Anti-collision device for large arm of quay crane at wharf

Abstract

The utility model discloses a wharf quay crane big arm anti-collision device which comprises two obstacle detection modules arranged on a wharf quay crane, and the two obstacle detection modules are arranged below a seaside cross beam of a wharf quay crane big arm in a mutually separated mode and used for feeding back environment point cloud information within the collision range of the wharf quay crane big arm in real time. Therefore, whether an obstacle appears in the set range is detected. According to the anti-collision device for the large arm of the wharf quay crane, the harbor quay crane is enabled by utilizing an environment sensing technology, so that the logistics efficiency and the safety performance of the wharf are improved. An obstacle detection module, such as a multi-line laser radar, is arranged on a large arm seaside cross beam of a quay crane of a wharf to detect obstacles in front of the large arm, so that the large arm is prevented from colliding with obstacles such as a tower or an antenna on a steamship in the movement process of the quay crane.

Description

Technical Field

[0001] The utility model relates to the technical field of dock quay cranes, in particular to an anti-collision device for a large arm of a dock quay crane. Background Art

[0002] A quayside gantry crane, also known as a shore-side container crane, is a device used to load and unload containers from ships at the shore. For example, Chinese patent publication CN107285208A discloses a dual-trolley quayside gantry crane. Two trolleys are mounted on the gantry crane's girder. These trolleys are used for loading and unloading ships. Each trolley has its own independent lifting mechanism and spreader, and can operate independently or be connected to the other trolleys and spreader for combined operation.

[0003] Quay cranes, bridge-type transfer equipment used for shoreside operations, are essential tools for unloading containers from ships to docks and loading containers from docks to ships. Because quay cranes are large and their operators' field of vision is obscured, they are unaware of pedestrian activity within their operating area. This can lead to accidents where the crane's spreader strikes pedestrians, posing a significant safety hazard to the quay crane's operating area.

[0004] To this end, CN2023116308098 discloses a safety early warning method for quay crane operations. This method controls multiple cameras to conduct real-time video surveillance of the landside area. When a target object is detected within the operating area captured by the cameras, the system determines the current relative position between the target object and the spreader, and based on this relative position, determines whether to safely brake the spreader. This method provides rapid early warning of operational risks on the quay crane, reduces the probability of dangerous accidents, and improves the safety of quay crane operations.

[0005] However, the above technology only monitors the landside area and does not propose monitoring within the seaside operation range. This may cause the quay crane arm to collide with obstacles such as towers or antennas on the ship during the movement of the quay crane, resulting in mutual damage. Therefore, this problem must be solved. Utility Model Content

[0006] The purpose of the utility model is to overcome the deficiencies and defects of the prior art and to provide an anti-collision device for the boom of a quay crane.

[0007] A dock quay crane boom anti-collision device is provided on the dock quay crane and includes two obstacle detection modules. The two obstacle detection modules are separated from each other and arranged below the sea-side crossbeam of the dock quay crane boom. The two obstacle detection modules are used to provide real-time feedback of environmental point cloud information within the collision range of the dock quay crane boom to detect whether there are obstacles within the set range.

[0008] Wherein, the obstacle detection module includes a laser radar.

[0009] Wherein, the laser radar includes a multi-line laser radar.

[0010] Among them, the uppermost wiring harness of the laser radar is flush with the lower surface of the dock quay crane arm.

[0011] The two obstacle detection modules are symmetrically arranged in an axis pair below the sea side beam.

[0012] Among them, the obstacle detection module is communicatively connected to the computing unit through a switch. The computing unit is used to process the environmental point cloud information within the collision range of the terminal quay crane boom fed back in real time by the obstacle detection module, and detect whether there is an obstacle within the set range.

[0013] Wherein, the computing unit includes an industrial computer.

[0014] The computing unit is in communication with the quay crane control system.

[0015] Among them, the multi-line laser radar includes the Tanwei Tensor4 radar, and the computing unit includes Advantech ARK-2250L.

[0016] This new anti-collision device for the quay crane boom leverages environmental sensing technology to enhance port quay crane efficiency and safety. By installing an obstacle detection module, such as a multi-line laser radar, on the seaward side beam of the quay crane boom, it detects obstacles in front of the boom, preventing it from colliding with obstacles such as ship towers or antennas during crane movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The utility model is a schematic diagram of the sea side scanning range after the anti-collision device of the big arm of the quay crane is installed on the quay crane.

[0018] Figure 2 It is a schematic diagram of the scanning range of the dock quay crane arm anti-collision device of the present invention when installed on the quay crane in the main view (stacked containers 200 are shown below).

