CN107381356A - The operating method and cloud box hanger of cloud box hanger - Google Patents

The operating method and cloud box hanger of cloud box hanger Download PDF

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Publication number
CN107381356A
CN107381356A CN201710531330.7A CN201710531330A CN107381356A CN 107381356 A CN107381356 A CN 107381356A CN 201710531330 A CN201710531330 A CN 201710531330A CN 107381356 A CN107381356 A CN 107381356A
Authority
CN
China
Prior art keywords
cloud
case
box hanger
drive
padlock
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710531330.7A
Other languages
Chinese (zh)
Inventor
王瑾琨
霍光磊
常元章
李书博
严洁
易梅
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hna Innovation Technology Research Co Ltd
Original Assignee
Hna Innovation Technology Research Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hna Innovation Technology Research Co Ltd filed Critical Hna Innovation Technology Research Co Ltd
Priority to CN201710531330.7A priority Critical patent/CN107381356A/en
Publication of CN107381356A publication Critical patent/CN107381356A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/18Control systems or devices
    • B66C13/22Control systems or devices for electric drives
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/18Control systems or devices
    • B66C13/46Position indicators for suspended loads or for crane elements

Abstract

The invention provides a kind of operating method of cloud box hanger and cloud box hanger.Wherein, operating method includes:S10:Anchor point is marked on cloud case;S20:The positional information of cloud case is obtained by anchor point using IMAQ;S30:The position of cloud case is moved to according to positional information driving cloud box hanger;S40:Driving cloud box hanger is connected with cloud case.Using the operating method of the cloud box hanger of the present invention, it is possible to achieve cloud case is automatically positioned, and allows cloud box hanger to be automatically moved to the position of cloud case and is connected with cloud case.The requirement to the high controlled level of handling personnel can be saved, the phenomenon for the eye fatigue that handling personnel easily occur can also be avoided, improves the security of cloud box hanger operation.

