CN107934737B - Positioning method using accurate positioning system of hanging tool - Google Patents

Positioning method using accurate positioning system of hanging tool Download PDF

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Publication number
CN107934737B
CN107934737B CN201710947114.0A CN201710947114A CN107934737B CN 107934737 B CN107934737 B CN 107934737B CN 201710947114 A CN201710947114 A CN 201710947114A CN 107934737 B CN107934737 B CN 107934737B
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lifting
container
lifting appliance
lifted
appliance body
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CN107934737A (en
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范钦满
梁坤
张润生
刘长平
冯兴宇
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Huaiyin Institute of Technology
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Huaiyin Institute of Technology
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    • 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
    • B66C1/12Slings comprising chains, wires, ropes, or bands; Nets
    • 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
    • B66C1/101Load-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 for containers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/16Applications of indicating, registering, or weighing devices
    • 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
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00Energy generation of nuclear origin
    • Y02E30/30Nuclear fission reactors

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)
  • Load-Engaging Elements For Cranes (AREA)

Abstract

The invention discloses a positioning method using a precise positioning system of a lifting tool, wherein the length and the width of a lifting tool body are matched with those of a container, the top of the lifting tool body is fixed with a lifting rope of a crane, four corners of the side wall of the lifting tool body are respectively and movably connected with a positioning auxiliary plate in an L-shaped structure, the four corners of the bottom of the lifting tool body are respectively provided with a spin lock and an ultrasonic receiving module, the bottom center of the lifting tool body is provided with a laser ranging module, the lifting tool body is also provided with a temperature sensor, the lifting tool also comprises an ultrasonic transmitting module arranged at the top of the container, a controller and a display in a cab of the crane, the laser ranging module, the ultrasonic receiving module, the temperature sensor and the display are connected with the controller through signals or electricity, and the ultrasonic transmitting module is connected with the controller through signals. According to the structure, the continuity and the rapidity of automatic coarse positioning, fine positioning and accurate positioning of the lifting appliance are realized, and the lifting precision and the lifting efficiency are improved.

Description

Positioning method using accurate positioning system of hanging tool
Technical Field
The invention relates to the technical field of logistics transportation, in particular to a positioning method using a precise positioning system of a lifting tool.
Background
The greatest success of containers is their standardization of products and the complete set of transportation systems established thereby. The system can realize standardization of a pointism with a load of tens of tons, and gradually realize logistics systems matched with ships, ports, airlines, highways, transfer stations, bridges, tunnels and multi-mode intermodal in the global scope based on the standardization, which is one of great wonder created by human history.
As containers increasingly play a role in logistics. Quays have cranes for containers for lifting and transporting containers. The special lifting appliance for lifting the container can be used for quickly lifting the container by the aid of the lifting hook of the crane, namely the fixed lifting appliance (also called integral lifting appliance), and the lifting appliance is connected with the container through the rotary locks at four corners of the end beam. The container with one specification can be assembled and disassembled, and the ratchet mechanism is driven to drive the rotary lock to rotate by lifting of the steel wire rope, so that the rotary lock can be automatically opened and closed in a mechanical movement mode of the steel wire rope.
However, in the process of lifting the container, the lifting appliance is generally provided with a guide device for positioning when the lifting appliance approaches the container, the lifting appliance is commonly used as a guide plate, the tail end of the lifting appliance is a pyramid wrap angle made of steel plates, the lifting appliance can rotate 180 degrees and downwards when in use and is just sleeved on four corners of the container, the lifting appliance can be turned upwards when not in operation, and the action of the guide plate is generally controlled by a hydraulic system. However, in actual working, the positioning of the lifting appliance and the container is difficult to be fast and accurate due to various reasons such as the action of wind or the inertia of the lifting appliance in the crane operation engineering, which causes that the lifting appliance and the crane do not move simultaneously. In order to accurately insert the lock heads at four corners of the lifting appliance into the lock holes of the container, after the twistlocks of the lifting appliance are aligned to the four lock holes, the crane is required to operate the lifting appliance to fall and insert the four twistlocks of the lifting appliance into the four lock holes on the top surface of the container to lock, and after an operator climbs down the container again, the crane is required to lift the container to a ship placing position. The whole process has longer operation time and requires additional labor force for assistance.
