Self-adjusting boarding bridge based on laser detection and image acquisition technology

Abstract

The utility model provides a self-adjusting boarding bridge based on the laser detection and image acquisition technology, and particularly relates to an image acquisition system, a portal structure, a lifting mechanism, a control system, a cart walking mechanism, a distance measuring system, a speed measuring system, a ship receiving channel, a walking positioning plate, a boarding corridor and the like. By adopting the ship connecting boarding bridge, whether the connected ship is berthed or not and whether the berthing posture of the connected ship meets the ship connecting condition or not can be automatically judged, and meanwhile the ship connecting position and the ship connecting height of the boarding bridge can be automatically adjusted; in the ship connecting process, automatic alignment and reliable lap joint with a ship connecting opening of a connected ship are achieved. The boarding bridge is particularly suitable for occasions with automation and intelligentization requirements for cruise ship wharfs and passenger rolling wharf equipment, the cooperative operation workload and the operation difficulty of ship and shore personnel can be greatly reduced, and the automation level and the technological content of boarding bridge equipment are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of port machinery equipment and port automation, in particular to a self-adjusting boarding bridge based on laser detection and image acquisition technology. Background Art

[0002] At present, with its great technical advantages in achieving the separation of people and vehicles, high operating efficiency and safety, passenger boarding bridge technology has begun to be promoted and applied in places where people pass, such as cruise terminals and passenger and vehicle terminals. As an emerging technology, the operation of the passenger boarding bridge to the ship is still realized by conventional methods such as manual on-site control of auxiliary inclination, position sensors and limit switches. There are the following disadvantages in the application of manual on-site control of the boarding bridge to the ship:

[0003] Personnel judge the docking status of the ship and then perform relevant operations based on the judgment results. The efficiency of receiving ships and work safety are greatly affected by the subjective factors of terminal personnel.

[0004] During the berthing process of the boarding bridge, personnel from three parties, on board the ship, on the ground, and in the boarding bridge control room, need to exchange information using traditional communication methods in order for the boarding bridge to pick up the ship. Passengers have a poor sensory experience when using the boarding bridge to get on and off the ship.

[0005] A Chinese patent document (application number: 201620049913.7) discloses a ferry device and a boarding bridge for boarding a ship. By setting a rotating platform and two driving mechanisms to drive the ferry to follow in three dimensions, the boarding bridge can adjust the extension length and swing angle of the ferry according to the needs of receiving the ship, so as to control the ferry of the boarding bridge to receive the ship. The technical solution only discloses the automatic control method after the ferry receives the ship, and cannot realize the full automatic self-adjustment of the boarding bridge and its ferry from the moment the ship enters the port.

[0006] With the popularization of boarding bridge technology, the requirements for boarding bridge operation safety, efficiency, comfort and intelligence are increasing. It is necessary to develop a fully automated intelligent boarding bridge. One of the effective ways to achieve the above functions is to develop a self-adjusting boarding bridge based on laser detection and image acquisition technology. Utility Model Content

[0007] The technical problem to be solved by the utility model is to provide a self-adjusting boarding bridge based on laser detection and image acquisition technology.

[0008] In order to solve the above technical problems, the technical solution adopted by the utility model is: a self-adjusting boarding bridge based on laser detection and image acquisition technology, mainly composed of an image acquisition system 1, a gantry structure 2, a lifting mechanism 3, a control system 4, a trolley walking mechanism 5, a distance measuring system 6, a speed measuring system 7, a ship receiving channel 8, a walking positioning plate 9, and a disembarkation corridor 10. Among them, the speed measuring system 7 and the distance measuring system 6 are installed at the front of the wharf, the image acquisition system 1 is installed on the top of the gantry, the control system 4, the lifting mechanism 3, and the ship receiving channel 8 are installed on the gantry structure 2, the gantry structure 2 is installed on the trolley walking mechanism 5, the trolley walking mechanism 5 can walk along the wharf surface, the walking positioning plate 9 is fixed on the wharf surface, and the disembarkation corridor 10 connects the wharf waiting hall and the ship receiving channel 8.

[0009] By adopting the above technical scheme, the speed measuring system 7 measures the speed of the berthed ship entering the port, and determines whether the ship has stopped steadily in the harbor. The distance measuring system 6 determines the distance between the ship and the shore, and determines whether the berthing distance of the ship is within the receiving range of the boarding bridge. The image acquisition system 1 images the local area of ​​the ship receiving port, and the control system 4 controls the trolley walking mechanism 5 and the lifting mechanism 3 to perform walking and lifting actions to transport the ship receiving channel 8 to the receiving port position or the designated position. The ship receiving channel 8 performs corresponding telescopic and pitching actions to overlap with the ship receiving port to realize fully automatic ship receiving by the boarding bridge.

[0010] Furthermore, the laser speed measurement system 7 includes two sets of laser Doppler speed meters arranged at a certain angle on the shore, and uses the differential laser Doppler principle to calculate the ship's along-shore and perpendicular-shore speeds. When the ship's along-shore speed and perpendicular-shore speed are both less than the set threshold and they are maintained for a long enough time, it is considered that the ship has stopped.

[0011] Furthermore, the laser ranging system 6 includes 3 pairs of laser scanning transmitters and laser scanning receivers arranged on the shore at intervals of 15-20m. The laser transmitters are controlled to emit lasers of different bands. After reflection, the laser receivers receive the lasers reflected from the objects to judge the posture and parameters of the ship docked at the shore. When the distance between the ship and the shore is less than a set threshold, a pulse signal is emitted to the image acquisition system 1 to start the image acquisition system.