Description

The operating method and cloud box hanger of cloud box hanger
Technical field
The present invention relates to cloud box installed to unload technical field, in particular to the operating method and cloud case of a kind of cloud box hanger Suspender.
Background technology
Cloud box hanger the charge and discharge operations about cloud case, leads to mainly by handling personnel at present in the handling applied to cloud case The mode for crossing range estimation controls suspender to realize the work such as the handling of cloud case, carrying.
Such working method requires very high to the controlled level for loading and unloading personnel, and works handling personnel for a long time very Easily there is the phenomenon of eye fatigue, certain potential safety hazard be present.
The content of the invention
It is a primary object of the present invention to provide the operating method and cloud box hanger of a kind of cloud box hanger, to solve existing skill Easily there is the problem of potential safety hazard by manpower control cloud box hanger handling or carrying in art.
To achieve these goals, according to an aspect of the invention, there is provided a kind of operating method of cloud box hanger, bag Include:S10:Anchor point is marked on cloud case;S20:The positional information of cloud case is obtained by anchor point using IMAQ;S30:Root The position of cloud case is moved to according to positional information driving cloud box hanger;S40:Driving cloud box hanger is connected with cloud case.
Further, in step slo, anchor point is the location structure formed on cloud case.
Further, location structure is located at the center of the top surface of cloud case.
Further, location structure is T-shaped structure.
Further, in step S20, the position that IMAQ obtains cloud case by the feature extraction to location structure is believed Breath.
Further, operating method also includes, S50:Whether detection cloud box hanger is connected together with cloud case, if cloud Box hanger does not link together with cloud case, then performs step S10.
Further, operating method also includes, S60:Mobile handling cloud case, in step s 50, if cloud box hanger and cloud Case links together, then performs step S60.
Further, before step S10, the dimension information of cloud case is obtained by IMAQ, and according to dimension information control Cloud box hanger expansion processed is shunk, to cause cloud box hanger to adapt to cloud case.
To achieve these goals, according to an aspect of the invention, there is provided a kind of cloud box hanger, including suspension bracket, One drive mechanism, padlock mechanism, visual mechanisms and controller, the first drive mechanism link with suspension bracket driving, the first drive mechanism For driving suspension bracket to move;Padlock mechanism is arranged on suspension bracket, and padlock mechanism is used to be connected with the hanging portion formed on cloud case;Depending on Feel that mechanism is used for IMAQ, the positional information of cloud case is obtained by the anchor point marked on cloud case;Controller and vision machine Structure and the first drive mechanism are connected, and controller is used to receive the positional information that visual mechanisms are got, and according to positional information control Make the position that suspension bracket is moved to cloud case by the first drive mechanism so that padlock mechanism is moved to the position of hanging portion, Padlock mechanism is allowed to be connected with hanging portion.
Further, anchor point is the location structure formed on cloud case, and visual mechanisms to the feature of location structure by carrying Obtain the positional information of cloud case.
Further, cloud box hanger also includes the second drive mechanism, the second drive mechanism and padlock mechanism drive connection, the Two drive mechanisms are used to drive padlock mechanism to be connected with hanging portion, and controller is connected with the second drive mechanism, for controlling second Drive mechanism driving padlock mechanism is connected with hanging portion.
Further, cloud box hanger also includes distance measuring sensor, and distance measuring sensor is used to whether detect padlock mechanism with hanging Extension portion is connected together, and controller is also connected with distance measuring sensor, if distance measuring sensor detect cloud box hanger not with Cloud case is linked together, and controller obtains positional information by visual mechanisms again, and the first driving machine is controlled further according to positional information Suspension bracket is moved to the position of cloud case by structure so that padlock mechanism is moved to the position of hanging portion, and controls second to drive Motivation structure is connected by padlock mechanism with hanging portion, if distance measuring sensor detects that cloud box hanger links together with cloud case, control Device processed then controls the first drive mechanism and the second drive mechanism to move handling cloud case.
Further, cloud box hanger also includes arm and the 3rd drive mechanism, arm are movably disposed on suspension bracket, hangs Latch mechanism is arranged on arm;3rd drive mechanism is arranged on suspension bracket and is used for arm drive connection, the 3rd drive mechanism Drive arm activity;Controller is also connected with the 3rd drive mechanism, and visual mechanisms are additionally operable to obtain cloud case by IMAQ Dimension information, controller controls the driving arm expansion of the 3rd drive mechanism according to dimension information or shunk, to adapt to cloud case Size.
Further, padlock mechanism is the latch gear rotatably set, and hanging portion is formed on cloud case and lock pin machine The lockpin hole that structure is engaged.
Apply the technical scheme of the present invention, anchor point is first marked on cloud case, then anchor point is passed through using IMAQ Obtain the positional information of cloud case.The position of cloud case is moved to further according to positional information driving cloud box hanger afterwards, finally Cloud box hanger is driven to be connected with cloud case again.Using the operating method of the cloud box hanger of the present invention, it is possible to achieve to cloud case It is automatically positioned, and allows cloud box hanger to be automatically moved to the position of cloud case and be connected with cloud case.It can save to handling The requirement of the high controlled level of personnel, the phenomenon for the eye fatigue that handling personnel easily occur can also be avoided, improve cloud box hanger The security of operation.