Disclosure of Invention
The invention aims at: the positioning method has the advantages that the defects of the prior art are overcome, and the positioning method using the accurate positioning system of the lifting appliance is provided, so that the container to be lifted can be directly found out under the action of the ultrasonic wave transmitting module and the ultrasonic wave receiving module when the lifting appliance body is far away from the container to be lifted, and the container to be lifted can be quickly moved to the container to be lifted; when the lifting appliance body is positioned above the container to be lifted, the lifting appliance body and the container to be lifted can be efficiently positioned through the positioning auxiliary plate; after the positioning of the lifting appliance body and the container to be lifted is completed, the rotary lock and the lock hole can be coaxially positioned through the electromagnet B; the continuity and the rapidity of automatic coarse positioning, fine positioning and accurate positioning of the lifting appliance are realized, and the lifting precision and the lifting efficiency are improved; the crane driver can accurately position the container and automatically hoist the container without observing the external condition through the display in the cab; the structure of the positioning auxiliary plates and the sequence of the actions of the positioning auxiliary plates are adopted in the hoisting process, so that the positioning on the plane of one side of the container can be realized quickly after the positioning is realized in the positioning process, and the positioning in the horizontal direction and the final fixing are realized finally; through the electromagnet B at the bottom of the twistlock, the twistlock can enter the lockhole and be locked under the condition that the coaxiality of the twistlock and the lockhole is ensured after the lifting appliance and the container are positioned, so that the twistlock is prevented from being knocked when entering the lockhole, the efficiency of entering the lockhole and being locked is improved, and the service life of the twistlock is prolonged; each group of hoisting ropes comprises a plurality of hoisting ropes, so that the bearing capacity of each hoisting rope can be reduced, the service life of the hoisting ropes is prolonged, and when one of the hoisting ropes is broken and fails, the effective hoisting state of the hoist body can be still maintained, so that the continuous hoisting of the hoist body is ensured.
The technical scheme adopted by the invention is as follows:
the utility model provides a hoist accurate positioning system, includes the hoist body, the length and the width of hoist body match with the container, the top of hoist body is fixed with the lifting rope of loop wheel machine, swing joint has the location accessory plate about the lateral wall four corners department of hoist body respectively, the location accessory plate is the riser of "L" shape structure, the bottom four corners department of hoist body still is equipped with twistlock and ultrasonic wave receiving module respectively, the bottom center of hoist body is equipped with laser rangefinder module, still be equipped with temperature sensor on the hoist body, still include the controller and the display in ultrasonic wave transmitting module and the crane cockpit that establish at container top, laser rangefinder module, ultrasonic wave receiving module, temperature sensor and display pass through signal or electricity with the controller and are connected, ultrasonic wave transmitting module passes through signal and controller connection.
According to the further improved scheme, a sleeve body matched with the positioning auxiliary plate in structure is fixed on the side wall of the lifting appliance body, and the positioning auxiliary plate is movably connected in the sleeve body up and down along the sleeve body.
The invention further adopts the improvement that the sleeve body controls the up-and-down movement of the positioning auxiliary plate through the electromagnet A, and the electromagnet A is connected with the controller through signals or electricity.
The invention further improves the scheme that when the positioning auxiliary plate is positioned at the highest travel, the bottom of the positioning auxiliary plate is higher than or equal to the bottom surface of the lifting appliance body; when the positioning auxiliary plate is located at the lowest stroke, the bottom of the positioning auxiliary plate is lower than the bottom surface of the hanger body.
According to a further improvement scheme, an electromagnet B is arranged on the bottom end face of the rotary lock, and the electromagnet B is connected with a controller through signals or electricity.
