Container Identification System

Abstract

The present invention discloses a container identification system, which relates to the technical field of container loading and unloading, and comprises a controller and a distance measuring unit whose data is connected to the controller; the detection path of the distance measuring unit is inclined relative to the front wall or the rear wall of the container and the distance measuring unit is used to generate distance measuring data distributed along the width direction of the container; the controller is configured to: obtain the distance detection value output by the distance measuring unit, and generate characteristic distribution data based on time or the position of the distance measuring unit; and identify the container according to the characteristic distribution data. The present application has the effect of improving the reliability of automatic identification of containers during loading and unloading.

Description

Technical Field

[0001] The present application relates to the technical field of container loading and unloading, and in particular to a container identification system. Background Art

[0002] For inter-regional bulk cargo transportation, the current mainstream mode of transportation is sea transportation. Containers are essential tools for freight transportation, and containers need to be transferred through equipment such as quay cranes at various cargo ports to achieve ship loading and unloading.

[0003] As the daily throughput of many ports increases, the traditional method of manually coordinating to distinguish container categories and providing a basis for subsequent operations is relatively difficult to meet usage needs. Therefore, many companies have begun to use other methods to achieve container identification, such as image recognition methods.

[0004] However, the image recognition method does not work well in bad weather such as strong light, so the present application proposes a new technical solution. Summary of the invention

[0005] In order to improve the reliability of automatic identification of containers during loading and unloading, the present application provides a container identification system.

[0006] The present application provides a container identification system, which adopts the following technical solutions:

[0007] A container identification system includes a controller and a distance measuring unit data-connected to the controller;

[0008] The detection path of the distance measuring unit is inclined relative to the front wall or the rear wall of the container and the distance measuring unit is used to generate distance measuring data distributed along the width direction of the container; or, the distance measuring unit is used to generate distance measuring data when moving around the container;

[0009] The controller is configured as follows:

[0010] Obtaining a distance detection value output by a distance measuring unit, and generating characteristic distribution data based on time or a position of the distance measuring unit;

[0011] Container identification is performed based on feature distribution data.

[0012] Optionally, if the detection path of the distance measuring unit is inclined relative to the front wall or rear wall of the container, it also includes a guide rail 1, the guide rail 1 is installed on the sling of the quay crane and is located in front of or behind the fixed area of ​​the container, the guide rail 1 is parallel to the width direction of the container, the distance measuring unit is installed on the guide rail 1, and the mobile unit 1 is preset, and the data of the mobile unit 1 is connected to the controller;

[0013] The controller is configured as follows:

[0014] Calculate the parallelism between the moving path of the distance measuring unit and the front and rear walls of the container based on the distance detection value;

[0015] Correct the distance detection value according to parallelism.

[0016] Optionally, the correcting the distance detection value according to the parallelism includes:

[0017] Let sinα=a / c, where a is the detection value measured by the distance measuring unit at the beginning and end of the container width direction, and c is the movement amount of the mobile unit 1;

[0018] The new distance detection value = the original distance detection value - sinα*t1*v1; wherein t1 is the moving time of the mobile unit 1, and v1 is the moving speed of the mobile unit 1.

[0019] Optionally, a single movement amount of the mobile unit 1 is the same as the width of the container, and position sensors are respectively installed on the guide rail 1 at the beginning and end positions of the moving path of the mobile unit 1.

[0020] Optionally, the controller is configured as:

[0021] Obtain control parameters of the quay crane;

[0022] Obtain the container loading and unloading position according to the control parameters;

[0023] The container yard stacking feature distribution data is updated based on the container loading and unloading locations and container identification results.

[0024] Optionally, it also includes a guide rail 2, which is horizontally perpendicular to the movement path of the container when it moves toward the front wall and the rear wall of the container; a moving unit 2 is installed on the guide rail 2, and a vertical rocker and a reducer for driving the rocker to rotate are rotatably connected to the moving unit 2, the distance measuring unit is installed on the side of the rocker, and the reducer data is connected to the controller.

