Auxiliary detection method for automatic cabin entry of quay-wall shifting ship loader

A shore wall shifting machine and auxiliary detection technology, applied in the field of shore wall shifting ship loader automatic entry auxiliary detection device, can solve the problem that the accuracy cannot meet the requirements of automatic ship loader, and achieve the effect of high precision

Inactive Publication Date: 2015-09-02
SHANGHAI MARITIME UNIVERSITY
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the accuracy of FMCW radar cannot meet the requirements of automated ship loaders

Method used

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  • Auxiliary detection method for automatic cabin entry of quay-wall shifting ship loader
  • Auxiliary detection method for automatic cabin entry of quay-wall shifting ship loader
  • Auxiliary detection method for automatic cabin entry of quay-wall shifting ship loader

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Embodiment Construction

[0029] The present invention will be further elaborated below by describing a preferred specific embodiment in detail in conjunction with the accompanying drawings.

[0030] The quay wall transfer type ship loader of the present invention automatically enters the cabin auxiliary detection device, which is arranged on the quay wall transfer type ship loader. The quay wall transfer type ship loader includes a cart; The other end is provided with a chute and a chute maintenance platform, the chute maintenance platform is square; the encoders connected with the cart and the boom respectively control the movement of the cart and the boom.

[0031] like figure 1 As shown, the automatic cabin entry auxiliary detection device of the present invention includes a laser radar array 1 , a radar movement mechanism 2 , and an industrial computer 3 connected in sequence. In this embodiment, the industrial computer 3 is a Huayan industrial computer, which has a display and can monitor the cu...

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Abstract

The invention discloses an auxiliary detection device for automatic entrance to a mobile quay wall ship loader. The auxiliary detection device disposed on the mobile quay wall ship loader comprises a laser radar array, a radar motion mechanism and an IPC (industrial personal computer) which are sequentially connected, wherein the radar motion mechanism comprises a servo motor and a laser radar control system connected with the servo motor. The servo motor is connected with the laser radar array, and the laser radar control system is also connected with the laser radar array and the IPC. The invention also discloses an auxiliary detection method for the automatic entrance to the mobile quay wall ship loader. The auxiliary detection method includes the steps of using the auxiliary detection device for the automatic entrance for scanning a cabin in real time and calculating the safe distance and the minimum angle between a big arm and the edge of the cabin as well as the proper position of a chute in the cabin. Consequently, the auxiliary detection method can prepare for automated loading so that the mobile quay wall ship loader is capable of automatically completing bulk loading operations.

Description

technical field [0001] The invention relates to a bulk cargo wharf loading equipment in an intelligent port, in particular to an auxiliary detection device and a detection method for an automatic cabin entry of a shore wall shifting type ship loader. Background technique [0002] Today, more and more ports are shifting from manned mechanized ports to unmanned smart ports. Many engineers and researchers are currently developing intelligent control systems to automate port machinery, and digital cameras have become widely used image sensors. For a fast and correct image recognition, a standardized marker image should be fixed on the control target first. With the help of markers, we can use the vision system to calculate the three-dimensional coordinates of the target. For example, an octagonal plate with six reflective rings is mounted on a crane, and then the camera can track the octagonal plate and calculate the real-time position of the crane. [0003] This camera-based...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S17/06G05D3/20
Inventor 赵宁宓超刘海威沈阳舒帆宓为建吴钢嘉红霞陈敏孔凡娟黄津津何鑫薛润姜军金晶王玉宝凤宇飞张志伟岳美玲
Owner SHANGHAI MARITIME UNIVERSITY
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