supported
Multiple communication interface, in the present embodiment, its interface mainly used have CAN, RS232, RS485 and Ethernet etc..
It should be noted that because the industrial computer 120 is used on front handling mobile crane body 110, and front handling mobile crane body 110 is chronically at
Mobile status, therefore, influenceed by use environment, the industrial computer 120 should possess stronger shock resistance and resistant to elevated temperatures energy
Power.
Fig. 3 is refer to, wherein, the automation front handling mobile crane 100 also includes wireless communication module 150, the radio communication mold
Block 150 is arranged on front handling mobile crane body 110, and the wireless communication module 150 is connected with industrial computer 120, the industrial computer 120
For carrying out data interaction by wireless communication module 150 and Central Control Room, specifically, the automation front handling mobile crane 100 uses TN-
LTE wireless networks are realized and Central Control Room is communicated, and obtain needing the case number (CN) and packaging of loading and unloading container from Central Control Room TOS systems
The position of case.
Further, in the present embodiment, the global position system 130 be used to determining front handling mobile crane body 110 it is current just
Position is hung in face, and as a kind of mode, the global position system 130 can use Beidou satellite navigation system (BDS), can also
Using GPS of America, Russian GLONASS and European Union GALOLEIO etc..Specifically, carrying out the harbour eminence of container handling
Mounted base station, ± 10mm can be reached by positioning precision after calculus of differences, rate accuracy reaches 0.2m/s, passes through this side
Formula, the can of front handling mobile crane body 110 is realized by the global position system 130 and is accurately positioned, and is travelled by navigation guide equipment
Onto corresponding position.
Wherein, satellite-positioning receiver is installed respectively in the front-end and back-end of traveling mechanism 111, it is fixed by former and later two
Position signal positional information, can confirm that front handling mobile crane body 110 whether deviation route, if the deviation from progress that can be promptly and accurately
Correct.
Further, the industrial computer 120 is used for after current scheduling instruction and current front handling mobile crane position is received, root
According to present container position and current front handling mobile crane position, traveling mechanism 111 is calculated from current front handling mobile crane position to present container
The travel route of position, specifically, being prestored in the industrial computer 120 local residing for the container in need loaded and unloaded
Map, after obtaining present container position, optimal route is calculated in the map of storage, guiding front handling mobile crane body 110 moves
Move present container opening position.
Further, the front handling mobile crane master controller 114 is used to control traveling mechanism 111 to be moved to collection according to travel route
At vanning, wherein, in the present embodiment, the front handling mobile crane master controller 114 is the special PLC of vehicle used, the front handling mobile crane
Master controller 114 is traveling mechanism 111, arm support 112, engine of front handling mobile crane body 110 etc., and being installed in each mechanism
The execution order of industrial computer 120 is converted into electric signal and drives each mechanism to move by sensor information feedback to industrial computer 120
Make.
Further, the vision sensor 140 is used for when traveling mechanism 111 is moved at container, gathers packaging
The case number (CN) of case and the lockhole position of container, and case number (CN) and lockhole position are sent to industrial computer 120, in the present embodiment, institute
Vision sensor 140 to be stated to be connected with industrial computer 120, it mainly realizes two functions, one is the identification to container number, its
Second, the positioning to container lock hole site.
Wherein, for container case number (CN) identification, the embodiment of the present invention gathered respectively using two vision sensors 140
Two ID numbers of container upper surface, the case number (CN) analysis that two vision sensors 140 gather are carried out simultaneously.According to container standard
ISO6346, each container have unique 11 case number (CN)s, and catching case number (CN) picture by vision sensor 140 is carried out
Identification, character zone is divided into single character again after gathering picture, then each character carried out one by one by template matches
Identification, the case number (CN) that latter two right vision sensor 140 identifies are compared again, are eliminated because of container number damage, contaminated zone
The interference come, overall character check is finally carried out according to the check bit of container number.If verification is incorrect, return character is known
Other process, by correcting matching rate or the minimum character of recognition credibility, it is allowed to meet verification condition.Overall recognition correct rate can
Reach more than 98%.
Wherein, for the determination of container lock hole site, the embodiment of the present invention uses the vision installed in left and right two-way to pass
The part of left and right two that sensor 140 gathers container removes uncorrelated region by parameter preset, retains the key area containing casing
Domain, container angle point position coordinates is gathered by calculating, precision reaches within ± 20mm.It is comprehensive after obtaining container position information
The locus of mould assembling body and the locus of suspender 113, suspender 113 are corrected in real time, to guide the automatic to case mistake of suspender 113
Journey.