In addition to objects, features and advantages described above, the present invention also has other objects, features and advantages. Below with reference to figure, the present invention is further detailed explanation.
Brief description of the drawings
The Figure of description for forming the part of the present invention is used for providing a further understanding of the present invention, and of the invention shows Meaning property embodiment and its illustrate be used for explain the present invention, do not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 shows the schematic flow sheet of the embodiment of the operating method of the cloud box hanger according to the present invention;
Fig. 2 shows the schematic front view of the embodiment of the cloud box hanger according to the present invention;
Fig. 3 shows the schematic top plan view of Fig. 2 cloud box hanger.
Wherein, above-mentioned accompanying drawing marks including the following drawings:
10th, suspension bracket;20th, padlock mechanism;30th, visual mechanisms;40th, distance measuring sensor;50th, arm.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the present invention can phase Mutually combination.Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention Accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only The embodiment of a part of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill people The every other embodiment that member is obtained under the premise of creative work is not made, it should all belong to the model that the present invention protects Enclose.
It should be noted that term " first " in description and claims of this specification and above-mentioned accompanying drawing, " Two " etc. be for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that so use Term can exchange in the appropriate case, so as to embodiments of the invention described herein.In addition, term " comprising " and " tool Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing series of steps or unit Process, method, system, product or equipment are not necessarily limited to those steps clearly listed or unit, but may include without clear It is listing to Chu or for the intrinsic other steps of these processes, method, product or equipment or unit.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative It is also intended to include plural form, additionally, it should be understood that, when in this manual using term "comprising" and/or " bag Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
Fig. 1 shows the operating method of the cloud box hanger of the present invention, and the operating method includes:
S10:Anchor point is marked on cloud case;
S20:The positional information of cloud case is obtained by anchor point using IMAQ;
S30:The position of cloud case is moved to according to positional information driving cloud box hanger;
S40:Driving cloud box hanger is connected with cloud case.
Apply the technical scheme of the present invention, anchor point is first marked on cloud case, then anchor point is passed through using IMAQ Obtain the positional information of cloud case.The position of cloud case is moved to further according to positional information driving cloud box hanger afterwards, finally Cloud box hanger is driven to be connected with cloud case again.Using the operating method of the cloud box hanger of the present invention, it is possible to achieve to cloud case It is automatically positioned, and allows cloud box hanger to be automatically moved to the position of cloud case and be connected with cloud case.It can save to handling The requirement of the high controlled level of personnel, the phenomenon for the eye fatigue that handling personnel easily occur can also be avoided, improve cloud box hanger The security of operation.
In step slo, anchor point can be marked as out on cloud case by way of virtualization, physics can also be used Mode directly form anchor point on cloud case.In the present embodiment, directly formed by using the mode of physics on cloud case Anchor point.As an alternative embodiment, in step slo, anchor point is the location structure formed on cloud case.In step In S20, IMAQ obtains the positional information of cloud case by the feature extraction to location structure, afterwards further according to the positional information Carry out next step operation.In order to which easily cloud box hanger can be moved at the center above cloud case, in the present embodiment, make For a kind of embodiment being more highly preferred to, location structure is located at the center of the top surface of cloud case.So, IMAQ is being carried out When, it is more convenient for identifying location structure from the top surface of cloud case.
In the present embodiment, location structure is T-shaped structure.In step S20, IMAQ passes through to T-shaped structure Location structure carry out feature extraction, obtain the positional information of cloud case.When in use, top surface of the IMAQ in cloud case is first passed through On to T-shaped structure carry out feature extraction, identify T-shaped structure, cloud could be obtained according to the location structure identified afterwards The positional information of case.
It should be noted that in the present invention, location structure is not limited to T-shaped structure.The shape of location structure should When for ease of identifying, there is the shape of notable difference compared with the other structures of cloud case, so can improve for positioning The recognition efficiency of structure.
As shown in figure 1, in the operating method of the present embodiment, operating method also includes S50:Detect cloud box hanger whether with Cloud case is connected together, if cloud box hanger does not link together with cloud case, performs step S10.Under normal circumstances, exist When carrying out S40 operation, the reason for cloud box hanger does not link together with cloud case is that cloud box hanger is not moved to specific bit Put.Detect whether cloud box hanger is connected together with cloud case by step S50, if cloud box hanger is not connected with cloud case Together, then illustrate that cloud box hanger is not moved to specified location.At this moment, the execution since step S10 is circulated again, can To allow vanning lifting appliance moving to specified location.
As an alternative embodiment, as shown in figure 1, operating method also includes S60:Mobile handling cloud case.In step In rapid S50, if cloud box hanger links together with cloud case, step S60 is performed, moves the operation of handling cloud case.
