The invention relates to a three-dimensional scanning system for assisting a port machine in connecting with a container. The three-dimensional scanning system comprises a three-dimensional morphologyscanning module, a data processing module, a hoisting machinery module and a rotary clamping lock; two lock pins extend out of each of two telescopic beams on a mechanical arm; and a scanning probe is installed near each lock pin. When the lock pins move to the position above the container, the scanning probes perform three-dimensional morphology scanning on corner fitting grooves in the container respectively, then the edges of the corner fitting grooves are fitted through a processing chip, the geometric centers of the corner fitting grooves are found, and the relative coordinates of the geometric centers of the corner fitting grooves relative to the centers of the corresponding lock pins are given. Accordingly, the mechanical arm can be operated to enable the lock pins to perform proper displacement and rotation in a three-dimensional space, the lock pins are aligned to the geometric centers of the corner fitting grooves and corresponding long and short shafts respectively, the lock pins extend into the grooves and rotate by certain angles, and meshing of a lock, namely box grabbing of the telescopic beams, is achieved. By the aid of the system, connection of the port machine with the container can be completed quickly and accurately, and the port transportation efficiency can be increased.

    本发明专利涉及一种辅助港机连接集装箱的三维扫描系统,包括三维形貌扫描模块、数据处理模块、起重机械模块、旋转卡锁。机械臂上的两个伸缩梁各伸出2个锁销,扫描探头安装在锁销附近。当锁销移动到集装箱上方时,各个扫描探头分别对集装箱上的角件凹槽进行三维形貌扫描,再由处理芯片拟合出角件凹槽的边缘,找到角件凹槽的几何中心并给出其相对于对应锁销中心的相对坐标。据此可操纵机械臂让锁销在三维空间上进行适量的位移与旋转,使得锁销与角件凹槽的几何中心、对应的长短轴分别对齐,锁销伸入凹槽并旋转一定的角度,实现锁具的咬合即伸缩梁的抓箱。该系统能够快速精准地完成港机与集装箱的连接,加快港口运输效率。


    Access

    Download


    Export, share and cite



    Title :

    Three-dimensional scanning system for assisting container lock in meshing lifting


    Additional title:

    一种辅助集装箱锁具啮合升降的三维扫描系统


    Contributors:
    HE SAILING (author)

    Publication date :

    2020-12-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G06K Erkennen von Daten , RECOGNITION OF DATA



    Double-control meshing transmission lifting system

    WANG XIANG / PAN ZONGYI / XIONG QIBO et al. | European Patent Office | 2023

    Free access

    Lifting type container spin lock

    TAO HONGXIN / PENG LIAO / YIN YE et al. | European Patent Office | 2022

    Free access

    Lifting positioning mechanism for container lock conveying

    HOU XIAODONG / WU XUAN / LEI HUAJIN | European Patent Office | 2021

    Free access

    Rotary lock control method for container single-container lifting appliance

    LIN JIASHENG / CHEN SHUNZHONG / WANG YONG et al. | European Patent Office | 2020

    Free access

    Lifting equipment for assisting in lifting furniture

    YANG XINHUAN | European Patent Office | 2021

    Free access