CN107892236B - Auxiliary equipment for container loading and unloading operations - Google Patents

Abstract

The invention discloses container loading and unloading operation auxiliary equipment, which consists of a differential reference station module, a lifting appliance measuring module and a display module; the camera of the lifting tool measuring module determines the relative relation between the container and the lifting tool of the crane through a close-range photogrammetry technology, can realize high-precision positioning direction finding on the container and the lifting tool of the crane, and displays digital guiding information such as relative distance, angle and the like on the display module, thereby intuitively assisting a crane operator in loading and unloading operations, and improving the efficiency and the safety of the container loading and unloading process. The equipment of the invention can be directly transformed on the original container crane, has low cost of transformation, operation and maintenance, and is widely applicable to upgrading and transformation of ports and wharfs.

Description

Auxiliary equipment for container loading and unloading operations

technical field

The invention belongs to the field of industrial measurement and mechanical automation; in particular, it relates to a container loading and unloading auxiliary equipment for GNSS dynamic RTK positioning and orientation measurement and close-range photogrammetry technology.

Background technique

Relevant data show that the container throughput of my country's ports has shown a steady growth trend in recent years, and will maintain this trend in the next few years. Judging from the current situation, the supply of berths in most ports in my country is relatively tight, and the loading and unloading efficiency of port containers is the main factor affecting the docking time of ships in ports. Container operations at traditional terminals are mainly done manually. The driver of the container crane operates the crane spreader to carry out operations such as hoisting and stacking of containers in the cab tens of meters above the ground, relying on the naked eye and the prompts of the ground commander. However, even for experienced operators, it is inevitable that during the operation: 1) the twist lock of the spreader deviates from the container keyhole; 2) mistakes such as inaccurate placement of the container. Repeated debugging not only leads to low operating efficiency, but also may cause the container to collide and damage the internal cargo.

In the related technology, after the port adopts the automatic operation mode, the container is accurately transported to the designated location by the automatic guided transport vehicle, and the container crane controlled by the track is directly lifted to complete the fully automatic operation, which greatly improves the efficiency of container loading and unloading. However, this mode of operation requires the planning and upgrading of the entire port, which requires a large amount of reconstruction work; a large number of equipment needs to be updated, and the cost is high; therefore, it is not suitable for all ports.

Contents of the invention

In order to overcome the shortcomings of the above-mentioned prior art, the embodiment of the present invention provides an auxiliary operation device for container loading and unloading operations that can be fully automated, has high container loading and unloading efficiency, low equipment modification costs, and wide applicability.

In order to solve the above technical problems, the technical solution adopted in the embodiment of the present invention is a container loading and unloading operation auxiliary equipment, including a differential reference station module, a spreader measurement module and a display module, and the differential reference station module receives the satellite observation of the reference station data, and transmitted to the spreader measurement module; the spreader measurement module is installed on the crane spreader, including two cameras, two measurement antennas, positioning direction finding board and embedded computer, the two cameras Located on the crane spreader to obtain a real-time image of the container below the crane spreader, and transmit the obtained real-time image to the embedded computer, and the two measuring antennas receive satellite observation data of the crane spreader; The satellite observation data received by the differential reference station module and the measurement antenna are transmitted to the positioning and direction-finding board, and the positioning and direction-finding board performs differential processing on the satellite observation data to obtain the position and attitude of the crane spreader information, and transmit it to the embedded computer; the embedded computer obtains the absolute coordinate value operation guidance information of the four corner points of the container, the crane spreader according to the received real-time image of the container, the position and posture information of the crane spreader The simulated operation image of the rotation angle and the moving distance in the corresponding direction for loading and unloading the corresponding container; and the operation guidance information and simulation operation image are transmitted to the display module, and the operation guidance information and simulation operation are displayed on the display module image.

Preferably, the differential reference station module includes a reference station receiver and a radio data transmission module. station and the crane spreader; the base station receiver is connected to the radio data transmission module through a serial port, and a radio data transmission antenna is installed on the radio data transmission module, and the coordinates of the known coordinate sites of the reference station are Satellite observation data is transmitted to positioning and direction-finding boards on multiple crane spreaders.

Preferably, a radio data transmission module is installed on the side of the crane spreader close to the reference station, and a radio data transmission antenna is installed on the radio data transmission module.

Preferably, the two measuring antennas are respectively a master antenna and a slave antenna, and the master antenna and the slave antenna are respectively located at two ends of a diagonal line of the crane spreader to receive satellite observation data of the crane spreader.

Preferably, the two cameras are respectively located in the middle of the two sides of the crane spreader.

Preferably, the embedded computer is respectively wired or wirelessly connected to the two cameras, the positioning and direction finding board, and the display module.

Preferably, the display module includes a touch screen located on the operating platform in the crane operating room; the operation guidance information obtained by the embedded computer is transmitted to the touch screen.

