CN207877123U - A kind of system stacking alignment little deviation adjustment for container - Google Patents
A kind of system stacking alignment little deviation adjustment for container Download PDFInfo
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- CN207877123U CN207877123U CN201721710403.0U CN201721710403U CN207877123U CN 207877123 U CN207877123 U CN 207877123U CN 201721710403 U CN201721710403 U CN 201721710403U CN 207877123 U CN207877123 U CN 207877123U
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- container
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- stacking
- suspender
- range sensor
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- 238000001514 detection method Methods 0.000 claims description 33
- 238000000034 method Methods 0.000 abstract description 6
- 239000007787 solid Substances 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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- 235000009566 rice Nutrition 0.000 description 1
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Abstract
The utility model belongs to the technical field of harbour machinery, disclose a kind of system stacking alignment little deviation adjustment for container, including suspender kinetic control system, the suspender kinetic control system includes processor, the processor is connected with multiple laser range sensors, multiple laser range sensors are divided into four groups, laser range sensor described in four groups waits for distance of four sides to the top surface of stacking container all around of stacking container top surface described in detecting respectively, the processor is used to receive the distance signal of laser range sensor described in four groups, pass through different distance signals and suspender kinetic control system, control suspender drive waits for that stacking container moves, so that described waits for stacking container and the corresponding four sides alignment all around of stacking container.For the utility model without vision system, image processing techniques, simple in structure, operation is convenient, greatly reduces the cost of automated job, convenient for application, there is good market popularization value.
Description
Technical field
The utility model belongs to the technical field of harbour machinery, and in particular to it is small inclined that one kind for container stacks alignment
The system of difference adjustment.
Background technology
In container pier storage yard or goods yard, container is often stacked on and stores together, stacks the number of plies sometimes up to nine layers.
Container handling device is needed in stacking container by upper layer container and lower layer's container alignment, otherwise may cause to collect
Vanning heap collapses.Under normal circumstances, handling facilities driver is carried out by the alignment condition of range estimation levels container with feeling
Adjustment, when stack height it is higher when, farther out or visual angle is bad apart from container, operation difficulty will add handling facilities driver
Greatly, higher to the skill set requirements of driver, largely effect on container handling operation efficiency.And use laser radar, video camera etc.
Visual identification technology, the relativeness of levels container when automatic measurement container stacks, realize container stack middle direction,
It is all around aligned, although improving stacking quality of alignment and efficiency, this method needs to identify the characteristic point on container and side
Edge, this is and of high cost in the very big difficulty in place that ambient light conditions are bad and stacked with the presence of a large amount of containers, and operation is multiple
It is miscellaneous, it is unfavorable for promoting and applying on a large scale.
Utility model content
The utility model provides a kind of method of adjustment stacking alignment little deviation for container, solves existing people
Work visual identification adjustment difficulty is big, efficiency is low and existing, operation complexity high by Visual identification technology automatic identification Setup Cost
Deng problem.
The utility model can be achieved through the following technical solutions：
A kind of system stacking alignment little deviation adjustment for container, including suspender kinetic control system, it is described to hang
It includes processor to have kinetic control system, and the processor is connected with multiple laser range sensors, multiple laser rangings
Sensor is divided into four groups, laser range sensor described in four groups detect respectively described in wait for all around the four of stacking container top surface
Side to the top surface of stacking container distance, the processor be used for receives laser range sensor described in four groups distance believe
Number, by different distance signals and suspender kinetic control system, control suspender drive waits for that stacking container moves, so that described
Wait for stacking container and stacking container it is corresponding all around four sides be aligned.
Further, laser range sensor described in every group is both provided with even number, is equally divided into two parts, symmetrical
On the same face where two neighboring apex angle.
Further, the different distance signal includes the laser range sensor of only responsible above or below detection
Detection data is indicating value, and the detection data for being responsible for the laser range sensor of its excess-three face detection is infinity；It is only negative
The detection data for blaming the laser range sensor of the left side or right side detection is indicating value, is responsible for the laser ranging of its excess-three face detection
The detection data of sensor is infinity；And the detection of a part of the laser range sensor of responsible any surface detection
Data are infinity, and the detection data of another part is indicating value.
Further, the distance setting of the laser range sensor on two faces where each apex angle to corresponding apex angle exists
Between 100 millimeters to 500 millimeters and each laser range sensor is close to suspender setting.
Further, the laser range sensor is provided with eight altogether, is each provided on two faces where each apex angle
One.
Further, the diameter of the detection luminous point of the laser range sensor is not more than eight millimeters, and range is not less than five meters.