[0025] Optionally, the controller is configured as:

[0026] Obtain control parameters of the quay crane;

[0027] Determine the height of the container when it passes through the second guide rail according to the control parameters;

[0028] Calculate the elevation angle β of the matching ranging unit according to the height of the container;

[0029] The tilt angle adjustment control parameter is output to the reducer based on the elevation angle β.

[0030] Optionally, it also includes guide rail three, which is arranged along the moving path of the container. Mobile unit three is installed on guide rail three, and guide rail two is installed on mobile unit three. Mobile unit three is data connected to a controller, and the controller is configured as follows: if the container passes through a preset detection area, mobile unit three and the container are moved at the same speed.

[0031] Optionally, if the ranging unit is used to generate ranging data when moving around a container, it also includes a guide rail four, which is installed on the sling of the quay crane and extends at least to the sides of two walls of the container. A mobile unit four is installed on the guide rail four, and the ranging unit is installed on the mobile unit four. The mobile unit four is electrically connected to the controller.

[0032] Optionally, the ranging unit is a single detection beam ranging structure or a laser radar structure.

[0033] In summary, the present application includes the following beneficial technical effects: the present system utilizes the inconsistency between the front and rear of containers and the different wall structures of different containers to distinguish containers based on the distance distribution characteristics from the front and rear walls of the containers from left to right and from right to left to the ranging units in front; compared with image recognition, the corresponding method of the present system is not easily affected by light reflection, etc., and the recognition and analysis difficulty is lower, which can improve the reliability of automatic container recognition during loading and unloading. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a structural diagram of the first usage scenario of this system;

[0035] Figure 2 It is the control structure diagram of this system;

[0036] Figure 3 It is a waveform diagram of this system;

[0037] Figure 4 This is a structural diagram of the second usage scenario of this system.

[0038] Explanation of the reference numerals: 1. controller; 2. distance measuring unit; 3. guide rail one; 4. mobile unit one; 5. position sensor; 6. guide rail two; 7. mobile unit two; 81. rocker; 82. reducer; 9. mobile unit three. DETAILED DESCRIPTION

[0039] The following is combined with Figure 1-4 This application is described in further detail.

[0040] The embodiment of the present application discloses a container identification system.

[0041] Reference Figure 1-2The container identification system includes a controller 1 and a distance measuring unit 2, wherein the distance measuring unit 2 in this embodiment can be a laser distance measuring sensor, the detection path of the distance measuring unit 2 is inclined relative to the front wall or the rear wall of the container, and the distance measuring unit 2 is used to generate distance measuring data distributed along the width direction of the container.

[0042] The controller 1 includes an MCU controller or a computer, which is connected to the ranging unit 2. The specific connection methods are: the first is to make a wired connection through a wire; the second is to install a wireless communication module such as a data transmission terminal near the ranging unit 2, so that the controller 1 integrates an adaptive wireless communication module, thereby realizing a wireless connection between the controller 1 and the ranging unit 2. The controller 1 is configured as follows:

[0043] Obtaining the distance detection value output by the distance measuring unit 2, and generating characteristic distribution data based on time or the position of the distance measuring unit 2;

[0044] Container identification is performed based on feature distribution data.

[0045] Example: The ranging unit 2 emits a single beam of detection light, which is located in front of the container and emits the detection light obliquely downward; the ranging unit 2 detects and outputs the distance detection value when moving along the width direction of the container. After receiving it, the controller 1 establishes a two-dimensional coordinate system. The Y axis of the two-dimensional coordinate system is the distance detection value, and the X axis is the time or the time*moving speed of the ranging unit 2. The waveform diagram as the characteristic distribution data can be obtained, such as Figure 3 As shown; the real-time waveform is compared with the preset standard waveform, and if they are consistent, it is determined to be the container information corresponding to the standard waveform.