[0019] Figure 3 It is a schematic diagram of the scanning range of the anti-collision device of the dock quay crane arm when viewed from above.

[0020] Figure 4 The utility model is a schematic diagram of the position of the anti-collision device of the large arm of the dock quay crane installed on the sea side beam.

[0021] Figure 5 It is a communication connection diagram of the utility model of the anti-collision device of the big arm of the dock quay crane.

[0022] Figure 6 The utility model is a schematic diagram of the anti-collision device of the big arm of the dock quay crane installed through the mounting base.

[0023] Figure 7 A schematic diagram of the main view of the anti-collision device for the large arm of a quay crane according to the utility model in the mounting seat. DETAILED DESCRIPTION

[0024] The following describes the embodiments of the present invention through specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0025] Although the present invention will be described in conjunction with the preferred embodiment, this does not mean that the features of the invention are limited to the embodiment. On the contrary, the purpose of introducing the invention in conjunction with the embodiment is to cover other options or modifications that may be extended based on the claims of the present invention.

[0026] In order to provide a deeper understanding of the present invention, the following description will include many specific details. The present invention can also be implemented without using these details. In addition, in order to avoid confusion or blurring the key points of the present invention, some specific details will be omitted from the description. It should be noted that the embodiments of the present invention and the features within the embodiments can be combined with each other unless they conflict.

[0027] It should be noted that in this specification, similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0028] In the description of this embodiment, it should be noted that the terms "upper", "lower", "bottom", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is conventionally placed when in use. These are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present invention.

[0029] The terms "first", "second", etc. are only used to distinguish the description and should not be understood as indicating or implying relative importance. In the description of this embodiment, it should also be noted that, unless otherwise clearly specified and limited, the terms "setting" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this embodiment can be understood according to specific circumstances.

[0030] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0031] As shown in the accompanying drawings, the anti-collision device for the dock quay crane arm in the present invention is provided on the dock quay crane 100 and includes two obstacle detection modules 102. The two obstacle detection modules 102 are separated from each other and arranged below the sea-side crossbeam 101 of the dock quay crane arm. They are used to provide real-time feedback of environmental point cloud information within the collision range of the dock quay crane arm to detect whether there is an obstacle within the set range. When an obstacle is detected within the preset range, the dock quay crane can be controlled to stop operating for avoidance, thereby preventing the quay crane arm from colliding with obstacles such as towers or antennas on ships during the movement of the quay crane.

[0032] In one embodiment, the obstacle detection module 102 includes a laser radar, which is installed on the sea side beam through a mounting bracket and is located at the same height. It emits laser within a preset range 103 to detect whether there are obstacles within the preset range. When an obstacle is detected within the preset range, the terminal quay crane can be controlled to stop operating for avoidance, thereby preventing the quay crane arm from colliding with obstacles such as towers or antennas on the ship during the movement of the quay crane.

[0033] In one embodiment, the laser radar may be a multi-line laser radar or other radar, or other types of radar, but is not limited thereto. Specifically, the present application may be implemented using the Tanwei Tensor4 radar, the parameters of which are as follows:

[0034]

[0035] In order to achieve better detection or effective detection, the uppermost beam 103 of the laser radar in the embodiment of the present application is flush with the lower surface of the dock crane arm, and the lowermost beam 105 is arranged in an inclined form, forming a fan-shaped detection area with a flat surface on the top and an inclined surface on the bottom.

[0036] In a preferred embodiment, the two obstacle detection modules 102 are symmetrically arranged in an axis pair below the seaside beam 101 to achieve better detection or effective detection.

[0037] Specifically, the two obstacle detection modules 102 are mounted on the mounting block 106 at the bottom of the sea-side beam 101 via a rotating platform 112. The obstacle detection module 102 is placed in a shell 110, which is detachably connected to the obstacle detection module 10. The shell has six faces, a through hole at the front end of the shell is provided to facilitate the emission of the scanning laser, and the other faces are closed. A locking rod 115 is provided on one face, and an operating block 113 is provided on the locking rod. The inner side of the locking rod 115 is connected to the pressing plate 114 in the shell, and the locking rod is threadedly connected to the shell, so that the obstacle detection module 102 can be locked in the shell. Figure 7 As shown, the other inner side pads 116 of the housing are in contact and pressed against the obstacle detection module 102, wherein the housing is mounted on a rotating platform 112, which is fixed to the bottom of the mounting block 106 and can drive the obstacle detection module 102 to rotate to monitor obstacles.