According to a further improvement scheme, the lifting appliance body is fixed with a lifting hook at the bottom of the lifting appliance body through lifting ropes, four groups of lifting ropes are arranged, each group of lifting ropes is fixed with one corner of the top of the lifting appliance body, and each group of lifting ropes comprises a plurality of lifting ropes.
According to a further improvement scheme, a rotary lock control pull rope is further arranged between the middle of the top surface of the lifting appliance body and the lifting hook, and the rotary lock control pull rope is connected with a rotary lock through a hydraulic mechanism.
The positioning method using the precise positioning system of the lifting appliance comprises the following steps:
1) The controller controls an ultrasonic wave transmitting module on the container to be hoisted to transmit ultrasonic waves;
2) When the hanger body is far away from the container to be lifted, after the ultrasonic receiving module on the hanger body receives the ultrasonic wave transmitted by the ultrasonic transmitting module, the ultrasonic transmitting module transmits an ultrasonic wave transmitting time signal and the ultrasonic receiving module transmits an ultrasonic wave receiving time signal to the processor, and the processor calculates the distance between each ultrasonic receiving module and the ultrasonic transmitting module and displays the relative positions of the hanger body and the container to be lifted on the display;
3) The crane driver operates the crane according to the relative position of the lifting appliance body and the container to be lifted displayed on the display, so that the lifting appliance body approaches to the container to be lifted;
4) When the lifting appliance body approaches to the position, which is right above the container to be lifted, of the laser ranging module, the laser ranging module sends out laser signals to measure the height difference between the lifting appliance body and the container to be lifted, and signals of the height difference are transmitted to the processor, and the processor calculates the relative accurate positions of the lifting appliance body and the container to be lifted by calculating the distance between each ultrasonic receiving module and the ultrasonic transmitting module and combining the measured height difference between the lifting appliance body and the container to be lifted, and displays the relative accurate positions on the display;
5) The crane driver operates the crane according to the relative position of the lifting tool body and the container to be lifted, which is displayed on the display, when the lifting tool body is controlled to descend to a position where the height difference between the bottom surface of the lifting tool body and the top surface of the container to be lifted is smaller than the distance between the bottom edge of the downward-extending positioning auxiliary plate and the bottom surface of the lifting tool body, and the bottom of the twistlock is higher than the top surface of the container to be lifted, the positioning auxiliary plates corresponding to the two adjacent side walls of the lifting tool body, which are positioned at the outer side of the container to be lifted, extend downwards;
6) Then a crane driver controls the lifting tool body to move to one side of the positioning auxiliary plate to be attached to the side wall of the container to be lifted;
7) At this time, the other side of the positioning auxiliary plate is still positioned at the outer side of the container to be lifted, a crane driver downwards extends the other positioning auxiliary plate on the side wall of the lifting appliance body corresponding to the other side of the positioning auxiliary plate, and at this time, the downwards extending two positioning auxiliary plates enable the lifting appliance body to only move along the plane where the container to be lifted is attached to the positioning auxiliary plate;
8) Then controlling the lifting appliance body to move by a crane driver until all sides of the two positioning auxiliary plates are attached to the side wall of the container to be lifted, and then controlling the rest two positioning auxiliary plates to extend downwards; the position of the rotary lock corresponds to a lock hole at the top of the container to be hoisted;
9) Then the crane driver controls the electromagnet B of the rotary lock to start, and the axle center of the rotary lock and the axle center of the lock hole are ensured to be coaxial through the electromagnet B;
10 The crane driver is controlled to descend to the bottom of the lifting appliance body to be attached to the top of the container to be lifted;
11 A crane driver controls the hydraulic mechanism to enable the rotary lock control stay rope to lock the rotary lock with the lock hole;
12 Lifting all positioning auxiliary plates by a crane driver through an electromagnet A, and lifting a container to be lifted to a designated position;
13 After the container to be lifted is lifted, a crane driver makes a twistlock control pull rope separate the twistlock from the lock hole by controlling the hydraulic mechanism, and prepares the next container to be lifted for lifting.