Further, in the present embodiment, industrial computer 120 is used for when judging that case number (CN) and present container number are identical, i.e.,
When case number (CN) and present container the case number (CN) matching of collection, command information is sent to front handling mobile crane master controller 114, so that front handling mobile crane master
Controller 114 controls arm support 112 to drive suspender 113 to insert the lockhole of lockhole position correspondence, and then can realize the automation
Automatic loading and unloading of the front handling mobile crane 100 to container.
As an embodiment of the present embodiment, the automation front handling mobile crane 100 also includes at least one first laser
Radar 160, at least one first laser radar 160 may be contained within being connected with industrial computer 120 on traveling mechanism 111, wherein, institute
State at least one first laser radar 160 to be connected with industrial computer 120 by wire, to realize the transmission of data.It refer to Fig. 4,
Preferably, in the present embodiment, the quantity of the first laser radar 160 is two, and two the are installed on traveling mechanism 111
One laser radar 160, is separately mounted to the forward and backward of traveling mechanism 111, and the monitoring angle of first laser radar 160 can reach
180 °, monitoring length can be 10 meters, it is front and rear respectively fill a first laser radar 160 in the case of, realize front handling mobile crane body
110 move forward and backward the monitoring on direction, when there is barrier in the front of front handling mobile crane body 110, can control traveling machine in time
Structure 111 slows down, stops or avoided.
Specifically, be used to scanning complaint message on travel route by least one first laser radar 160, and by obstacle
Information is sent to industrial computer 120, and industrial computer 120 is used to judge complaint message, is to have obstacle in disturbance in judgement information
During thing, command information is sent to front handling mobile crane master controller 114, so that front handling mobile crane master controller 114 controls traveling mechanism 111 to slow down
Or parking etc..
Further, the automation front handling mobile crane 100 also includes second laser radar 170, wherein, second laser radar
170 are arranged on suspender 113 and are connected with industrial computer 120, and the second laser radar 170 is connected by wire with industrial computer 120, with
Realize the transmission of data.Wherein, the second laser radar 170 is the container stack situation to the front of front handling mobile crane body 110
Detection device, due to the detection and localization of vision sensor 140 have a certain distance requirement, only collecting in suspender 113
When in the certain limit of vanning top, the detection and localization of vision sensor 140 is just effective, so second laser radar 170 is by sweeping
The container in the front of front handling mobile crane body 110 is retouched, after forming general profile diagram, generation suspender 113 is calculated by industrial computer 120
Motion track, suspender 113 is allowed to be moved to the surface of container.Meanwhile because container stack requires, above each layer packaging
Maximum deviation amount between case and bottom corner fittings is longitudinally not more than 38mm, is laterally not more than 25mm, positive in pile container
Container position is checked when hanging case, see and put whether case position meets regulation, do not meet such as, then by suspender
113 carry out container position adjustment.
Specifically, the second laser radar 170 is used for when traveling mechanism 111 is moved at container, container is scanned
Profile, it is possible to understand that, in the present embodiment, the container profile of scanning can be a container profile or
Profile after container stack, specific restriction is not done herein.And the profile of container is sent to industrial computer 120, the industry control
Machine 120 is used for the motion track that suspender 113 is generated according to the profile of container, sends the motion track to front handling mobile crane master controller
114, so that front handling mobile crane master controller 114 controls suspender 113 to be inserted into by motion track in lockhole.
Further, the automation front handling mobile crane 100 also includes RFID magnetic dots sensor 180, the RFID magnetic dots sensing
Device 180 is arranged on front handling mobile crane body 110 and is connected with industrial computer 120, and the RFID magnetic dots sensor 180 passes through wire and industrial computer
120 connections, to realize the transmission of data.It should be understood that in order to improve the accuracy of positioning, using RFID magnetic dot sensors
180 pairs of positioning verify, and will be arranged on the magnetic labels of coordinate information on yard and road and on key node, in front
When hanging body 110 and passing by above magnetic dot, RFID magnetic dots sensor 180 will receive the positional information on label.Industrial computer 120 will
Compared the current front handling mobile crane position that the coordinate information and global position system 130 that RFID magnetic dots sensor 180 is collected into determine
Compared with if deviation is corrected or stopped in time alarm.