The beneficial technique effect of the utility model is as follows：
1, it is detected respectively by four groups of laser range sensors and waits for four sides all around of stacking container top surface to having folded
The distance for putting the top surface of container, by feeding back different distance signal, automatic identification waits for all around the four of stacking container
The relative position relation at face four sides corresponding with stacking container, then by suspender control system, control suspender, which drives, to be waited folding
Container movement is put, so that adjustment waits for stacking container and stacking container is aligned, the container for realizing automation stacks
Lifting operation.
2, it is not necessarily to vision system, image processing techniques, simple in structure, operation is convenient, greatly reduces automated job
Cost has good market popularization value convenient for application.
Description of the drawings
Fig. 1 is the circuit block diagram of the utility model；
Fig. 2 is position view of the laser range sensor of the utility model on suspender；
Fig. 3 waits for stacking container and the position view that stacking container only front is misaligned for the utility model,
Wherein solid wire frame represents stacking container；
Fig. 4 waits for stacking container and the position view that stacking container is only misaligned below for the utility model,
Wherein solid wire frame represents stacking container；
Fig. 5 waits for stacking container and the position view that the stacking container only right side is misaligned for the utility model,
Wherein solid wire frame represents stacking container；
Fig. 6 waits for stacking container and the position view that the stacking container only left side is misaligned for the utility model,
Wherein solid wire frame represents stacking container；
Fig. 7 is that the utility model waits for that stacking container and stacking container any surface have the position view of deflection,
Wherein solid wire frame represents stacking container；
Specific implementation mode
Below in conjunction with the accompanying drawings and specific embodiment of the present utility model is described in detail in preferred embodiment.
To improve the automatization level that container stacks lifting operation, as illustrated in fig. 1 and 2, the utility model provides one
The system that kind stacks alignment little deviation adjustment for container, including suspender kinetic control system, the suspender motion control system
System includes processor, which is connected with multiple laser range sensors, and multiple laser range sensors are divided into four groups, four groups
Laser range sensor detect respectively wait for four sides all around of stacking container top surface to the top surface of stacking container away from
From the processor is used to receive the distance signal of four groups of laser range sensors, is moved by different distance signals and suspender
Control system, control suspender drive wait for that stacking container moves, so as to wait for the corresponding of stacking container and stacking container
All around four sides is aligned.
Every group of laser range sensor is both provided with even number, is equally divided into two parts, is symmetrically distributed in two neighboring
On the same face where apex angle, such as 2, an apex angle corresponds to distribution one.
It is adjusted using the system of the utility model, the course of work is as follows：
First, four groups of laser range sensors detect respectively waits for four sides all around of stacking container top surface to having stacked
Range information, is sent to the processor of suspender control system by the distance of the top surface of container, and processor is according to the difference of reception
Range information, by operation, automatic identification waits for stacking container and the relative position relation in each face of stacking container.
Above-mentioned different distance signal includes following situations：Only it is responsible for the laser range sensor of above or below detection
Detection data be indicating value, the detection data of laser range sensor for being responsible for the detection of its excess-three face is infinity, phase
It is existing to position relation table to be misaligned to be front and back；The detection data for being only responsible for the laser range sensor of the left side or right side detection is equal
For indicating value, the detection data for being responsible for the laser range sensor of its excess-three face detection is infinity, relative position relation table
It is now that left and right is misaligned；And the detection data of a part of the laser range sensor of responsible any surface detection is infinite
Greatly, the detection data of another part is indicating value, and relative position relation, which shows as any surface, rotation.
Then, processor is according to the different range informations received, and by suspender control system, control suspender drive waits for
Stacking container does position adjustment, so as to wait for stacking container and the corresponding four sides alignment all around of stacking container.
Specific position adjustment is as follows：
If front and back be misaligned, as shown in Figures 3 and 4, then suspender drive wait for stacking container to detection data be indicating value swash
Face movement where ligh-ranging sensor, until the detection data for being responsible for the laser range sensor of above or below detection is
It is infinitely great；If left and right is misaligned, wait for stacking container to the laser that detection data is indicating value as it can be seen in figures 5 and 6, suspender drives
Face movement where distance measuring sensor, until the detection data for being responsible for the laser range sensor of the left side or right side detection is nothing
It is poor big；If any surface has rotation, wait for stacking container from the laser that detection data is infinity as shown in fig. 7, suspender drives
Distance measuring sensor rotates to the laser range sensor that detection data is indicating value, is examined until being responsible for four sides all around
The detection data of the laser range sensor of survey is infinity.
Finally, control suspender will wait for that stacking container slowly declines, and be placed on above stacking container, and completion stacks work
Industry.