The positioning algorithm of the precise positioning system of the lifting appliance comprises the following steps:
step a, defining: the ultrasonic receiving modules at four top corners of the bottom of the lifting appliance body are respectively a point A, a point B, a point C and a point D;
step b, defining: the laser ranging module is positioned at the center of the bottom of the lifting appliance body and is an O point;
step c, defining: the ultrasonic wave transmitting module positioned at the center of the top of the container to be hoisted is the E point;
step d, defining: the projection of the E point in the plane where the A point, the B point, the C point and the D point are positioned is the F point;
step e, the distance between the O point obtained through the side of the laser ranging module (10) and the plane where the top of the container to be hoisted is located is equal to the length of the line segment EF;
wherein the length of line segment AB, the length of line segment BC, the length of line segment CD, and the length of line segment DA are known;
f, at a time T, measuring the vertical distance between the lifting appliance body at the time T and the top surface of the container to be lifted by the laser ranging sensor, namely the length of a line segment EF, and transmitting the length to a controller;
the length of the line segment EF is the moment T and the distance of the lifting appliance body to be vertically moved downwards;
step g, in addition, the four ultrasonic receiving modules respectively receive the ultrasonic waves emitted before the ultrasonic emitting module, and respectively calculate the time intervals tA, tB, tC, tD of the four ultrasonic receiving modules respectively;
step h, the time difference signal is transmitted to a controller, and the controller passes through the formula:
s=v×t meters (i),
where s is the distance, v is the speed of sound in air, and t is the time interval;
and, the speed of sound in air adopts: v=v0+Δ c meters/second (ii),
wherein v0 is the propagation speed of sound in air under the condition of zero degrees centigrade, delta is the increment of the propagation speed of sound in air when the temperature rises by one degree centigrade, and c is the air temperature detected by the temperature sensor at the moment T;
thereby respectively calculating the length of the line segment EA, the length of the line segment EB, the length of the line segment EC and the length of the line segment ED;
step i, according to the right triangle BFE, triangle AFE and triangle OEF, respectively, can be calculated:
Figure SMS_1
step j, knowing the formula of the trilateral midline by the triangle can be calculated:
Figure SMS_2
the length OF the line segment is the time T, and the distance that the lifting appliance body needs to horizontally move to the container to be lifted.
A still further development of the invention is that,
step k, defining: the height difference between the bottom of the positioning auxiliary plate extending downwards from the sleeve body and the ground of the lifting appliance body is H;
step l, when the length of the line segment EF is smaller than H, the controller calculates the distance between each vertex angle of the lifting appliance body and the ultrasonic wave transmitting module: namely the lengths of line segment EA, line segment EB, line segment EC and line segment ED, and pass through the formula max { EA EB EC ED } (VIII);
comparing the farthest distance, and controlling the positioning auxiliary plate farthest from the ultrasonic wave transmitting module to extend downwards by the controller;
step m, according to the right triangle CFE and the triangle DFE, respectively calculating:
Figure SMS_3
step n, when the length of the line segment AF is equal to the length of the line segment BF and the length of the line segment CF is equal to the length of the line segment DF, or when the length of the line segment AF is equal to the length of the line segment DF and the length of the line segment BF is equal to the length of the line segment CF, the method is carried out by the formula max { AF CF } (XI);
comparing the longer length of the lifting appliance body with the longer length, and controlling the other positioning auxiliary plate at the top angle of the lifting appliance body with the longer length to extend downwards through the controller;
step o, continuing to pass through the expression max { AF CF } (XI);
comparing the length of the line segment AF with the length of the line segment CF, and when the length of the line segment AF is equal to the length of the line segment CF, controlling the other two positioning auxiliary plates to extend downwards by the controller;
and p, sequentially controlling the electromagnet B by a crane driver through a controller to enable the rotary lock and the lock hole to be coaxial, and controlling the hydraulic mechanism to enable the rotary lock control pull rope to lock the rotary lock and the lock hole.