[0046] According to the above content, this system utilizes the inconsistency between the front and rear of containers and the different wall structures of different containers to distinguish containers based on the distance distribution characteristics from the front and rear walls of the containers from left to right and from right to left to the distance measuring unit 2 in front; compared with image recognition, the corresponding method of this system is not easily affected by light reflection, etc., and the recognition and analysis difficulty is lower, which can improve the reliability of automatic container recognition during loading and unloading.

[0047] In one embodiment of the system, the system further comprises a guide rail 3, on which a mobile unit 4 is mounted, such as an electric trolley, which can be referred to as an electric hoist trolley of a gantry truck; the mobile unit 4 can also integrate a wireless communication module and the controller 1 for data connection.

[0048] In this embodiment, the guide rail 3 is installed on the lifting device of the quay crane. It should be noted that the lifting device refers to the structural part that grasps the upper part of the container; the guide rail 3 is located in front of or behind the fixed area of ​​the container, and the guide rail 3 is parallel to the width direction of the container.

[0049] According to the above settings, when the quay crane lifts each container, it can simultaneously complete the container type and front and back identification, so that the staff can move and place the containers according to needs.

[0050] Since the spreader and container will be worn and deformed after a period of use, if the container is identified only according to the above method, errors will occur due to the spreader (or guide rail 1 3) being tilted relative to the container, resulting in misjudgment; therefore, the controller 1 in this system is also configured as follows:

[0051] Calculate the parallelism between the moving path of the distance measuring unit 2 and the front and rear walls of the container based on the distance detection value;

[0052] Correct the distance detection value according to parallelism.

[0053] An example of parallelism calculation: take the distance detection value when the distance measuring unit 2 moves from one end of the guide rail 3 to the other end during a lifting process, that is, take the initial and final detection values ​​obtained from the previous left and right movement detections of the distance measuring unit 2; the difference between the initial and final detection values ​​is the parallelism.

[0054] According to the above content, it can be seen that the system can reduce the error caused by the relative position skew between the spreader and the container, so as to improve the recognition accuracy of the container.

[0055] Regarding the above-mentioned correction of the distance detection value according to the parallelism, specifically:

[0056] Let sinα=a / c, where a is the detection value measured by the distance measuring unit 2 at the beginning and end of the container width, and c is the movement amount of the mobile unit 4;

[0057] The new distance detection value=the original distance detection value-sinα*t1*v1; wherein, t1 is the moving time of the mobile unit 4, and v1 is the moving speed of the mobile unit 4.

[0058] The system also includes a position sensor 5, which can be a proximity switch; there are two position sensors 5, which are respectively installed at the two ends of the guide rail 3; the distance between the two position sensors 5 is equal to or slightly larger than the width of the container; the single movement amount of the mobile unit 4 is the same as the width of the container, and the single movement of the mobile unit 4 always triggers the proximity switch.

[0059] According to the above settings, the system can complete the above calculations in a timely manner and ensure that the calculation method can match the working conditions.

[0060] On the basis of the above, in one embodiment of the present system, the controller 1 is further configured as:

[0061] Obtain control parameters of the quay crane;

[0062] Obtain the container loading and unloading position according to the control parameters;

[0063] The container yard stacking feature distribution data is updated based on the container loading and unloading locations and container identification results.

[0064] It can be understood that the control parameters of the quay crane should include when the spreader is raised or lowered, and when it is loosened or tightened, including the translation and rotation of the spreader, and the movement of the entire machine; because the position of the container can be determined by tracking and analyzing the control parameters; and because the type and front and back of the container can be identified from the above, the system can associate the corresponding data one by one to obtain the distribution data of the stacking characteristics of the container yard, which can provide a work reference for the loading and unloading staff and various cargo owners and ship owners.

[0065] Reference Figure 4 In one embodiment of the system, the distance measuring unit 2 is not installed on the spreader of the quay crane, but is installed on a fixed structure such as the ground below the fixed access path of the container. Specifically:

[0066] A guide rail 2 6 is arranged, and the guide rail 2 6 is transversely perpendicular to the moving path of the container when it moves toward the front box wall and the rear box wall. An adapted moving unit 2 7 is installed on the guide rail 2 6, and the structure of the moving unit 2 7 and the moving unit 1 4 are similar.