Using the utility model when being adjusted, deviation is existing certainly, and size is sensed depending on laser ranging
The diameter of device and installation gap.If laser range sensor is close to suspender installation, deviation is laser range sensor
The half of diameter, by taking a diameter of 30 millimeters of common laser distance measuring sensor as an example, it is assumed that it is 5 millimeters that it, which installs clearance distance,
So its maximum deflection difference value is 20 millimeters, and it is 140 millimeters to stack eight layers of accumulative maximum deflection difference value.Therefore, it is adjusted to improve
Precision, laser range sensor should be close to as possible suspender installation, detect luminous point diameter be not more than 8 millimeters, range be not less than 5
Rice, and the distance of laser range sensor to the corresponding apex angle on two faces where each apex angle should be arranged at 100 millimeters
To between 500 millimeters.
The utility model detects respectively by four groups of laser range sensors waits for all around the four of stacking container top surface
Side to the top surface of stacking container distance, by feeding back different distance signal, before automatic identification waits for stacking container
The relative position relation at left and right four sides four sides corresponding with stacking container afterwards, then by suspender control system, control suspender
Drive waits for that stacking container moves, so that adjustment waits for stacking container and stacking container is aligned, realizes the collection of automation
Vanning stacks handling operation.Meanwhile without vision system, image processing techniques, simple in structure, operation is convenient, greatly reduces
The cost of automated job has good market popularization value convenient for application.
Although the foregoing describe specific embodiment of the present utility model, it will be appreciated by those of skill in the art that
These are merely examples, under the premise of without departing substantially from the principles of the present invention and essence, can be done to these embodiments
Go out various changes or modifications, therefore, the scope of protection of the utility model is defined by the appended claims.
Claims (5)
1. a kind of system stacking alignment little deviation adjustment for container, it is characterised in that：Including suspender motion control system
System, the suspender kinetic control system includes processor, and the processor is connected with multiple laser range sensors, multiple described
Laser range sensor is divided into four groups, and laser range sensor described in four groups detects the front and back left side for waiting for stacking container top surface respectively
The distance of the top surface of stacking container is arrived on right four sides, the processor for receive laser range sensor described in four groups away from
From signal, by different distance signals and suspender kinetic control system, control suspender drive waits for that stacking container moves, so that
Described waits for stacking container and the corresponding four sides alignment all around of stacking container.
2. the system according to claim 1 for stacking alignment little deviation adjustment for container, it is characterised in that：Every group
The laser range sensor is both provided with even number, is equally divided into two parts, is symmetrically distributed in where two neighboring apex angle
The same face on.
3. the system according to claim 1 or 2 for stacking alignment little deviation adjustment for container, it is characterised in that：
The distance of the laser range sensor on two faces to corresponding apex angle where each apex angle is arranged at 100 millimeters to 500 millimeters
Between and each laser range sensor be close to suspender setting.
4. the system according to claim 3 for stacking alignment little deviation adjustment for container, it is characterised in that：It is described
Laser range sensor is provided with eight altogether, and one is each provided on two faces where each apex angle.
5. the system according to claim 3 for stacking alignment little deviation adjustment for container, it is characterised in that：It is described
The diameter of the detection luminous point of laser range sensor is not more than eight millimeters, and range is not less than five meters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721710403.0U CN207877123U (en) | 2017-12-11 | 2017-12-11 | A kind of system stacking alignment little deviation adjustment for container |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721710403.0U CN207877123U (en) | 2017-12-11 | 2017-12-11 | A kind of system stacking alignment little deviation adjustment for container |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207877123U true CN207877123U (en) | 2018-09-18 |
Family
ID=63502432
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721710403.0U Expired - Fee Related CN207877123U (en) | 2017-12-11 | 2017-12-11 | A kind of system stacking alignment little deviation adjustment for container |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111170154A (en) * | 2019-12-27 | 2020-05-19 | 上海新时达机器人有限公司 | Laser box finding method, hoisting system, controller and storage medium |
| CN111337942A (en) * | 2020-02-24 | 2020-06-26 | 三一海洋重工有限公司 | Stacking deviation adjusting method and device, computer equipment and readable storage medium |
| 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 |
-
2017
- 2017-12-11 CN CN201721710403.0U patent/CN207877123U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111170154A (en) * | 2019-12-27 | 2020-05-19 | 上海新时达机器人有限公司 | Laser box finding method, hoisting system, controller and storage medium |
| CN111337942A (en) * | 2020-02-24 | 2020-06-26 | 三一海洋重工有限公司 | Stacking deviation adjusting method and device, computer equipment and readable storage medium |
| 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 |
| CN112744728B (en) * | 2020-12-30 | 2023-05-05 | 三一海洋重工有限公司 | Alignment device and method for automatically aligning lock holes of container |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180918 Termination date: 20211211 |
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| CF01 | Termination of patent right due to non-payment of annual fee |