The invention has the beneficial effects that:
the first, the accurate positioning system of the lifting appliance of the invention can directly find the container to be lifted through the actions of the ultrasonic wave transmitting module and the ultrasonic wave receiving module when the lifting appliance body is far away from the container to be lifted, so that the lifting appliance body can rapidly move towards the container to be lifted; when the lifting appliance body is positioned above the container to be lifted, the lifting appliance body and the container to be lifted can be efficiently positioned through the positioning auxiliary plate; after the positioning of the lifting appliance body and the container to be lifted is completed, the rotary lock and the lock hole can be coaxially positioned through the electromagnet B; the continuity and the rapidity of automatic coarse positioning, fine positioning and accurate positioning of the lifting appliance are realized, and the lifting precision and the lifting efficiency are improved.
Second, the accurate positioning system of the lifting appliance can accurately position the container and automatically lift the container without observing the external condition through the display in the cab.
Thirdly, according to the precise positioning system for the lifting appliance, in the lifting process, through the structure of the positioning auxiliary plates and the sequence of the actions of the positioning auxiliary plates, the positioning on the plane where one side of the container is located can be realized quickly after the positioning is realized in the positioning process, and finally the positioning in the horizontal direction and the final fixing are realized.
Fourth, the accurate positioning system of the lifting appliance of the invention can ensure that the rotary lock can enter the lock hole and be locked under the condition of ensuring the coaxial center with the lock hole after the lifting appliance and the container are positioned by the electromagnet B at the bottom of the rotary lock, so that the rotary lock is prevented from being knocked when entering the lock hole, the efficiency of entering the lock hole and being locked is improved, and the service life of the rotary lock is prolonged.
Fifth, the accurate positioning system of the lifting appliance of the invention has the advantages that each group of lifting ropes comprises a plurality of lifting ropes, so that the bearing capacity of each lifting rope can be reduced, the service life of the lifting ropes is prolonged, and when one lifting rope is broken and fails, the effective lifting state of the lifting appliance body can be still maintained, and the continuous lifting of the lifting appliance body is ensured.
Drawings
Fig. 1 is a schematic front view of the structure of the present invention.
Fig. 2 is a schematic top view of the structure of the present invention.
Fig. 3 is a schematic bottom view of the structure of the present invention.
Fig. 4 is a schematic front view of the structure of the present invention in its positioning.
Fig. 5 is a control block diagram of the present invention.
Fig. 6 is a schematic diagram of the algorithm of the present invention.
Fig. 7 is a schematic diagram showing a display effect of the display according to the present invention.
Fig. 8 is a wiring circuit diagram of the display.
Fig. 9 is a wiring circuit diagram of the ultrasonic wave receiving module.
Fig. 10 is a wiring circuit diagram of an ultrasonic wave transmitting module.
Detailed Description
As can be seen from fig. 1 to fig. 4, the lifting appliance comprises a lifting appliance body 1, the length and the width of the lifting appliance body 1 are matched with those of a container, the top of the lifting appliance body 1 is fixed with a lifting rope 4 of a crane, four corners of the side wall of the lifting appliance body 1 are respectively and vertically movably connected with a positioning auxiliary plate 7, the positioning auxiliary plate 7 is a vertical plate with an L-shaped structure, four corners of the bottom of the lifting appliance body 1 are respectively provided with a rotary lock 6 and an ultrasonic receiving module 9, the center of the bottom of the lifting appliance body 1 is provided with a laser ranging module 10, the lifting appliance body 1 is also provided with a temperature sensor, and the lifting appliance body further comprises an ultrasonic transmitting module arranged at the top of the container and a controller and a display in a driving cabin of the crane, the laser ranging module 10, the ultrasonic receiving module 9, the temperature sensor and the display are connected with the controller through signals or electricity, and the ultrasonic transmitting module is connected with the controller through signals.