The beneficial effects brought by the technical solution provided by the embodiments of the present invention are: an auxiliary operation device for container loading and unloading operations of the present invention, including a differential reference station module, a spreader measurement module and a display module, and the differential reference station module receives and transmits The satellite observation data of the reference station, the camera of the spreader measurement module acquires the image under the crane spreader in real time, and transmits it to the embedded computer, the measurement antenna of the spreader measurement module receives the satellite observation data of the crane spreader, and its positioning direction-finding board The card receives the satellite observation data of the reference station and the spreader and performs differential processing to obtain the position and attitude information of the crane spreader, and transmits it to the embedded computer; the embedded computer passes the relative position information, the crane spreader's After the position and attitude information is processed, container operation guidance information and operation simulation images are obtained, which are transmitted to the display module and displayed on the display module; compared with the container loading and unloading operation mode in the related art, the embodiment of the present invention is simple and intuitive Graphical guidance information, assisting operators to complete loading and unloading operations quickly and accurately, overcome the problems affecting efficiency caused by operators' own misjudgments and vague prompts from ground commanders, so as to improve operating efficiency; Installing additional equipment does not require large-scale upgrading and transformation, and the cost is low; it is suitable for wide use.

Description of drawings

Fig. 1 is a schematic block diagram of equipment according to an embodiment of the present invention;

Fig. 2 is the schematic diagram of the crane spreader of the embodiment of the present invention;

Fig. 3 is a schematic diagram of a differential reference station module according to an embodiment of the present invention.

Among them: differential reference station module 1, spreader measurement module 2, embedded computer 3, display module 4, crane spreader 5, reference station 6, No. 1 camera 7, No. 2 camera 8, positioning and direction finding board 9, reference Station receiver 10, radio data transmission module 11, main antenna 12, and slave antenna 13.

Detailed ways

In order to make the purpose, technical solution and advantages of the present invention clearer, the embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

Please refer to Fig. 1, an embodiment of the present invention provides a container loading and unloading operation auxiliary equipment, including a differential reference station module 1, a spreader measurement module 2 and a display module 4, and the differential reference station module 1 receives the coordinates of known stations Satellite observation data, and transmitted to the spreader measurement module 2; the spreader measurement module 2 is installed on the crane spreader 5, including an embedded computer 3, No. 1 camera 7, No. 2 camera 8, main antenna 12, From the antenna 13, the positioning and direction-finding board 9, the No. 1 camera 7 and the No. 2 camera 8 are located on the crane spreader 5 to obtain real-time images under the crane spreader 5, and transmit the obtained real-time images to the crane spreader 5. The embedded computer 3, the main antenna 12 and the slave antenna 13 are located on the crane spreader 5, and receive the satellite observation data of the crane spreader 5; the satellite observation data received by the differential reference station module 1 and the main antenna 12 Transmitted to the positioning and direction finding board 9, the positioning and direction finding board 9 obtains the position and attitude information of the crane spreader 5 after processing the satellite observation data, and transmits to the embedded computer 3; The embedded computer 3 obtains operation guidance information and simulation operation images according to the received information, and transmits them to the display module 4 , and displays the operation guidance information and simulation operation images on the display module 4 . The operation guidance information is the absolute coordinate values of the four corners of the container, and the simulation operation image content includes the angle that the crane spreader 4 needs to rotate and the distance to move in a certain direction, etc., and the simulation operation image is updated at a certain frequency, Until the operator accurately moves the crane spreader 4 directly above the container target area to complete the container lifting or placing operation, the operation efficiency is effectively improved, and the equipment improvement is small, and it is suitable for equipment transformation and use in most ports, and Retrofit costs are low.

Further, the differential reference station module 1 includes a reference station receiver 10 and a radio data transmission module 11. The reference station receiver 10 is located on a fixed observation pier of a known reference station 6, and receives satellite signals continuously for a long time , convert the original observation data of the coordinate points of the binary reference station 6 into observation data in CMR or RTCM 3 format, and output them to the radio data transmission module 11 through the serial port, and the radio data transmission modules 11 are respectively located in the reference Station 6 and the crane spreader 5; a radio data transmission antenna is installed on the radio data transmission module 11, and the differential data is transmitted to the positioning and direction finding boards of a plurality of crane spreaders 5 through the radio data transmission antenna 9 on. The internal microprocessor of the positioning and direction-finding board 9 decodes the differential data in CMR or RTCM 3 format, and obtains the pseudo-range and carrier phase observation values from each visible satellite to the reference station 6 .

Further, a radio data transmission module 11 is installed on the side of the crane spreader 5 close to the reference station 6, and a radio data transmission antenna is installed on the radio data transmission module 11. The information received by the base station receiver 10 is transmitted to the positioning and direction finding board 9 through the radio data transmission module 11 on the crane spreader 5 .

