集装箱起重机自动装卸系统的研究与设计  

Research and design of automatic handling system for container cranes

作　　者：梁晓波[1] 程文明[1] 郭鹏[1] 

机构地区：[1]西南交通大学机械工程学院,成都610031

出　　处：《计算机应用》2015年第A01期229-231,251,共4页journal of Computer Applications

基　　金：国家自然科学基金项目资助项目(51175442);四川省科技计划项目(11ZC0672);四川省应用基础研究计划项目(2013JY0136)

摘　　要：在当前集装箱运输迅猛发展的背景下,针对集装箱装卸过程中存在的时间长、效率低、劳动强度大等问题,同时为了改进集装箱装卸模式,提出了一种集装箱起重机自动装卸系统。通过解析系统功能需求,给出了系统逻辑结构。在此基础上,运用基于机器视觉的图像识别技术和双目立体视觉识别定位技术,实现货场集装箱的识别和定位,运用条形码定位技术和电机绝对编码器,实现集装箱起重机各运行机构的运动定位。计算出的吊具与集装箱的三维空间相对位置值,由工控机通过"PLC+变频器"控制起重机自动抓取集装箱,实现集装箱起重机自动装卸集装箱。应用实验结果显示,自动装卸系统集装箱单箱装卸时间较人工操作平均缩短30%,证明该系统安全适用,作业效率高,达到了集装箱装卸自动化的目标。Under the rapid development of container transportation, in order to solve the problems of the long period, low efficiency and hard work existed in the course of container load and unload operation, and improve the container load and unload operation mode, a type of automatic handling system for container cranes was proposed. Based on the functional requirements of system, the logical structure of system was presented. On the basis of logical structure, the container recognition and position in automatic container loading and unloading was realized, by using binocular stereo vision technology and image recognition technology based on machine vision. The motion positioning of each operation mechanism of container crane was measured, with barcode technology and absolute encoder of motor. According to the 3-D relative position of spreader and container, the automatic container loading and unloading operations were realized, through PLC and transducer which was controlled by IPC. The application results show that the average container handling time of the automatic handling system is 30% shorter than that of manual operation. The automatic handling system is of applicable safety and high working efficiency.

关 键 词：机器视觉 图像识别 双目立体视觉 条形码 自动化 集装箱 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP391.4[自动化与计算机技术—控制科学与工程]