The side wall of the lifting appliance body 1 is fixedly provided with a sleeve body 8 matched with the positioning auxiliary plate 7 in structure, and the positioning auxiliary plate 7 is movably connected in the sleeve body 8 up and down along the sleeve body 8.
The sleeve body 8 controls the up-and-down movement of the positioning auxiliary plate 7 through an electromagnet A, and the electromagnet A is connected with the controller through signals or electricity.
When the positioning auxiliary plate 7 is positioned at the highest travel, the bottom of the positioning auxiliary plate 7 is higher than or equal to the bottom surface of the lifting appliance body 1; when the positioning auxiliary plate 7 is located at the lowest stroke, the bottom of the positioning auxiliary plate 7 is lower than the bottom surface of the spreader body 1.
The bottom end face of the twistlock 6 is provided with an electromagnet B11, and the electromagnet B11 is connected with a controller through signals or electricity.
The lifting appliance is characterized in that the lifting appliance body 1 is fixed with a lifting hook 3 at the bottom of the lifting rope 4 through lifting ropes 2, four groups of lifting ropes 2 are arranged, each group of lifting ropes 2 is fixed with one corner of the top of the lifting appliance body 1, and each group of lifting ropes 2 comprises a plurality of lifting ropes 2.
A twistlock control pull rope 5 is further arranged between the middle part of the top surface of the lifting appliance body 1 and the lifting hook 3, and the twistlock control pull rope 5 is connected with a twistlock 6 through a hydraulic mechanism.
As can be seen from fig. 1 to fig. 5, the positioning method using the precise positioning system for a lifting appliance comprises the following steps:
1) The controller controls an ultrasonic wave transmitting module on the container to be hoisted to transmit ultrasonic waves;
2) When the lifting appliance body 1 is far away from a container to be lifted, after the ultrasonic receiving module 9 on the lifting appliance body 1 receives ultrasonic waves transmitted by the ultrasonic transmitting module, the ultrasonic transmitting module transmits ultrasonic wave transmitting time signals and the ultrasonic receiving module 9 transmits ultrasonic wave receiving time signals to the processor, and the processor calculates the distance between each ultrasonic receiving module 9 and the ultrasonic transmitting module and displays the relative positions of the lifting appliance body 1 and the container to be lifted on the display;
3) The crane driver operates the crane according to the relative position of the lifting appliance body 1 displayed on the display and the container to be lifted, so that the lifting appliance body 1 approaches to the container to be lifted;
4) When the lifting appliance body 1 approaches to the position, right above the container to be lifted, of the laser ranging module 10, the laser ranging module 10 sends out laser signals to measure the height difference between the lifting appliance body 1 and the container to be lifted, and the signals of the height difference are transmitted to the processor, and the processor calculates the relative accurate positions of the lifting appliance body 1 and the container to be lifted by calculating the distance between each ultrasonic receiving module 9 and the ultrasonic transmitting module and combining the measured height difference between the lifting appliance body 1 and the container to be lifted and displaying the relative accurate positions on the display;
5) The crane driver operates the crane according to the relative position of the lifting tool body 1 and the container to be lifted displayed on the display, and when the lifting tool body 1 is controlled to descend to a position where the height difference between the bottom surface of the lifting tool body 1 and the top surface of the container to be lifted is smaller than the distance between the bottom edge of the downward-extending positioning auxiliary plate 7 and the bottom surface of the lifting tool body 1 and the bottom of the twistlock 6 is higher than the top surface of the container to be lifted, the positioning auxiliary plates 7 corresponding to the two adjacent side walls of the lifting tool body 1, which are positioned at the outer side of the container to be lifted, are extended downwards;
6) Then the crane driver controls the lifting tool body 1 to move to one side of the positioning auxiliary plate 7 to be attached to the side wall of the container to be lifted;