Specifically, the RFID magnetic dots sensor 180 is used to scan the magnetic dot being embedded on travel route, wherein, the magnetic
Point internal memory contains position coordinates, and position coordinates is sent to industrial computer 120, industrial computer 120 be used for judge position coordinates and
When current front handling mobile crane position mismatches, correct travel route or send alarm.
Further, the automation front handling mobile crane 100 also includes CCTV monitoring systems 190, the CCTV monitoring systems 190
It is connected with the industrial computer 120, wherein, the CCTV monitoring systems 190 are connected by wire with the industrial computer 120, with reality
The transmission of existing data.It should be understood that the CCTV monitoring systems 190 are to carry out remote operation for Central Control Room to provide front handling mobile crane sheet
The image information of the situation of body 110.
Specifically, the CCTV monitoring systems 190 are used for the image information for obtaining front handling mobile crane body 110, by image information
Industrial computer 120 is sent in, industrial computer 120 is used to send image information to Central Control Room to realize the remote monitoring of Central Control Room and behaviour
Make.
Further, the automation front handling mobile crane 100 also includes length angular transducer 200, wherein, the length angle
Sensor 200 is arranged on arm support 112 and is connected with front handling mobile crane master controller 114, it is possible to understand that, the length angular transducer
The extension elongation and luffing angle of 200 main measurement arm supports 112, just can know that suspender 113 after the two parameters have been obtained
Locus.
Specifically, the length angular transducer 200 is used for the extension elongation and luffing angle for detecting arm support 112, and will
Extension elongation and luffing angle are sent to front handling mobile crane master controller 114, front handling mobile crane master controller 114 be used for according to extension elongation and
Luffing angle calculates the locus of arm support 112 and the motion track of arm support 112.
Further, the automation front handling mobile crane 100 also includes display 210, wherein, the display 210 is arranged at
It is connected on front handling mobile crane body 110 with front handling mobile crane master controller 114, as a kind of mode, the display 210 is by wire and just
Face is hung master controller 114 and connected, and to realize the transmission of data, the display 210 is used for the letter for showing automation front handling mobile crane 100
Breath, dispatched for operating personnel and consult related information.
, wherein it is desired to explanation, as an embodiment of the present embodiment, the front handling mobile crane master controller 114 is used
In control arm support 112 and suspender 113, but not as restriction, it is possible to understand that, the automation front handling mobile crane 100 can include arm
Frame master controller and suspender master controller, the arm support master controller be used for respectively with arm support 112, industrial computer 120 and suspender
Master controller connects, and the suspender master controller is used to be connected with suspender 113 and arm support master controller respectively etc., does not do herein
Specific description.
In practice process, the operation of automation front handling mobile crane 100 first has to the Central Control Room hair of harbour where must leading container
The dispatch command of cloth, the dispatch command is by the way that in TD-LTE wireless network transmissions to industrial computer 120, industrial computer 120 is also by nothing
The image information and the automation operational factor of body 110 of automation body 100 are passed back Central Control Room by gauze.Dispatch command is harbour
The front handling mobile crane body 100 of TOS systems organizations needs the case number (CN) information and container position information of loading and unloading container.Front handling mobile crane body
110 after dispatch command has been obtained, and also to use the global position system 130 installed on front handling mobile crane body 110 to determine oneself
Positional information, optimal front handling mobile crane body 110 is then gone out by the harbour map calculation being stored in advance on industrial computer 120 and walked
Route.Front handling mobile crane master controller 114 is according to route map, by realizing course changing control installed in the proportioning valve turned on pilot valve,
By controlling the proportioning valve on brake valve block to realize brake control, and global position system 130 is carried out just in the process of moving
The positioning of the position of body 110 is hung in face, and the locator for contrasting the head of front handling mobile crane body 110 and afterbody judges the posture of front handling mobile crane body 110,
If the deviation from the timely adjustment direction of route.It is forward and backward in traveling mechanism 111 in order to ensure that front handling mobile crane body 110 does not run into barrier
First laser radar 160 is installed and ensures driving safety.After front handling mobile crane body 110 drives to the position of dispatch command, pass through
The scanning of RFID magnetic dots sensor 180 is embedded in magnetic dot on stockyard and is confirmed whether that position is correct, and magnetic dot memory storage position coordinates, can
To verify the position of front handling mobile crane body 110.Front handling mobile crane body 110, which moves into place to postpone, starts the scanning device of second laser radar 170
The container profile in front, and the container position information contrast that Central Control Room is sent confirm, pass through the length installed above of arm support 112
Degree angular transducer 200 recognizes the positional information of arm support 112, and the running orbit of arm support 112 is calculated after above- mentioned information is obtained,
Suspender 113 is increased to above container.When suspender 113 is reached on container, start the vision sensor 140 on suspender 113,
It is identical with the container number that harbour TOS systems are sent to identify that container number judges whether, while collection is calculated by image
Case lockhole position, by industrial computer 120 calculate suspender 113 path of case realize case.Unload case process and case process
It is essentially identical, it simply can start first laser radar 160 when unloading case and detect, whether the chest on case and suspender 113 below
Put neatly, if error will re-execute more than 100mm puts case program.
