Bulk cargo wharf portal crane automatic monitoring system

Abstract

The utility model provides a bulk cargo wharf portal crane automatic monitoring system, and belongs to the field of automatic monitoring. Firstly, through combination of a 3D laser scanning system and a ground material scanning system, the integrity of collection of material data of an identification target and a discharging area is guaranteed; then, the collected data is transmitted to an industrial personal computer for analysis and processing so as to accurately position actual physical coordinate positions of characteristic targets including a hatch, a ship side deck and a material area; and finally, the reliability and the stability of video monitoring are ensured by adopting a video monitoring system, so that the monitoring on site conditions is realized, and the remote operation requirement is met. The loading and unloading efficiency can be optimized.

Description

Technical Field

[0001] The present disclosure relates to the technical field of automated monitoring, and particularly to an automated monitoring system for a portal crane at a bulk cargo terminal. Background Art

[0002] With the continuous development of global trade, ports, as important nodes in the logistics chain, have increasingly attracted attention for their operating efficiency and safety. As an important part of a port, a bulk cargo terminal, and a portal crane as an important shore-side device at the bulk cargo terminal, it undertakes the loading and unloading work of handling a large amount of bulk materials. However, in the prior art, the traditional operation mode of the portal crane relies on manual operation, facing the problem of low loading and unloading efficiency and it is difficult to ensure the stable operation of the system in different operating environments. Summary of the Utility Model

[0003] Embodiments of the present disclosure provide an automated monitoring system for a portal crane at a bulk cargo terminal to solve the problem of low loading and unloading efficiency.

[0004] Embodiments of the present disclosure provide an automated monitoring system for a portal crane at a bulk cargo terminal, including:

[0005] a 3D laser scanning module, a ground material scanning module, an industrial control computer, a console, and a video monitoring module;

[0006] Both the 3D laser scanning module and the ground material scanning module are connected to the industrial control computer;

[0007] The industrial control computer is connected to the console; the video monitoring module is connected to the console;

[0008] The 3D laser scanning module is configured to identify target information in a target area, the ground material scanning module is configured to scan materials in the ground unloading area, and the video monitoring module is configured to monitor the on-site picture.

[0009] In an exemplary embodiment of the present disclosure, the 3D laser scanning module includes a laser scanning pan-tilt in the driver's cab and a boom laser scanner;

[0010] Both the laser scanning pan-tilt in the driver's cab and the boom laser scanner are connected to the industrial control computer;

[0011] The laser scanning pan-tilt in the driver's cab and the boom laser scanner are configured to collect point cloud data on the surface of an object.

[0012] In an exemplary embodiment of the present disclosure, the ground material scanning module includes a laser scanner in the unloading area;

[0013] The laser scanner in the unloading area is connected to the industrial control computer;

[0014] The laser scanner in the unloading area is configured to scan materials in the ground unloading area.

[0015] In an exemplary embodiment of the present disclosure, the video monitoring module includes multiple cameras, all of which have infrared night shooting functions and are connected to the console.

[0016] Among them, at least one camera is arranged in the driver's cab, at least one camera is arranged in the machine room, and at least one camera is arranged in the unloading area.

[0017] In an exemplary embodiment of the present disclosure, a bulk cargo terminal portal crane automatic monitoring system further includes a voice module;

[0018] The voice module is connected to the console.

[0019] In an exemplary embodiment of the present disclosure, the voice module includes a desktop intercom terminal, a power amplifier, and a speaker.

[0020] In an exemplary embodiment of the present disclosure, a bulk cargo terminal portal crane automatic monitoring system further includes a communication module;

[0021] The communication module is respectively connected to the video monitoring module and the console.

[0022] In an exemplary embodiment of the present disclosure, a bulk cargo terminal portal crane automatic monitoring system further includes a display device;

[0023] The display device is connected to the console.