[0012] Furthermore, the picture acquisition system 1 includes two high-definition industrial cameras, which use the color of the collected photos to determine the location of the ship's boarding port, and upload the judgment information to the control system 4. The picture acquisition system 1 uses two high-definition industrial cameras to take two groups of pictures at different angles at the same position of the ship's boarding port to obtain three-dimensional information of the boarding port.

[0013] Furthermore, the trolley walking mechanism 5 and the lifting mechanism 3 are both equipped with absolute encoders, which measure the walking distance of the trolley and the lifting height of the boarding bridge ship access channel 8 by converting the encoder revolutions. Considering the possibility of slipping when the trolley is walking, a back-firing sensor is installed on the outside of the trolley walking mechanism 5, and the information of the back-firing sensor of the trolley walking mechanism 5 is exchanged through the walking positioning plate 9 to detect and verify the walking position of the boarding bridge in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is the general diagram of the equipment of the present invention.

[0015] Figure 2 This is a diagram of the automatic travel and positioning system of the trolley's traveling mechanism.

[0016] Figure 3 It is the workflow diagram of the picture acquisition system.

[0017] Figure 1 In: 1. Image acquisition system; 2. Gantry structure; 3. Lifting mechanism; 4. Control system; 5. Trolley travel mechanism; 6. Distance measurement system; 7. Speed ​​measurement system; 8. Ship receiving channel; 9. Travel positioning board; 10. Disembarkation corridor. DETAILED DESCRIPTION

[0018] See also Figure 1 , Figure 2 The working principle and automatic adjustment method of the present invention are as follows:

[0019] When the ship docks, the two sets of laser Doppler speed meters arranged at a certain angle in the speed measurement system 7 use the differential laser Doppler principle to detect the ship's running speed along the shore and perpendicular to the shore. When the ship's docking speed along the shore and perpendicular to the shore are both less than the set threshold and they are maintained for a long enough time, it is considered that the ship has stopped, and the speed measurement system 7 uploads the measurement results to the control system 4.

[0020] After the ship stops steadily, the laser transmitter of the laser ranging system 6 emits lasers of different bands. After reflection, the laser receiver receives the laser reflected from the object to judge the posture and parameters of the ship docked at the shore. When the distance between the ship and the shore is less than the set threshold, it is considered that the docking port is within the range of the boarding bridge. The laser ranging system 6 transmits a pulse signal to the image acquisition system 1 to start the image acquisition system.

[0021] The picture acquisition system 1 uses the color of the collected photos to determine the location of the ship's boarding port, and uploads the judgment information to the control system 4. The two cameras of the picture acquisition system 1 simultaneously take two sets of pictures of the ship's boarding port at different angles to obtain the outline information of the boarding port.

[0022] The control system 4 controls the trolley walking mechanism 5 and the lifting mechanism 3 to perform corresponding actions, and controls the trolley walking distance and the lifting height of the boarding bridge ship receiving channel 8 according to the number of revolutions of the absolute encoders installed on the trolley walking mechanism 5 and the lifting mechanism 3. The trolley walking mechanism 5 interacts with the walking positioning plate 9 through the sensor information to detect and verify the walking position of the boarding bridge in real time.

[0023] After the ship receiving channel 8 is transported to the ship receiving position by the trolley traveling mechanism 5 and the lifting mechanism 3, the control system 4 controls the ship receiving channel 8 to perform corresponding telescopic and pitching actions to overlap the ship receiving port to realize fully automatic ship receiving by the boarding bridge.

Claims

1. A self-adjusting boarding bridge based on laser detection and image acquisition technology, characterized in that The invention comprises an image acquisition system (1), a gantry structure (2), a lifting mechanism (3), a control system (4), a trolley travel mechanism (5), a distance measurement system (6), a speed measurement system (7), a ship receiving channel (8), a travel positioning plate (9), and a ship disembarking corridor (10). The speed measurement system (7) and the distance measurement system (6) are installed at the front of the wharf. The image acquisition system (1), the lifting mechanism (3), the ship receiving channel (8), and the control system (4) are installed on the gantry structure (2). The gantry structure (2) is installed on the trolley travel mechanism (5). The trolley travel mechanism (5) is installed on the gantry structure (2). ) can walk along the dock surface, the walking positioning plate (9) is fixed on the dock surface, the disembarkation corridor (10) connects the dock waiting hall and the ship receiving channel (8), the speed measurement system (7) and the distance measurement system (6) determine the docking status of the ship, the distance measurement system (6) synchronizes the distance judgment result to the image acquisition system (1), the image acquisition system (1) locally images the ship to determine the ship receiving port information, and sends the result to the control system (4), the control system (4) controls the trolley walking mechanism (5) and the lifting mechanism (3) to transport the ship receiving channel (8).

2. The self-adjusting boarding bridge based on laser detection and image acquisition technology according to claim 1 is characterized in that The speed measurement system (7) and the distance measurement system (6) are used to measure and determine the state of a ship docking at a pier. The distance measurement system (6) comprises three pairs of laser scanning transmitters and laser scanning receivers arranged at intervals of 15-20 m on the shore. The laser speed measurement system (7) comprises two sets of laser Doppler velocimeters arranged at a certain angle on the shore.

3. The self-adjusting boarding bridge based on laser detection and image acquisition technology according to claim 1 is characterized in that The image acquisition system (1) comprises two high-definition industrial cameras.

4. The self-adjusting boarding bridge based on laser detection and image acquisition technology according to claim 1 is characterized in that The trolley travel mechanism (5) and the lifting mechanism (3) are both equipped with absolute encoders, and the travel distance of the trolley and the lifting height of the ship receiving channel (8) are measured by converting the encoder revolutions. A beam sensor is installed on the outside of the trolley travel mechanism (5), and information is exchanged with the beam sensor of the trolley travel mechanism (5) through the travel positioning plate (9), so as to detect and verify the travel position of the boarding bridge in real time.

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