In summary, automation front handling mobile crane provided in an embodiment of the present invention includes front handling mobile crane body, industrial computer, satellite fix
System and vision sensor, front handling mobile crane body include traveling mechanism, arm support, suspender and front handling mobile crane master controller.Passing through will
Industrial computer is used for the current scheduling instruction for receiving Central Control Room transmission, and current scheduling instruction includes present container position and current collection
Vanning case number (CN), global position system are used for the current front handling mobile crane position for determining industrial computer, and industrial computer is used for according to present container
Position and current front handling mobile crane position, travel route of the traveling mechanism from current front handling mobile crane position to present container position is calculated,
Front handling mobile crane master controller is used to control traveling mechanism to be moved at container according to travel route, and vision sensor is used for when traveling
When mechanism is moved at container, the case number (CN) of container and the lockhole position of container are gathered, and case number (CN) and lockhole position are sent out
Raw industrial computer processed, industrial computer are used for when judging that case number (CN) is identical with present container case number (CN), and instruction occurs to front handling mobile crane main control
Device, make the lockhole of front handling mobile crane main controller controls jib drive suspender insertion lockhole position correspondence, so as to realize at nobody
Automatic loading and unloading container in the case of operation and rail-free.
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 (10)
1. one kind automation front handling mobile crane, it is characterised in that including front handling mobile crane body, industrial computer, global position system and vision
Sensor, the front handling mobile crane body include traveling mechanism, arm support, suspender and front handling mobile crane master controller, the arm support respectively with
The suspender is connected with the traveling mechanism, and the industrial computer is arranged on the front handling mobile crane body, the global position system
Be arranged on the traveling mechanism, the vision sensor is arranged on the suspender, the industrial computer respectively with the satellite
Alignment system, the vision sensor and front handling mobile crane master controller connection, wherein：
The industrial computer is used for the current scheduling instruction for receiving Central Control Room transmission, and the current scheduling instruction includes present container
Position and present container case number (CN)；
The global position system is used for the current front handling mobile crane position for determining the front handling mobile crane body；
The industrial computer is used to, according to the present container position and the current front handling mobile crane position, calculate the traveling mechanism
From the current front handling mobile crane position to the travel route of the present container position；
The front handling mobile crane master controller is used to control the traveling mechanism to be moved at container according to the travel route；
The vision sensor is used for when the traveling mechanism is moved at the container, gathers the case number (CN) of the container
With the lockhole position of the container, and the case number (CN) and the lockhole position are sent to the industrial computer；
The industrial computer is used for when judging that the case number (CN) is identical with the present container case number (CN), and transmission command information is to described
Front handling mobile crane master controller, so that suspender described in jib drive inserts the lockhole position described in the front handling mobile crane main controller controls
Corresponding lockhole.
2. automation front handling mobile crane according to claim 1, it is characterised in that the automation front handling mobile crane also includes at least one
Individual first laser radar, at least one first laser radar may be contained within the industrial computer connecting on the traveling mechanism
Connect, wherein：
At least one first laser radar is used to scanning complaint message on the travel route, and by the complaint message
Send to the industrial computer；
The industrial computer is used for when judging the complaint message to there is obstacle, sends command information to the front handling mobile crane main control
Device, so that traveling mechanism described in the front handling mobile crane main controller controls slows down or parking.
3. automation front handling mobile crane according to claim 2, it is characterised in that the automation front handling mobile crane also includes second and swashed
Optical radar, the second laser radar are arranged on the suspender and are connected with the industrial computer, wherein：
The second laser radar is used for when the traveling mechanism is moved at the container, scans the outer of the container
Shape, and the profile of the container is sent to the industrial computer；
The industrial computer is used for the motion track that the suspender is generated according to the profile of the container, sends the motion track
To the front handling mobile crane master controller, so that suspender described in the front handling mobile crane main controller controls is as described in inserting the motion track
Lockhole.