7) At this time, the other side of the positioning auxiliary plate 7 is still positioned at the outer side of the container to be lifted, the crane driver downwards extends the other positioning auxiliary plate 7 on the side wall of the lifting appliance body 1 corresponding to the other side of the positioning auxiliary plate 7, and at this time, the two downwards extending positioning auxiliary plates 7 enable the lifting appliance body 1 to move only along the plane where the container to be lifted is attached to the positioning auxiliary plate 7;
8) Then the crane driver controls the lifting appliance body 1 to move until all sides of the two positioning auxiliary plates 7 are attached to the side wall of the container to be lifted, and then controls the rest two positioning auxiliary plates 7 to extend downwards; the position of the rotary lock 6 corresponds to a lock hole at the top of the container to be hoisted;
9) Then the crane driver controls the electromagnet B11 of the rotary lock 6 to start, and the axle center of the rotary lock 6 and the axle center of the lock hole are ensured to be coaxial through the electromagnet B11;
10 The crane driver is controlled to descend to the bottom of the lifting appliance body 1 to be attached to the top of the container to be lifted by controlling the lifting appliance body 1;
11 A crane driver makes the rotary lock control pull rope 5 lock the rotary lock 6 with the lock hole by controlling the hydraulic mechanism;
12 Lifting all the positioning auxiliary plates 7 by a crane driver through the electromagnet A, and lifting the container to be lifted to a designated position;
13 After the container to be lifted is lifted, a crane driver makes the twistlock control pull rope 5 separate the twistlock 6 from the lock hole by controlling the hydraulic mechanism, and prepares the next container to be lifted for lifting.
As can be seen from fig. 1 to 4 and fig. 6 and 7, the positioning algorithm using the precise positioning system for a lifting appliance comprises the following steps:
step a, defining: the ultrasonic receiving modules 9 at four top corners of the bottom of the lifting appliance body 1 are respectively a point A, a point B, a point C and a point D;
step b, defining: the laser ranging module 10 positioned at the center of the bottom of the lifting appliance body 1 is an O point;
step c, defining: the ultrasonic wave transmitting module positioned at the center of the top of the container to be hoisted is the E point;
step d, defining: the projection of the E point in the plane where the A point, the B point, the C point and the D point are positioned is the F point;
step e, the distance between the O point obtained through the side of the laser ranging module 10 and the plane where the top of the container to be hoisted is located is equal to the length of the line segment EF;
wherein the length of line segment AB, the length of line segment BC, the length of line segment CD, and the length of line segment DA are known;
step f, at a time T, a laser ranging sensor measures the vertical distance between the lifting appliance body 1 at the time T and the top surface of the container to be lifted, namely the length of a line segment EF, and the length is transmitted to a controller;
the length of the line segment EF is the moment T and the distance that the lifting appliance body 1 needs to vertically move downwards;
step g, in addition, the four ultrasonic receiving modules 10 respectively receive the ultrasonic waves emitted before the ultrasonic emitting module, and respectively calculate the time intervals tA, tB, tC, tD of the four ultrasonic receiving modules 10 respectively;
step h, the time difference signal is transmitted to a controller, and the controller passes through the formula:
s=v×t meters (i), where s is distance, v is speed of sound in air, and t is time interval;
and, the speed of sound in air adopts: v=v0+Δ c meters/second (ii),
wherein v0 is the propagation speed of sound in air under the condition of zero degrees centigrade, delta is the increment of the propagation speed of sound in air when the temperature rises by one degree centigrade, and c is the air temperature detected by the temperature sensor at the moment T;
thereby respectively calculating the length of the line segment EA, the length of the line segment EB, the length of the line segment EC and the length of the line segment ED;
step i, according to the right triangle BFE, triangle AFE and triangle OEF, respectively, can be calculated:
Figure SMS_4
step j, knowing the formula of the trilateral midline by the triangle can be calculated:
Figure SMS_5
Figure SMS_6
the length OF the line segment is the time T, and the distance that the lifting appliance body 1 needs to horizontally move to the container to be lifted.