Under normal circumstances, the size of cloud case is not unique.In order that the operating method of cloud box hanger of the invention can be with It is adapted to the cloud box hanger of different model.In the inventive solutions, before step S10, cloud is obtained by IMAQ The dimension information of case, and the expansion of cloud box hanger is controlled according to dimension information or shunk, to cause cloud box hanger to adapt to cloud case. This way it is possible to realize the size of cloud box hanger is automatically adapted to the size of cloud case.
Fig. 2 and Fig. 3 shows the embodiment of the cloud box hanger of the present invention, and the cloud box hanger drives including suspension bracket 10, first Mechanism, padlock mechanism 20, visual mechanisms 30 and controller.First drive mechanism links with the driving of suspension bracket 10, the first drive mechanism For driving suspension bracket 10 to move.Padlock mechanism 20 is arranged on suspension bracket 10, and padlock mechanism 20 is used for the hanging with being formed on cloud case Portion connects.Visual mechanisms 30 are used for IMAQ, and the positional information of cloud case is obtained by the anchor point marked on cloud case.Control Device is connected with the drive mechanism of visual mechanisms 30 and first, and controller is used to receive the positional information that visual mechanisms 30 are got, and Suspension bracket 10 is moved to the position of cloud case according to positional information the first drive mechanism of control so that padlock mechanism 20 is moved to The position of hanging portion, padlock mechanism 20 is allowed to be connected with hanging portion.
Apply the technical scheme of the present invention, anchor point is first marked on cloud case, visual mechanisms 30 are led to using IMAQ Cross the positional information that anchor point obtains cloud case.Afterwards, controller receives the positional information that visual mechanisms 30 are got, and according to position Suspension bracket 10 is moved to the position of cloud case by the first drive mechanism of confidence breath control so that padlock mechanism 20 is moved to hanging portion Position, allow padlock mechanism 20 to be connected with hanging portion.Using the cloud box hanger of the present invention, it is possible to achieve to cloud case It is automatically positioned, and allows cloud box hanger to be automatically moved to the position of cloud case and be connected with cloud case.Eliminate to loading and unloading people The requirement of the high controlled level of member, the phenomenon for the eye fatigue that handling personnel easily occur can also be avoided, improves cloud box hanger behaviour The security of work.
In the technical scheme of the present embodiment, visual mechanisms 30 are set directly at the bottom of suspension bracket 10.Can as others The embodiment of choosing, visual mechanisms 30 can also be arranged on the miscellaneous part of cloud box hanger, or be arranged on cloud box hanger with On outer structure.When in use, as long as can meet to allow visual mechanisms 30 clearly to collect the relevant vision letter of cloud case Breath.
In the inventive solutions, anchor point can be marked as out on cloud case by way of virtualization, also may be used Directly anchor point is formed in a manner of using physics on cloud case.In the present embodiment, directly exist by using the mode of physics Anchor point is formed on cloud case.As an alternative embodiment, anchor point is the location structure formed on cloud case.Visual mechanisms 30 obtain the positional information of cloud case by the feature extraction to location structure, carry out next step behaviour further according to the positional information afterwards Make.
In order to which easily cloud box hanger can be moved at the center above cloud case, in the present embodiment, as one kind The embodiment being more highly preferred to, location structure are located at the center of the top surface of cloud case.So, when carrying out IMAQ, more just In identifying location structure on the top surface from cloud case.
As a preferred embodiment, in the inventive solutions, cloud box hanger also includes the second driving machine Structure, the second drive mechanism and the drive connection of padlock mechanism 20, the second drive mechanism are used to drive padlock mechanism 20 with hanging portion to connect Connect.Controller is connected with the second drive mechanism, for controlling the second drive mechanism driving padlock mechanism 20 to be connected with hanging portion. Suspension bracket 10 is moved to the place of cloud case by the first drive mechanism of positional information control that controller is got according to visual mechanisms 30 Behind position, controller controls the second drive mechanism driving padlock mechanism 20 to be connected with hanging portion again.Can using the second drive mechanism To realize the automatic connection of padlock mechanism 20 and hanging portion.
As shown in Fig. 2 in the inventive solutions, cloud box hanger also includes distance measuring sensor 40, distance measuring sensor 40 are used to detect whether padlock mechanism 20 is connected together with hanging portion.Controller is also connected with distance measuring sensor 40, if Distance measuring sensor 40 detects that cloud box hanger does not link together with cloud case.Controller obtains position by visual mechanisms 30 again Information, suspension bracket 10 is moved to the position of cloud case further according to positional information the first drive mechanism of control so that padlock mechanism 20 are moved to the position of hanging portion, and control the second drive mechanism to allow padlock mechanism 20 to be connected with hanging portion.If ranging Sensor 40 detects that cloud box hanger links together with cloud case, and controller then controls the first drive mechanism and the second drive mechanism Mobile handling cloud case.
When controlling the operation that the second drive mechanism driving padlock mechanism 20 is attached with hanging portion, padlock mechanism 20 does not have It is that typically padlock mechanism 20 is not moved to specified location to have the reason for being linked together with hanging portion.Under normal circumstances, such as Fruit padlock mechanism 20 is effectively connected with hanging portion, and the distance between padlock mechanism 20 and cloud case will be less than one in advance Definite value.If the range information that distance measuring sensor 40 is measured has been more than above-mentioned predetermined value, illustrate padlock mechanism 20 with hanging Extension portion is not attached to together, that is, illustrates that padlock mechanism 20 is not moved to specified location.At this moment, again by visual mechanisms 30 Positional information is obtained, then the positional information for allowing controller to be got according to visual mechanisms 30 controls the first drive mechanism by suspension bracket 10 After being moved to the position of cloud case, controller controls the second drive mechanism driving padlock mechanism 20 to be connected with hanging portion again.