[0024] The beneficial effects of a bulk cargo terminal portal crane automatic monitoring system provided by an embodiment of the present disclosure are as follows:

[0025] By adopting a 3D laser scanning module and a ground material scanning module, information is collected from the target area and the unloading area, and corresponding models are established, so that accurate position information can be obtained, providing a solid data foundation for subsequent automated operations. The real-time processing and analysis capabilities of the industrial control computer effectively integrate multi-dimensional data, optimize the operation process, and reduce human misjudgment and operation delay. At the same time, the introduction of the video monitoring module enables real-time monitoring of the on-site video, and abnormal situations can be detected and processed in a timely manner. As the information aggregation and decision-making center, the console comprehensively integrates the information of each module, realizes comprehensive control and intelligent scheduling of the operation process, improves the operation efficiency, and reduces the labor cost.

[0026] This design can not only automatically adjust operation parameters to optimize the loading and unloading efficiency, but also monitor the operation status in real time, detect abnormal situations in a timely manner, reduce downtime, and thus improve the loading and unloading efficiency. Description of the Drawings

[0027] To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0028] Figure 1 is a schematic structural diagram of an automated monitoring system for a bulk cargo terminal portal crane provided by an embodiment of the present disclosure;

[0029] Figure 2 is a schematic structural diagram of another automated monitoring system for a bulk cargo terminal portal crane provided by an embodiment of the present disclosure. Detailed implementation manners

[0030] To enable those skilled in the art to better understand this solution, the following will clearly describe the technical solutions in the embodiments of this solution in conjunction with the drawings in the embodiments of this solution. Obviously, the described embodiments are some, rather than all, of the embodiments of this solution. Based on the embodiments in this solution, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this solution.

[0031] The term "including" in the specification, claims and above-mentioned drawings of this solution, as well as any other variations, means "including but not limited to", and is intended to cover non-exclusive inclusion, not limited to the examples listed in the text. In addition, terms such as "first" and "second" are used to distinguish different objects, rather than to describe a specific order.

[0032] The following will describe the implementation of the present disclosure in detail in conjunction with specific drawings:

[0033] Figure 1 is a schematic structural diagram of an automated monitoring system for a bulk cargo terminal portal crane provided by an embodiment of the present disclosure. Referring to Figure 1 , the automated monitoring system for the bulk cargo terminal portal crane includes:

[0034] a 3D laser scanning module 101, a ground material scanning module 102, an industrial control computer 103, a console 104, and a video monitoring module 105;

[0035] Both the 3D laser scanning module 101 and the ground material scanning module 102 are connected to the industrial control computer 103;

[0036] The industrial control computer 103 is connected to the console 104; the video monitoring module 105 is connected to the console 104;

[0037] The 3D laser scanning module 101 is configured to identify the target information of the target area, the ground material scanning module 102 is configured to scan the materials in the ground unloading area, and the video monitoring module 105 is configured to monitor the on-site images.

[0038] In this embodiment, the 3D laser scanning module 101 can accurately identify various target information of the target area by using laser scanning technology, such as the position of the ship's hatch, the height of the ship's side, the height of the hatch cover, the shape and size of the materials, the loading and unloading positions, etc. The scanning area of the 3D laser scanning module 101 covers areas such as the hatch and the materials in the operation area, ensuring the integrity of the acquisition of the target data to be identified. Then, a target area model is established based on the target information of the target area, and the model data is transmitted to the industrial control computer 103 for subsequent processing and analysis.

[0039] The ground material scanning module 102 is specifically responsible for scanning the material conditions in the ground unloading area by using laser scanning technology. This module obtains information such as the distribution, accumulation shape, and volume of the materials through scanning. A unloading area model is constructed based on the material information in the ground unloading area, and the model is transmitted to the industrial control computer 103 for subsequent processing and analysis.

[0040] The industrial control computer 103, as the core processing unit of the system, is responsible for receiving data from different scanning modules and performing real-time processing and analysis. The industrial control computer 103 receives the model data from the 3D laser scanning module 101 and the ground material scanning module 102. After integrating and preliminarily processing the target area model and the unloading area model, the processed model data is then transmitted to the console 104.

[0041] The video monitoring module 105 is responsible for real-time monitoring of the on-site images, which can reflect the on-site conditions in real time and send the on-site images to the console 104, enabling the operator to visually monitor the entire operation process.

