CAJ | 학술논문

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。
재당전집장상운수신맹발전적배경하，침대집장상장사과정중존재적시간장、효솔저、노동강도대등문제，동시위료개진집장상장사모식，제출료일충집장상기중궤자동장사계통。통과해석계통공능수구，급출료계통라집결구。재차기출상，운용기우궤기시각적도상식별기술화쌍목입체시각식별정위기술，실현화장집장상적식별화정위，운용조형마정위기술화전궤절대편마기，실현집장상기중궤각운행궤구적운동정위。계산출적조구여집장상적삼유공간상대위치치，유공공궤통과“PLC+변빈기”공제기중궤자동조취집장상，실현집장상기중궤자동장사집장상。응용실험결과현시，자동장사계통집장상단상장사시간교인공조작평균축단30%，증명해계통안전괄용，작업효솔고，체도료집장상장사자동화적목표。
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.