Automatic container positioning and anti-lifting method for automated loading and unloading operation

Abstract

According to the present invention, a set of an automatic lifting device and automatic inclination adjusting device is arranged beside the external container truck parking lane of an automated terminal, a laser scanner is arranged on the automatic lifting device and automatic inclination adjusting device, and performs lifting and inclining detection on the locking holes of a no-load container flatcar entering the lane, the position of the nearest locking hole or the positions of the multiple locking holes are measured, the approximate positions of all the locking holes on the container flat car are estimated, and accurate detection is performed to find the exact positions of all the locks, such that the precise positioning of the container flat car is achieved; the laser scanner horizontally scans the heavy-load container truck entering the lane, and adjusts the automatic lifting device to a corresponding height according to the lifting tool positioning signal and the lifting tool height signal, the gap between the container and the flat car is measured, the unlocking of the lock of the container truck is prevented, and the container truck is lifted; and with the method of the present invention, the precise lock positioning and anti-lifting detection of the external container truck in the lifting yard of the automated field can be achieved.

Description

technical field [0001] The invention relates to precise positioning of container trucks and spreaders and anti-lifting of container trucks in container loading and unloading operations, and is especially suitable for automatic container loading and unloading operations on port sites. Background technique [0002] At present, there is no effective and accurate measurement method for automatic loading and unloading of containers on site, precise alignment of collection trucks and spreaders under gantry cranes, and anti-lifting of collection trucks. Such as the patent application number "200820055788.6" site container gantry crane deviation correction and collection truck laser alignment and anti-hanging device, and "201420312848.3" tire crane walking positioning deviation correction and collection truck alignment anti-lifting system, the laser scanning rangefinder is following The gantry crane moves, and a certain height is limited, and because the height of the container truc...

AI Technical Summary

Problems solved by technology

Such as the patent application number "200820055788.6" site container gantry crane deviation correction and collection truck laser alignment and anti-hanging device, and "201420312848.3" tire crane walking positioning deviation correction and collection truck alignment anti-lifting system, the laser scanning rangefinder is following The gantry crane moves with a certain height, and because the height of the container truck is different, the position of the lock hole is different, it is impossible to accurately measure the lock head of the container truck for the empty truck

Although the gimbal rotates, it cannot detect the position of all lock heads

In the automatic container loading and unloading operation, the automatically lifted container cannot be accurately aligned with the lock head of the truck, and if the lock head has not been fully unlocked, the height of the container flatbed is different, because the scanner is fixed at a certain height and cannot be lifted. The anti-lifting detection of the container will lift the container flatbed truck and the front of the container flatbed truck together, which will bring safety hazards. At present, there is no effective detection method to solve the precise positioning and anti-lifting of the container lock of the foreign collection truck in the automatic loading and unloading operation. Detection method

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