[0042] The console 104, as the control and decision-making center of the entire system, aggregates the information of all modules and receives the target area model, the unloading area model, and the on-site images from the industrial control computer 103. By comprehensively processing this information, it supports efficient decision-making and automated control, thereby making reasonable decisions, scheduling, or promptly responding to abnormal situations.

[0043] As can be seen from the above, by adopting the 3D laser scanning module 101 and the ground material scanning module 102, information is collected for the target area and the unloading area, and corresponding models are established, thereby accurate position information can be obtained, providing a solid data foundation for subsequent automated operations. The real-time processing and analysis capabilities of the industrial control computer 103 effectively integrate multi-dimensional data, optimize the operation process, and reduce human misjudgment and operation delay. At the same time, the introduction of the video monitoring module 105 enables real-time monitoring of the on-site images, and abnormal situations can be detected and processed in a timely manner. As the information aggregation and decision-making center, the console 104 comprehensively controls and intelligently schedules the operation process by integrating the information of each module, improving the operation efficiency and reducing the labor cost.

[0044] In an embodiment of the present disclosure, referring to Figure 2 , the 3D laser scanning module 101 includes a driver's cab laser scanning pan-tilt 201 and a boom laser scanner 202;

[0045] Both the driver's cab laser scanning pan-tilt 201 and the boom laser scanner 202 are connected to the industrial control computer 103;

[0046] The driver's cab laser scanning pan-tilt 201 and the boom laser scanner 202 are configured to collect point cloud data on the surface of an object.

[0047] In this embodiment, the driver's cab laser scanning pan-tilt 201 and the boom laser scanner 202 scan the object from different positions and angles respectively. The driver's cab laser scanning pan-tilt 201 is usually located at the driver's cab position of the gantry crane, and can obtain the surface point cloud data of the object from a specific perspective. The boom laser scanner 202 is installed on the boom part, and the scanning range and angle of this scanner are different, which can supplement the areas not covered by the driver's cab laser scanning pan-tilt 201, or provide more detailed local point cloud data.

[0048] The point cloud data on the surface of the object collected by the driver's cab laser scanning pan-tilt 201 and the boom laser scanner 202 will be transmitted to the first modeling module. The first modeling module has powerful data processing capabilities and modeling algorithms. After receiving a large amount of point cloud data from the driver's cab laser scanning pan-tilt 201 and the boom laser scanner 202, this module will integrate, analyze and calculate these data. Among them, the first modeling module can construct an accurate target area model based on the point cloud data on the surface of the object, clearly presenting the shape, structure and features of the target area. Then, the first modeling module sends the constructed target area model to the industrial control computer 103, and the industrial control computer 103 then comprehensively processes it with the data from other modules.

[0049] Exemplarily, the driver's cab laser scanning pan-tilt 201 and the boom laser scanner 202 collect data on the target area. Through the algorithms in the first modeling module, the original data is denoised, combined with the characteristic structures of the target objects to be recognized, feature points are matched in the denoised data, and the positions of the target objects in the space from the laser perspective are delimited by the feature points. Then, combined with the spatial coordinate transformation, the spatial coordinate system under the laser perspective is transformed into the actual ground material coordinate system, so as to accurately locate the actual physical coordinate positions of characteristic targets including hatch, ship's side deck, material area, etc.

[0050] It can be concluded from the above that in the operation of the quay portal crane, through the collaborative work of the driver's cab laser scanning pan-tilt 201 and the boom laser scanner 202, combined with the first modeling module, the surface details of the object can be accurately captured, high-precision point cloud data can be quickly generated, and through the modeling technology, it can be transformed into an intuitive target area model and directly transmitted to the industrial control computer 103 for subsequent processing, ensuring the safety and efficiency of the operation.

[0051] In an embodiment of the present disclosure, referring to Figure 2 , the ground material scanning module 102 includes a discharging area laser scanner 301;

[0052] The discharging area laser scanner 301 is connected to the industrial control computer 103;

[0053] The discharging area laser scanner 301 is configured to scan the materials in the ground discharging area.