4. automation front handling mobile crane according to claim 3, it is characterised in that the automation front handling mobile crane also includes RFID magnetic
Point sensor, the RFID magnetic dots sensor are arranged on the front handling mobile crane body and are connected with the industrial computer, wherein：
The RFID magnetic dots sensor is used to scan the magnetic dot being embedded on the travel route, and the magnetic dot internal memory contains position
Coordinate, and the position coordinates is sent to the industrial computer；
The industrial computer is used to, when judging that the position coordinates mismatches with the current front handling mobile crane position, correct the traveling
Route sends alarm.
5. automation front handling mobile crane according to claim 4, it is characterised in that the automation front handling mobile crane, which also includes CCTV, supervises
Control system, the CCTV monitoring systems are connected with the industrial computer, wherein：
The CCTV monitoring systems are used for the image information for obtaining the front handling mobile crane body, and described image information is sent to described
Industrial computer；
The industrial computer is used to send described image information to the Central Control Room to carry out remote monitoring.
6. automation front handling mobile crane according to claim 5, it is characterised in that the automation front handling mobile crane also includes channel radio
Believe module, the wireless communication module is arranged on the front handling mobile crane body and is connected with the industrial computer, and the industrial computer is used for
Data interaction is carried out by the wireless communication module and the Central Control Room.
7. automation front handling mobile crane according to claim 6, it is characterised in that the automation front handling mobile crane also includes length angle
Sensor is spent, the length angular transducer is arranged on the arm support to be connected with the front handling mobile crane master controller, wherein：
The length angular transducer is used to detecting the extension elongation and luffing angle of the arm support, and by the extension elongation and
The luffing angle is sent to the front handling mobile crane master controller；
The front handling mobile crane master controller is used for the space bit that the arm support is calculated according to the extension elongation and the luffing angle
Put and the motion track of the arm support.
8. automation front handling mobile crane according to claim 7, it is characterised in that the automation front handling mobile crane also includes display
Device, the display are arranged on the front handling mobile crane body and are connected with the front handling mobile crane master controller, and the display is used to show
Show the information of the automation front handling mobile crane.
9. automation front handling mobile crane according to claim 1, it is characterised in that the traveling mechanism includes traveling mechanism sheet
Body, the first proportioning valve and the second proportioning valve, first proportioning valve are arranged at the steering pilot valve of the traveling mechanism body
Upper to be used to control the traveling mechanism body to turn to, second proportioning valve is arranged at the brake valve block of the traveling mechanism body
It is upper to be used to carry out brake control to the traveling mechanism body.
10. automation front handling mobile crane according to claim 1, it is characterised in that the suspender includes spreader body and revolution
Encoder, the rotary encoder is arranged on the suspender revolving support of the spreader body to be connected with the front handling mobile crane master controller
Connect, the rotary encoder is used for the angle of revolution for detecting the suspender, so that the front handling mobile crane master controller accurately controls institute
State the angle of revolution of suspender.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710893713.9A CN107522114B (en) | 2017-09-27 | 2017-09-27 | Automatic change front and hang |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710893713.9A CN107522114B (en) | 2017-09-27 | 2017-09-27 | Automatic change front and hang |
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| CN107522114B CN107522114B (en) | 2024-06-18 |
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| CN111071929A (en) * | 2019-12-18 | 2020-04-28 | 中国铁路上海局集团有限公司金华货运中心 | Method for positioning container based on container reach stacker crane |
| CN111115471A (en) * | 2020-02-15 | 2020-05-08 | 长沙中联恒通机械有限公司 | Vision system, front crane and automatic box grabbing control method thereof |
| CN111891927A (en) * | 2020-07-16 | 2020-11-06 | 上海振华重工(集团)股份有限公司 | First floor container placement method and computer readable storage medium |
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| CN112744728A (en) * | 2020-12-30 | 2021-05-04 | 三一海洋重工有限公司 | Alignment device and method for automatically aligning lock hole of container |
| CN114162726A (en) * | 2021-03-30 | 2022-03-11 | 贵州航天天马机电科技有限公司 | A jib crane control system |
| CN118083809A (en) * | 2024-04-22 | 2024-05-28 | 烟台港集装箱码头有限公司 | Container front hoisting control method, system, terminal and storage medium |
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| CN118083809A (en) * | 2024-04-22 | 2024-05-28 | 烟台港集装箱码头有限公司 | Container front hoisting control method, system, terminal and storage medium |
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