Further, the master antenna 12 and the slave antenna 13 are respectively located at both ends of the diagonal of the crane spreader 5 to receive satellite observation data of the crane spreader 5 . The double-difference observation equation is constructed by the built-in RTK algorithm of the positioning and direction-finding board 9 and the satellite observation data of the reference station 6, and the precise absolute coordinates of the main antenna 12 are estimated in real time by the least square method or the Kalman filter method, and then the built-in orientation The algorithm calculates the angle between the antenna baseline and the true north direction, and subtracts the measured angle between the antenna baseline and the crane spreader 5's motion direction from the obtained angle to obtain the yaw angle information of the crane spreader 5 and obtain the absolute position of the main antenna 12. location information.

Further, the No. 1 camera 7 and the No. 2 camera 8 are respectively located in the middle of the two sides of the crane spreader 5 . The complete image information of the container under both sides of the crane spreader 5 can be obtained. After the absolute position of the main antenna 12 is obtained, the absolute positions of the No. 1 camera 7 and the No. 2 camera 8 can be obtained through the relative positions of the main antenna 12 and the No. 1 camera 7 and No. 2 camera 8 respectively.

Further, the embedded computer 3 is connected with the No. 1 camera 7 , No. 2 camera 8 , positioning and direction finding board 9 , and the display module 4 respectively by wire. According to the absolute positions of the No. 1 camera 7 and the No. 2 camera 8 and the image information taken respectively thereof, the absolute coordinates of the four corners of the container are obtained after the embedded computer 3 processes in real time; the embedded computer 3 according to the main antenna 12 The relative position of the current crane spreader 5 and the container is obtained by calculating the absolute position of the absolute position and the absolute coordinates of the four corner points of the container, and the orthophoto image is simulated by combining the attitude information of the crane spreader 5, and the display is displayed at an appropriate update frequency Displayed on module 4.

Further, the display module 4 includes a touch screen, which is located on the operating platform in the operating room of the crane; the operation guidance information obtained by the embedded computer 3 is transmitted to the touch screen. Operation prompts such as the angle that the crane spreader 5 needs to be rotated and the distance to move in a certain direction are displayed on the touch screen, guiding the operator to adjust the crane spreader 5 until the operator moves the crane spreader 5 accurately to the container Right above the target area, until the container lifting or placement operation is completed.

In this article, the orientation words such as front, rear, upper, and lower involved are defined by the parts in the drawings and the positions between the parts in the drawings, just for the clarity and convenience of expressing the technical solution. It should be understood that the use of the location words should not limit the scope of protection claimed in this application.

In the case of no conflict, the above-mentioned embodiments and features in the embodiments herein may be combined with each other.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.

Claims (5)

1. Auxiliary equipment for container loading and unloading operations, characterized in that: it includes a differential reference station module, a spreader measurement module and a display module, the differential reference station module receives satellite observation data of known coordinate sites, and transmits to the crane Tool measurement module; the spreader measurement module is installed on the crane spreader, including two cameras, two measurement antennas, positioning direction finding board and embedded computer, and the two cameras are located on the crane spreader to obtain The real-time image of the container under the crane spreader, and the obtained real-time image is transmitted to the embedded computer, and the two measurement antennas are used to receive the satellite observation data of the crane spreader; the differential reference station module and the The satellite observation data received by the measurement antenna is transmitted to the positioning and direction-finding board, and the positioning and direction-finding board performs differential processing on the satellite observation data to obtain the position and attitude information of the crane spreader, and transmits it to the The embedded computer; the embedded computer obtains the absolute coordinate value operation guidance information of the four corner points of the container according to the received real-time image of the container, the position and attitude information of the crane spreader, and the corresponding container needs to be rotated by the crane spreader. The simulation operation image of the angle and the moving distance in the corresponding direction; and the operation guidance information and the simulation operation image are transmitted to the display module, and the operation guidance information and the simulation operation image are displayed on the display module, the two The cameras are respectively located in the middle of the two sides of the crane spreader, and the embedded computer is respectively wired or wirelessly connected to the two cameras, the positioning and direction finding board, and the display module. 2. A container loading and unloading auxiliary equipment according to claim 1, characterized in that: the differential reference station module includes a reference station receiver and a radio data transmission module, and the reference station receiver is located at a known position On the fixed observation pier of the station, the radio data transmission module is respectively located on the base station and the crane spreader; the base station receiver is connected to the radio data transmission module through a serial port, and the radio data transmission module The radio data transmission antenna is installed on the base station, and the received satellite observation data of the coordinate station of the known base station is transmitted to the positioning and direction-finding boards on multiple crane spreaders. 3. A container loading and unloading auxiliary equipment according to claim 2, characterized in that: a radio data transmission module is installed on the side of the crane spreader close to the reference station, and a radio data transmission module is installed on the radio data transmission module Digital antenna. 4. The auxiliary equipment for container loading and unloading operations according to claim 1, characterized in that: the two measuring antennas are respectively the master antenna and the slave antenna, and the master antenna and the slave antenna are respectively located on the crane spreader At both ends of the diagonal line, satellite observation data of the crane spreader are received. 5. A container loading and unloading auxiliary equipment according to claim 1, characterized in that: the display module includes a touch screen located on the operating platform in the crane operating room; the operation guide information obtained by the embedded computer, The simulated operation image is transmitted to the touch screen.