[0054] In this embodiment, the discharging area laser scanner 301 quickly and accurately scans the materials in the discharging area by using laser technology. Information such as the stacking shape, distribution range, and height of the materials can be accurately captured. The second modeling module undertakes the key data processing and modeling tasks. When the discharging area laser scanner 301 completes the scanning and obtains a large amount of raw data, this data will be transmitted to the second modeling module. The second modeling module uses specialized algorithms and models to process and analyze these original scanning data. It can identify the boundaries, contours, and characteristics of different parts of the materials, and integrate these data to construct a detailed and accurate discharging area model.

[0055] The discharging area model contains rich information about the materials, such as the total volume of the materials, the volume ratio of each part, the centroid position of the materials, etc. Subsequently, the second modeling module sends the constructed discharging area model to the industrial control computer 103. After receiving this model, the industrial control computer 103 can combine it with the data from other modules for more comprehensive analysis and processing, providing strong support for subsequent operation decisions.

[0056] Exemplarily, the ground material scanning module 102 is used to scan and model the materials in the ground unloading area, and the model data is sent to the industrial control computer 103 in real time. The industrial control computer 103 divides the ground unloading area into grids according to the point cloud model and unloads materials according to the preset unloading strategy.

[0057] It can be concluded from the above that by combining the laser scanner 301 in the unloading area with the second modeling module, accurate scanning and instant modeling of the materials in the ground unloading area are achieved. This system can efficiently capture the material distribution state, quickly construct an accurate three-dimensional model of the unloading area through detailed point cloud data analysis, and transmit it to the industrial control computer 103 in real time. This design significantly improves the intelligent level of material management, helps operators accurately grasp the unloading situation, optimize the operation process, reduce resource waste, and at the same time enhances the safety and efficiency of the work site.

[0058] In an embodiment of the present disclosure, referring to Figure 2 , the video monitoring module 105 includes multiple cameras, all of which have infrared night shooting functions, and all of the multiple cameras are connected to the console 104;

[0059] Among them, at least one camera is set in the driver's cab, at least one camera is set in the machine room, and at least one camera is set in the unloading area.

[0060] In this embodiment, the video monitoring module 105 is composed of multiple cameras with infrared night shooting functions. These cameras are respectively arranged at key positions and connected to the console 104.

[0061] Setting at least one camera in the driver's cab can monitor the driver's operation situation and various dynamics in the driver's cab in real time, which helps to timely discover the driver's operation mistakes or abnormal situations and ensure the standardization and safety of the operation.

[0062] Setting at least one camera in the machine room is used to monitor the running state of the equipment in the machine room, such as whether there are abnormal vibrations, smoke, overheating, etc., so as to timely discover equipment failures, carry out repairs and maintenance, and avoid production interruptions caused by equipment failures.

[0063] Setting at least one camera in the unloading area can clearly capture the material flow, accumulation situation during the unloading process, as well as possible problems such as material spillage and dust emission, which is convenient for effective management and optimization of the unloading operation.

[0064] Since these cameras all have infrared night shooting functions, even in a dim environment, such as at night or in a place with insufficient light, they can normally capture clear pictures, ensuring the continuity and reliability of video monitoring, and being not restricted by time and light conditions.

[0065] Exemplarily, during night-time unloading operations, cameras in the unloading area can, through their infrared night vision function, enable the monitoring personnel at the central control console 104 to clearly see the progress of unloading and whether there are any problems, thus allowing for timely adjustments and decisions to be made.

[0066] From the above, it can be concluded that by deploying multiple cameras with infrared night vision function, key operation areas such as the driver's cab, machine room, and unloading area are comprehensively covered. These cameras can not only provide clear video images during the day, but also use infrared technology to achieve effective monitoring at night, ensuring all-weather and dead-angle-free safety protection. The central control console 104 conducts centralized management, facilitating operators to monitor the situation in each area in real time, promptly discover and address potential problems, thereby significantly enhancing the safety management level and emergency response ability of the workplace.

[0067] In an embodiment of the present disclosure, referring to Figure 2 , a bulk cargo terminal portal crane automated monitoring system further includes a voice module 106;

[0068] The voice module 106 is connected to the central control console 104.