As shown in Figures 2 and 3, in the technical scheme of the present embodiment, cloud box hanger also includes arm 50 and the 3rd and driven Mechanism.Arm 50 is movably disposed on suspension bracket 10, and padlock mechanism 20 is arranged on arm 50.3rd drive mechanism is arranged on It is used to drive the activity of arm 50 on suspension bracket 10 and with the drive connection of arm 50, the 3rd drive mechanism.Controller also drives with the 3rd Mechanism connects, and visual mechanisms 30 are additionally operable to obtain the dimension information of cloud case by IMAQ.When in use, vision machine is first passed through Structure 30 obtains the dimension information of cloud case, after controller receives the dimension information that visual mechanisms 30 measure, according to dimension information The 3rd drive mechanism driving arm 50 is controlled to deploy or shrink, to adapt to the size of cloud case.
As an alternative embodiment, in the technical scheme of the application, padlock mechanism 20 is rotatably set Latch gear, hanging portion are the lockpin hole being engaged with latch gear formed on cloud case.
As an alternative embodiment, as shown in figure 3,4 are provided with suspension bracket 10 can hanging with telescopic movable Arm 50, a padlock mechanism 20 is installed on each arm 50.Corresponding, formed with 4 hanging portions on cloud case, pass through the knot The cloud box hanger of structure more stably mobile can load and unload cloud case.
In the technical scheme of the present embodiment, distance measuring sensor 40 can be arranged on arm 50.As other optional Embodiment, distance measuring sensor 40 can also be arranged on the structure beyond suspension bracket 10, or cloud box hanger.Using When, can accurately measure the distance between padlock mechanism 20 and cloud case with distance measuring sensor 40 is advisable.
It should also be noted that, in the inventive solutions, controller can also be set directly at the bottom of suspension bracket 10 Portion.As other optional embodiments, controller can also be arranged on the miscellaneous part of cloud box hanger, or is arranged on On structure beyond cloud box hanger.When in use, controller can be allowed to be driven with visual mechanisms 30, the first drive mechanism, second Connected between motivation structure and the 3rd drive mechanism by cable.In addition, allowed by the way of wireless telecommunications controller with it is above-mentioned It is also feasible that miscellaneous part, which is attached,.
Optionally, in the inventive solutions, the first drive mechanism, the second drive mechanism and the 3rd drive mechanism Function can be realized by cylinder assembly, can also with hydraulic motor reduction box drive sprocket link chain mechanism realize.
It should also be noted that, signified cloud case is one kind of container in the present invention.
Had the advantages that using technical scheme:
1st, the independence that cloud box installed is unloaded is realized
2nd, the rapidity of vision-based detection is improved
3rd, operating efficiency is improved
4th, by low cost of labor
5th, security is improved
Unless specifically stated otherwise, the part and positioned opposite, the digital table of step otherwise illustrated in these embodiments Do not limited the scope of the invention up to formula and numerical value.Simultaneously, it should be appreciated that for the ease of description, each portion shown in accompanying drawing The size divided not is to be drawn according to the proportionate relationship of reality.For technology, side known to person of ordinary skill in the relevant Method and equipment may be not discussed in detail, but in the appropriate case, the technology, method and apparatus should be considered as authorizing explanation A part for book.In shown here and discussion all examples, any occurrence should be construed as merely exemplary, and Not by way of limitation.Therefore, the other examples of exemplary embodiment can have different values.It should be noted that:Similar label Similar terms is represented in following accompanying drawing with letter, therefore, once it is defined in a certain Xiang Yi accompanying drawing, then subsequent attached It need not be further discussed in figure.
For the ease of description, space relative terms can be used herein, as " ... on ", " ... top ", " ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy The spatial relation of sign.It should be appreciated that space relative terms are intended to comprising the orientation except device described in figure Outside different azimuth in use or operation.For example, if the device in accompanying drawing is squeezed, it is described as " in other devices It will be positioned as " under other devices or construction after the device of part or construction top " or " on other devices or construction " Side " or " under other devices or construction ".Thus, exemplary term " ... top " can include " ... top " and " in ... lower section " two kinds of orientation.The device can also other different modes positioning (being rotated by 90 ° or in other orientation), and And respective explanations are made to the relative description in space used herein above.
In the description of the invention, it is to be understood that the noun of locality such as " forward and backward, upper and lower, left and right ", " laterally, vertical, Vertically, orientation or position relationship indicated by level " and " top, bottom " etc. are normally based on orientation or position shown in the drawings and closed System, it is for only for ease of the description present invention and simplifies description, in the case where not making opposite explanation, these nouns of locality do not indicate that There must be specific orientation with the device or element for implying meaning or with specific azimuth configuration and operation, therefore can not manage Solve as limiting the scope of the invention;The noun of locality " inside and outside " refers to relative to inside and outside each part profile in itself.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies Change, equivalent substitution, improvement etc., should be included in the scope of the protection.