[0067] A vertical rocking wheel 81 is rotatably connected to the mobile unit 2 7 through a bracket and a rotating shaft, and the distance measuring unit 2 is installed on the side of the rocking wheel 81, and the detection line is projected along the radial direction of the rocking wheel 81; a reducer 82 is installed on the mobile unit 2 7, and the output shaft of the reducer 82 is fixed with the same central axis as the rotating shaft of the rocking wheel 81. The controller of the reducer 82 is integrated with a wireless module data connection to the controller 1.

[0068] According to the above configuration, the staff can control the rotation of the wheel 81 through the controller 1 to change the detection light inclination angle of the distance measuring unit 2 to meet the requirements of detecting containers at different heights.

[0069] Furthermore, the controller 1 is configured as follows:

[0070] Obtain control parameters of the quay crane;

[0071] Determine the height of the container when it passes through the guide rail 26 according to the control parameters;

[0072] Calculate the elevation angle β of the matching distance measuring unit 2 according to the height of the container;

[0073] The tilt angle adjustment control parameter is output to the reducer 82 based on the elevation angle β.

[0074] The calculation example of the above elevation angle β: the horizontal distance from the distance measuring unit 2 to the front and back of the container is known, and the height is known, then tanβ=horizontal distance / height. Based on the above content, the system can automatically calculate the elevation angle β required for detection according to the control parameters of the quay crane, thereby obtaining how much inclination angle needs to be adjusted relative to the original elevation angle, so as to automatically complete the elevation angle adjustment control of the distance measuring unit 2 when facing containers of different heights.

[0075] In one embodiment of the present system, it also includes a guide rail three, which is arranged along the moving path of the container, on which a mobile unit three 9 is installed, and a guide rail two 6 is installed on the mobile unit three 9; the mobile unit three 9 is also wirelessly connected to the controller 1, and the controller 1 is configured as follows: if the container passes through a preset detection area, the mobile unit three 9 is moved at the same speed as the container.

[0076] It can be understood that the above-mentioned detection area is a location area selected by the staff, and the container movement speed can be determined by the control parameters of the quay crane; this system enables the mobile unit 3 9 to move at the same speed as the container, so that the spreader does not need to stop when inspecting the container, thereby the work efficiency is higher after the application of this system.

[0077] In another embodiment of the present application, the distance measuring unit 2 is used to generate distance measuring data when moving around a container. Specifically:

[0078] It also includes a guide rail four, which can be annular, installed on the sling of the quay crane through a bracket and extends at least to the sides of the two walls of the container, and a mobile unit four (i.e., a mobile trolley) is installed on the guide rail four, and the distance measuring unit 2 is installed on the mobile unit four, and the mobile unit four is electrically connected to the controller 1.

[0079] According to the above content, the distance measuring unit 2 can also rotate around the container when in use to collect the characteristic information of the container, and the rotation amount can be 90°. Compared with the aforementioned single-sided detection of the container, this method (guide rail 4) occupies more space for external deployment and should be used selectively.

[0080] In another embodiment of the present application, the distance measuring unit 2 can not only select a laser distance measuring unit, but also select a laser radar. It can be understood that if a laser radar is selected, the distance measuring unit 2 is no longer required to move along each guide rail; this method is more expensive than a laser distance measuring unit. The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, all equivalent changes made according to the structure, shape, and principle of the present application should be covered within the protection scope of the present application.