[0069] In this embodiment, the main function of the voice module 106 is to implement voice communication functions. By connecting the voice module 106 to the central control console 104, operators at the central control console 104 can communicate with on-site staff at the portal crane in real time via voice. For example, when abnormal situations are detected or urgent instructions need to be issued, operators can directly shout at on-site personnel through the voice module 106, quickly conveying information and improving the response speed and processing efficiency.

[0070] At the same time, the voice module 106 can also be used to broadcast some important notices, operation specifications, safety precautions, etc., strengthening on-site management and personnel training. For example, during complex lifting operations of the portal crane, operators at the central control console 104 can use the voice module 106 to guide the actions of on-site staff in real time, ensuring the accuracy and safety of operations.

[0071] From the above, it can be concluded that the connection between the voice module 106 and the central control console 104 meets the requirements of remote control, enables remote shouting at the site, and improves work efficiency.

[0072] In an embodiment of the present disclosure, referring to Figure 2 , the voice module 106 includes a desktop intercom terminal, a power amplifier, and a speaker.

[0073] In this embodiment, the desktop intercom terminal, the power amplifier, and the speaker are the main components of the voice module 106.

[0074] The desktop intercom terminal is a device for voice input and control. Operators can use it to record voice and send operation instructions. For example, at the console 104, staff can use the desktop intercom terminal to talk to the staff on-site at the door machine, issue work instructions or inquire about the on-site situation.

[0075] The power amplifier is responsible for amplifying the power of the voice signal. The voice signal input from the desktop intercom terminal is relatively weak and cannot meet the requirements of large-scale transmission. The power amplifier enhances these signals to ensure that the voice can be transmitted clearly and loudly.

[0076] The speaker is the output device for voice. The voice signal amplified by the power amplifier is played through the speaker, enabling the sound to be heard within a relatively large range. In the working environment of the bulk cargo terminal door machine, the speaker can be installed at key positions, such as the operation room of the door machine, the unloading area, etc., to ensure that relevant personnel can receive voice information in a timely manner.

[0077] Exemplarily, when the operator at the console 104 issues an instruction of "stop unloading" through the desktop intercom terminal, the voice signal is amplified by the power amplifier and loudly played by the speaker in the unloading area, enabling the on-site staff to hear it immediately and take corresponding actions.

[0078] It can be concluded from the above that the design of the voice module 106 including the desktop intercom terminal, the power amplifier and the speaker significantly improves the convenience of communication and the sound quality. The desktop intercom terminal is easy to operate, suitable for various environmental layouts, and enhances the immediacy of information exchange. With the efficient power amplifier, it ensures that the audio signal has minimal loss during transmission, retaining the clarity and fullness of the original sound. And the high-quality speaker further enlarges the coverage range and penetration power of the sound, enabling clear and loud voice playback both indoors and outdoors, effectively improving the communication efficiency.

[0079] In an embodiment of the present disclosure, referring to Figure 2 , a bulk cargo terminal door machine automation monitoring system further includes a communication module 107;

[0080] The communication module 107 is respectively connected to the video monitoring module 105 and the console 104.

[0081] In this embodiment, the communication module 107 is respectively connected to the video monitoring module 105 and the console 104, ensuring stable and fast data transmission. The communication module 107 is responsible for accurately transmitting the real-time images and relevant information collected by the video monitoring module 105 to the console 104. Through the communication module 107, the video monitoring module 105 can transmit the image data of key positions such as the driver's cab, the machine room, and the unloading area in real time, enabling the staff at the console 104 to obtain clear and smooth on-site images in the first time. This connection method enables information transmission to be unrestricted by distance and environment, and can ensure the reliability and timeliness of data whether in harsh weather conditions or in complex electromagnetic environments.

[0082] Exemplarily, if an emergency occurs in the unloading area, the communication module 107 can quickly transmit the on-site video information to the console 104, enabling the staff to immediately react and take corresponding measures, such as suspending operations, adjusting equipment, or arranging personnel for handling.

