Intelligent container sling based on omniberaing vision sensor

An omnidirectional vision, container spreader technology, applied in the directions of transportation and packaging, load hoisting components, etc., can solve the problems of low hoisting efficiency, time-consuming and laborious hoisting process, and high requirements for operators

Active Publication Date: 2008-10-22
ZHEJIANG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In order to overcome the deficiencies of the existing container spreader, such as high requirements for operators, time-consuming and labor-intensive hoisting process, low automation level, low operation safety, and low hoisting efficiency, the ...

Method used

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  • Intelligent container sling based on omniberaing vision sensor
  • Intelligent container sling based on omniberaing vision sensor
  • Intelligent container sling based on omniberaing vision sensor

Examples

Experimental program
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Effect test

Embodiment 1

[0088] refer to Figure 1 to Figure 14 , the present embodiment installs omni-directional vision sensor 9 on the middle and lower part of spreader 8, such as Figure 7As shown, the installation requirement is that the omnidirectional vision sensor can capture the video image of the entire container and its surroundings, and the center of the obtained video image is required to coincide with the center of the spreader; The microprocessor is connected with the microprocessor, and the microprocessor reads the video image obtained by the omnidirectional vision sensor, detects and calculates the deviation degree between the twist lock of the spreader 8 and the keyhole of the container 7 through software, and outputs related control according to the deviation state The electro-hydraulic proportional valve is controlled by D / A conversion to realize the translational movement of the boom and the extension and rotation of the spreader, and finally automatically and accurately insert th...

Embodiment 2

[0162] refer to Figure 1-Figure 14 , the omni-directional vision sensor of this embodiment adopts the mode of wireless communication with the PC, transmits the video image around the top of the container to the computer through wireless mode, and the computer calculates the twist lock and the twist lock on the spreader according to the given algorithm. The deviation between the lock holes of the container, and then according to the deviation state, the computer outputs the relevant control amount through the electro-hydraulic proportional control technology to realize the telescopic and pitching of the boom and the telescopic and rotating actions of the spreader to realize the twist lock on the spreader Accurately insert into the keyhole of the container.

[0163] All the other structures and working process are identical with embodiment 1.

Embodiment 3

[0165] refer to Figure 1-Figure 14 In this embodiment, the driver uses the video image obtained by the omnidirectional visual sensor displayed on the screen in the cab, and the driver quickly inserts the twist lock on the spreader into the lock hole position of the container accurately according to the prompt on the screen .

[0166] All the other structures and working process are identical with embodiment 1.

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Abstract

The invention relates to a spreader of an intelligent container based on an all-direction visual sensor, which comprises a microprocessor, a visual sensor used for measuring the deviation between a twist lock of the container spreader and the lockhole of the container, an execution module for controlling the retraction and pitching of the arm support of a loop wheel machine and the retraction and rotation of the spreader and the spreader; the visual sensor is connected with the microprocessor which is connected with the execution module; the microprocessor is arranged in the control room of the loop wheel machine; the visual sensor is an all-direction visual sensor, which is arranged at the medium-lower part of the spreader; the microprocessor comprises a reading module for image data, a customized module for virtual outline, an edge testing module, a testing and controlling module; the testing and controlling module comprises a testing and controlling unit with a rotating angle theta, a testing and controlling unit for parallel-moving distance and a testing and controlling unit for lowering distance of the spreader. The spreader of the invention can assist the operation of operators, reduce operating difficulty, improve operating safety and improve working efficiency.

Description

technical field [0001] The invention belongs to the application of omnidirectional visual sensor, in particular to the application of omnidirectional computer sensor technology, image recognition technology and control technology in container spreader. Background technique [0002] Container spreaders are a key equipment in the process of loading and unloading container ships and container vehicles. Due to the large-scale container ships, newer and higher requirements are put forward for container lifting equipment, such as high-speed hoisting, outreach , The lifting height is increased, and the rated lifting capacity and efficiency are improved. Therefore, improving the running function of the container spreader has become an urgent need. [0003] The container spreader is usually made of high-strength steel. It looks like a steel frame structurally. The four corners are equipped with twist locks and guiding devices, and the upper part is equipped with steel cables. Most o...

Claims

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Application Information

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IPC IPC(8): B66C1/66B66C1/10B66C1/40B66C13/16B66C13/18
Inventor 汤一平杨冠宝
Owner ZHEJIANG UNIV OF TECH
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