Claims

1. A container identification system, characterized in that: It comprises a controller (1) and a distance measuring unit (2) which is data-connected to the controller (1); The detection path of the distance measuring unit (2) is inclined relative to the front wall or the rear wall of the container, and the distance measuring unit (2) is used to generate distance measuring data distributed along the width direction of the container; or, the detection path of the distance measuring unit (2) is inclined relative to the container, and the distance measuring unit (2) is used to generate distance measuring data when moving around the container; The distance measurement data distributed along the width direction of the container is generated as follows: the distance measurement data is generated when the distance measurement unit (2) moves along the width direction of the container; The controller (1) is configured as follows: Acquire the distance detection value output by the distance measuring unit (2), and generate characteristic distribution data based on time or the position of the distance measuring unit (2); Container identification is performed based on feature distribution data.

2. The container identification system according to claim 1, characterized in that: If the detection path of the distance measuring unit (2) is inclined relative to the front wall or the rear wall of the container, it also includes a guide rail (3), the guide rail (3) is installed on the sling of the quay crane and is located in front of or behind the container fixing area, the guide rail (3) is parallel to the width direction of the container, the distance measuring unit (2) is installed on the movable unit (4) preset on the guide rail (3), and the movable unit (4) is data-connected to the controller (1); the controller (1) is configured as follows: Calculating the parallelism between the moving path of the distance measuring unit (2) and the front and rear walls of the container based on the distance detection value; Correct the distance detection value according to parallelism.

3. The container identification system according to claim 2, characterized in that: The method of correcting the distance detection value according to the parallelism comprises: Let sinα=a / c, where a is the detection value measured by the distance measuring unit (2) at the beginning and end of the container width direction, and c is the movement amount of the moving unit 1 (4); The new distance detection value = the original distance detection value - sinα*t1*v1; wherein t1 is the moving time of the mobile unit 1 (4), and v1 is the moving speed of the mobile unit 1 (4).

4. The container identification system according to claim 3, characterized in that: The single movement amount of the mobile unit 1 (4) is the same as the width of the container, and position sensors (5) are respectively installed on the guide rail 1 (3) at the beginning and end positions of the moving path of the mobile unit 1 (4).

5. The container identification system according to claim 2, characterized in that: The controller (1) is configured as follows: Obtain control parameters of the quay crane; Obtain the container loading and unloading position according to the control parameters; The container yard stacking feature distribution data is updated based on the container loading and unloading locations and container identification results.

6. The container identification system according to claim 1, characterized in that: The container further comprises a second guide rail (6), wherein the second guide rail (6) is transversely perpendicular to the moving path of the container when the container moves toward the front container wall and the rear container wall; a second moving unit (7) is installed on the second guide rail (6), and a vertical rocking wheel (81) and a reducer (82) for driving the rocking wheel (81) to rotate are rotatably connected to the second moving unit (7); the distance measuring unit (2) is installed on the side of the rocking wheel (81), and the reducer (82) is data-connected to the controller (1).

7. The container identification system according to claim 6, characterized in that: The controller (1) is configured as follows: Obtain control parameters of the quay crane; Determine the height of the container when passing through the guide rail 2 (6) according to the control parameters; Calculating an elevation angle β of the matching distance measuring unit (2) according to the height of the container; The tilt angle adjustment control parameter is output to the reducer (82) based on the elevation angle β.

8. The container identification system according to claim 7, characterized in that: It also includes a guide rail three, the guide rail three is arranged along the moving path of the container, a mobile unit three (9) is installed on the guide rail three, the guide rail two (6) is installed on the mobile unit three (9), the mobile unit three (9) is data-connected to the controller (1), and the controller (1) is configured to: if the container passes through a preset detection area, the mobile unit three (9) is moved at the same speed as the container.

9. The container identification system according to claim 1, characterized in that: If the distance measuring unit (2) is used to generate distance measuring data when moving around a container, it also includes a guide rail four, which is installed on the sling of the quay crane and extends to at least the sides of two walls of the container. A moving unit four is installed on the guide rail four, and the distance measuring unit (2) is installed on the moving unit four. The moving unit four is electrically connected to the controller (1).

10. The container identification system according to claim 1, characterized in that: The distance measuring unit (2) is a single detection beam distance measuring structure or a laser radar structure.

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