[0083] It can be concluded from the above that the high-performance communication module 107 provides solid technical support for the normal operation and effective management of the entire bulk cargo terminal portal crane automatic monitoring system, greatly improving the safety and working efficiency of the system.

[0084] In an embodiment of the present disclosure, referring to Figure 2 , an automatic monitoring system for a bulk cargo terminal portal crane further includes a display device 108;

[0085] The display device 108 is connected to the console 104.

[0086] In this embodiment, the display device 108 is a key output terminal and is connected to the console 104. The main function of the display device 108 is to present various information collected and processed by the system to the operator in an intuitive and clear manner. Through the connection with the console 104, it can obtain relevant data from various modules, such as the video monitoring module 105, the 3D laser scanning module 101, the ground material scanning module 102, etc., and convert these data into visual images, charts, graphics, or real-time video images.

[0087] Exemplarily, the display device 108 can simultaneously display multiple screens, including the real-time operation status of the driver's cab, the operating parameters of the equipment in the machine room, the material distribution status in the unloading area, and the target information of the target area, etc. In addition, it can also display various alarm prompts, data analysis results, and operation instruction interfaces generated by the system. If a certain parameter is abnormal, the display device 108 will attract the operator's attention by means of highlighting, color change, or flashing, etc.

[0088] Exemplarily, when the material accumulation in the unloading area exceeds the preset safety limit, the display device 108 will display a prominent warning sign in the corresponding area and give relevant numerical values and recommended handling measures.

[0089] As can be seen from the above, through the display device 108, the operator can comprehensively and quickly understand all aspects of the portal crane operation on one screen. The close connection between the display device 108 and the central control console 104 provides the operator with a convenient and efficient information acquisition platform, greatly improving the practicability and operability of the entire monitoring system.

[0090] The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the present disclosure in each embodiment.

Claims

1. An automated monitoring system for a bulk cargo terminal gantry crane, characterized in that, It includes a 3D laser scanning module, a ground material scanning module, an industrial control computer, a console, and a video monitoring module; Both the 3D laser scanning module and the ground material scanning module are connected to the industrial control computer; The industrial control computer is connected to the console; the video monitoring module is connected to the console; The 3D laser scanning module is configured to identify target information in the target area, the ground material scanning module is configured to scan the materials in the ground unloading area, and the video monitoring module is configured to monitor the on-site images.

2. The automated monitoring system for a bulk cargo terminal portal crane according to claim 1, wherein, The 3D laser scanning module includes a driver's cab laser scanning pan-tilt and an elephant trunk laser scanner; Both the driver's cab laser scanning pan-tilt and the elephant trunk laser scanner are connected to the industrial control computer; The driver's cab laser scanning pan-tilt and the elephant trunk laser scanner are configured to collect point cloud data on the surface of an object.

3. The automated monitoring system for a bulk cargo terminal portal crane according to claim 1, characterized in that, The ground material scanning module includes a laser scanner for the unloading area; The laser scanner for the unloading area is connected to the industrial control computer; The laser scanner for the unloading area is configured to scan the materials in the ground unloading area.

4. The automated monitoring system for a bulk cargo terminal portal crane according to claim 1, characterized in that, The video monitoring module includes multiple cameras, all of the multiple cameras have infrared night shooting functions, and all of the multiple cameras are connected to the console; Among them, at least one camera is set in the driver's cab, at least one camera is set in the machine room, and at least one camera is set in the unloading area.

5. The automatic monitoring system for a bulk cargo terminal gantry crane according to claim 1, characterized in that, It further includes a voice module; The voice module is connected to the console.

6. The automated monitoring system for a bulk cargo terminal portal crane according to claim 5, wherein, The voice module includes a desktop intercom terminal, a power amplifier, and a speaker.

7. The automatic monitoring system for the portal crane at the bulk cargo terminal according to claim 1, characterized in that, It further includes a communication module; The communication module is respectively connected to the video monitoring module and the console.

8. The automated monitoring system for a bulk cargo terminal gantry crane according to claim 1, characterized in that, It further includes a display device; The display device is connected to the console.

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