Claims (14)

  1. A kind of 1. operating method of cloud box hanger, it is characterised in that including:
    S10:Anchor point is marked on cloud case;
    S20:The positional information of the cloud case is obtained by the anchor point using IMAQ;
    S30:The position of the cloud case is moved to according to the positional information driving cloud box hanger;
    S40:The cloud box hanger is driven to be connected with the cloud case.
  2. 2. the operating method of cloud box hanger according to claim 1, it is characterised in that in step slo, the anchor point For the location structure formed on the cloud case.
  3. 3. the operating method of cloud box hanger according to claim 2, it is characterised in that the location structure is located at the cloud At the center of the top surface of case.
  4. 4. the operating method of cloud box hanger according to claim 3, it is characterised in that the location structure is T-shaped structure Body.
  5. 5. the operating method of cloud box hanger according to claim 2, it is characterised in that in step S20, IMAQ leads to Cross the feature extraction to the location structure and obtain the positional information of the cloud case.
  6. 6. the operating method of cloud box hanger according to claim 1, it is characterised in that the operating method also includes,
    S50:Detect whether the cloud box hanger is connected together with the cloud case, if the cloud box hanger not with it is described Cloud case links together, then performs step S10.
  7. 7. the operating method of cloud box hanger according to claim 6, it is characterised in that the operating method also includes,
    S60:It is mobile to load and unload the cloud case, in step s 50, if the cloud box hanger links together with the cloud case, Perform step S60.
  8. 8. the operating method of cloud box hanger according to claim 1, it is characterised in that before step S10, adopted by image Collection obtains the dimension information of the cloud case, and controls the cloud box hanger to deploy or shrink according to the dimension information, so that Obtain the cloud box hanger and adapt to the cloud case.
  9. A kind of 9. cloud box hanger, it is characterised in that including:
    Suspension bracket (10);
    First drive mechanism, linked with the suspension bracket (10) driving, first drive mechanism is used to drive the suspension bracket (10) It is mobile;
    Padlock mechanism (20), it is arranged on the suspension bracket (10), the padlock mechanism (20) is used for the hanging with being formed on cloud case Portion connects;
    Visual mechanisms (30), for IMAQ, by the position of the anchor point acquisition cloud case marked on the cloud case Information;
    Controller, it is connected with the visual mechanisms (30) and first drive mechanism, the controller is used to receive described regard Feel the positional information that mechanism (30) is got, and control first drive mechanism to be hung described according to the positional information Frame (10) is moved to the position of the cloud case so that the institute that the padlock mechanism (20) is moved to the hanging portion is in place Put, allow the padlock mechanism (20) to be connected with the hanging portion.
  10. 10. cloud box hanger according to claim 9, it is characterised in that the anchor point is determined for what is formed on the cloud case Bit architecture, the visual mechanisms (30) obtain the positional information of the cloud case by the feature extraction to the location structure.
  11. 11. cloud box hanger according to claim 9, it is characterised in that the cloud box hanger also includes the second drive mechanism, Second drive mechanism and the padlock mechanism (20) drive connection, second drive mechanism are used to drive the padlock machine Structure (20) is connected with the hanging portion, and the controller is connected with second drive mechanism, for controlling second driving Mechanism drives the padlock mechanism (20) to be connected with the hanging portion.
  12. 12. cloud box hanger according to claim 11, it is characterised in that the cloud box hanger also includes distance measuring sensor (40), the distance measuring sensor (40) is used to detect whether the padlock mechanism (20) is connected together with hanging portion, described Controller is also connected with the distance measuring sensor (40), if the distance measuring sensor (40) detects that the cloud box hanger does not have Being linked together with the cloud case, the controller obtains the positional information by the visual mechanisms (30) again, further according to The suspension bracket (10) is moved to the position of the cloud case by the positional information control first drive mechanism so that institute State padlock mechanism (20) and be moved to the position of the hanging portion, and control second drive mechanism to allow the padlock mechanism (20) it is connected with the hanging portion, if the distance measuring sensor (40) detects that the cloud box hanger is connected to the cloud case Together, the controller then controls first drive mechanism and second drive mechanism to move and load and unload the cloud case.
  13. 13. cloud box hanger according to claim 9, it is characterised in that the cloud box hanger also includes:
    Arm (50), it is movably disposed on the suspension bracket (10), the padlock mechanism (20) is arranged on the arm (50) On;
    3rd drive mechanism, be arranged on the suspension bracket (10) and with the arm (50) drive connection, the 3rd driving machine Structure is used to drive the arm (50) movable;
    The controller is also connected with the 3rd drive mechanism, and the visual mechanisms (30) are additionally operable to obtain by IMAQ The dimension information of the cloud case, the controller control the 3rd drive mechanism to drive the arm according to the dimension information (50) deploy or shrink, to adapt to the size of the cloud case.
  14. 14. cloud box hanger according to claim 9, it is characterised in that the padlock mechanism (20) is rotatably set Latch gear, the hanging portion are the lockpin hole being engaged with the latch gear formed on the cloud case.
CN201710531330.7A 2017-06-30 2017-06-30 The operating method and cloud box hanger of cloud box hanger Pending CN107381356A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710531330.7A CN107381356A (en) 2017-06-30 2017-06-30 The operating method and cloud box hanger of cloud box hanger