[0038] It should be noted that in this application, the preset range is the early warning area, which is the radar's range of vision, which can cover a distance of 50m or even more than 80m in front of the boom, which is in line with the quay crane operation logic and the boom collision avoidance system operation logic, and has higher safety performance. By utilizing the long-range detection capability of the lidar, continuous detection can be performed while the ship approaches from a distance, and an alarm will be issued when the distance enters the early warning range, which is safer and can use a semi-solid-state lidar with a smaller vertical field of view, and the hardware cost is relatively lower.

[0039] In one embodiment, the obstacle detection module 102 is communicatively connected to the computing unit 108 via the switch 107. The computing unit is used to process the environmental point cloud information within the collision range of the quay crane boom that is fed back in real time by the obstacle detection module, and detect whether an obstacle appears within the set range. It should be noted that the computing unit described in this application is provided with a corresponding processing module, and obstacle detection within the preset working range of the quay crane is performed based on the existing well-known laser obstacle detection technology. This is an existing well-known technology and will not be described in detail.

[0040] In specific operation, the computing unit receives a detection start signal from the control system and then receives the LiDAR point cloud data. After receiving the LiDAR point cloud data, the computing unit begins processing the point cloud information, pre-processing the point cloud according to the algorithm, and detecting obstacles in the field of view. If an obstacle is found in the set warning area, the system can send an alarm signal corresponding to the warning level of the area where the obstacle is located to the upper system, or control the terminal crane to stop operations to avoid it.

[0041] In a specific implementation, the computing unit 108 includes an industrial computer, such as Advantech ARK-2250L.

[0042] Among them, the computing unit 108 is in communication with the terminal quay crane control system 109 (i.e., the crane system, including a computer). When an obstacle is detected within a preset range, the detection result signal can be transmitted to the crane system, thereby controlling the terminal quay crane to stop operating for avoidance, thereby preventing the quay crane arm from colliding with obstacles such as towers or antennas on the ship during the movement of the quay crane.

[0043] As can be seen from the above description, the anti-collision device for the quay crane boom of this embodiment of the utility model utilizes environmental sensing technology to empower port quay cranes, thereby improving the efficiency and safety of terminal logistics. By installing an obstacle detection module, such as a multi-line laser radar, on the seaward crossbeam of the quay crane boom, it detects obstacles in front of the boom, preventing the boom from colliding with obstacles such as towers or antennas on ships during the quay crane's movement.

[0044] The above shows and describes the basic principles, main features and advantages of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention.

[0045] Therefore, no matter from which point of view, the embodiments should be regarded as illustrative and non-restrictive, and the scope of the present invention is limited by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present invention.

[0046] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. The anti-collision device of the big arm of the quay crane is characterized by: It is installed on the quay crane and includes two obstacle detection modules. The two obstacle detection modules are separated from each other and arranged below the sea-side crossbeam of the quay crane boom. They are used to provide real-time feedback of environmental point cloud information within the collision range of the quay crane boom to detect whether there are obstacles within the set range. The obstacle detection module includes a laser radar, which includes a multi-line laser radar. The uppermost wire harness of the laser radar is flush with the lower surface of the dock crane boom, and the lowermost wire harness is arranged in an inclined form to form a fan-shaped detection area with a flat top and an inclined bottom. The obstacle detection module is mounted on the mounting block at the bottom of the seaside beam through a rotating table. The obstacle detection module is placed in a shell, and the shell is detachably connected to the obstacle detection module. The shell has six surfaces, a through hole at the front end of the shell for emitting a scanning laser, and the other surfaces are closed. A locking rod is provided on one surface, and an operating block is provided on the locking rod. The inner side of the locking rod is connected to the pressing plate in the shell. The locking rod is threadedly connected to the shell to lock the obstacle detection module in the shell. There are pads on the other inner sides of the shell, which contact and press the obstacle detection module. The shell is mounted on a rotating table, and the rotating table is fixed to the bottom of the mounting block, which can drive the obstacle detection module to rotate to monitor obstacles.

2. The anti-collision device for the quay crane boom according to claim 1, characterized in that: The two obstacle detection modules are symmetrically arranged in an axis pair below the sea side beam.

3. The anti-collision device for the quay crane boom according to claim 1, characterized in that: The obstacle detection module is in communication with the computing unit via a switch. The computing unit is used to process the environmental point cloud information within the collision range of the quay crane boom fed back in real time by the obstacle detection module, and detect whether an obstacle appears within the set range.

4. The anti-collision device for the quay crane boom according to claim 3, characterized in that: The computing unit includes an industrial computer.

5. The anti-collision device for the quay crane boom according to claim 3, characterized in that: The computing unit is in communication with the terminal quay crane control system.

6. The anti-collision device for the quay crane boom according to claim 3, characterized in that: The multi-line laser radar includes the Tanwei Tensor4 radar, and the computing unit includes Advantech ARK-2250L.

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