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710531330.7A CN107381356A (en) 2017-06-30 2017-06-30 The operating method and cloud box hanger of cloud box hanger

Publications (1)

Publication Number Publication Date
CN107381356A true CN107381356A (en) 2017-11-24

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2196953A1 (en) * 2008-12-12 2010-06-16 Siemens Aktiengesellschaft Method, control program and system for identifying a container in a container crane assembly
CN102923578A (en) * 2012-11-13 2013-02-13 扬州华泰特种设备有限公司 Automatic control system of efficient handing operation of container crane
CN105069420A (en) * 2015-07-27 2015-11-18 上海振华重工(集团)股份有限公司 Automatic container lockhole identifying-positioning method and system
CN205500547U (en) * 2016-04-07 2016-08-24 河南豫中起重集团有限公司 Spreader expansion bracket

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2196953A1 (en) * 2008-12-12 2010-06-16 Siemens Aktiengesellschaft Method, control program and system for identifying a container in a container crane assembly
CN102923578A (en) * 2012-11-13 2013-02-13 扬州华泰特种设备有限公司 Automatic control system of efficient handing operation of container crane
CN105069420A (en) * 2015-07-27 2015-11-18 上海振华重工(集团)股份有限公司 Automatic container lockhole identifying-positioning method and system
CN205500547U (en) * 2016-04-07 2016-08-24 河南豫中起重集团有限公司 Spreader expansion bracket

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