Step k, defining: the height difference between the bottom of the positioning auxiliary plate 7 extending downwards from the sleeve body 8 and the ground of the lifting appliance body 1 is H;
step l, when the length of the line segment EF is smaller than H, the controller calculates the distance between each vertex angle of the lifting appliance body 1 and the ultrasonic wave transmitting module: namely the lengths of line segment EA, line segment EB, line segment EC and line segment ED, and pass through the formula max { EA EB EC ED } (VIII);
comparing the farthest distance, and controlling the positioning auxiliary plate 7 which is farthest from the ultrasonic wave transmitting module to extend downwards by the controller;
step m, according to the right triangle CFE and the triangle DFE, respectively calculating:
Figure SMS_7
step n, when the length of the line segment AF is equal to the length of the line segment BF and the length of the line segment CF is equal to the length of the line segment DF, or when the length of the line segment AF is equal to the length of the line segment DF and the length of the line segment BF is equal to the length of the line segment CF, the method is carried out by the formula max { AF CF } (XI);
the longer length is compared, and the other positioning auxiliary plate 7 at the top angle of the lifting appliance body 1 with the longer length is controlled by the controller to extend downwards;
step o, continuing to pass through the expression max { AF CF } (XI);
comparing the length of the line segment AF with the length of the line segment CF, and when the length of the line segment AF is equal to the length of the line segment CF, controlling the other two positioning auxiliary plates 7 to extend downwards by the controller;
and p, sequentially controlling an electromagnet B11 by a crane driver through a controller to obtain electricity so that the rotary lock 6 and the lock hole are coaxial, and controlling a hydraulic mechanism so that the rotary lock control pull rope 5 locks the rotary lock 6 and the lock hole.
Referring to fig. 8 to 10, in the present invention, the model of the laser ranging module is VL53L0X V; the ultrasonic receiving module 9 and the ultrasonic transmitting module respectively correspond to a receiving module and a transmitting module which are of the model HC-SR 04; the invention carries out signal transmission through a wireless transceiver module with the model of nRF24LE 1D; the model of the controller is 51 single chip microcomputer, the display module with the wireless receiving function is installed on the display, and the model of the temperature sensor for correcting sound velocity is DS18B20.

Claims (7)

1. The positioning method using the accurate positioning system of the hanging tool is characterized in that: comprises a lifting appliance body (1), the length and the width of the lifting appliance body (1) are matched with a container, the top of the lifting appliance body (1) is fixed with a lifting rope (4) of a crane, the four corners of the side wall of the lifting appliance body (1) are respectively and movably connected with a positioning auxiliary plate (7) up and down, the positioning auxiliary plate (7) is a vertical plate with an L-shaped structure, the four corners of the bottom of the lifting appliance body (1) are respectively provided with a twistlock (6) and an ultrasonic receiving module (9), the center of the bottom of the lifting appliance body (1) is provided with a laser ranging module (10), the lifting appliance body (1) is also provided with a temperature sensor, the lifting appliance body also comprises an ultrasonic transmitting module arranged at the top of the container and a controller and a display in a crane cockpit, the laser ranging module (10), the ultrasonic receiving module (9), the temperature sensor and the display are connected with the controller through signals or electricity, the ultrasonic transmitting module is connected with the controller through signals,
the positioning method comprises the following steps:
1) The controller controls an ultrasonic wave transmitting module on the container to be hoisted to transmit ultrasonic waves;
2) When the lifting appliance body (1) is far away from a container to be lifted, after an ultrasonic receiving module (9) on the lifting appliance body (1) receives ultrasonic waves transmitted by an ultrasonic transmitting module, the ultrasonic transmitting module transmits ultrasonic wave transmitting time signals and ultrasonic wave receiving time signals to a processor, and the processor calculates the distance between each ultrasonic receiving module and the ultrasonic transmitting module and displays the relative positions of the lifting appliance body and the container to be lifted on a display;
3) The crane driver operates the crane according to the relative position of the lifting appliance body and the container to be lifted displayed on the display, so that the lifting appliance body approaches to the container to be lifted;
4) When the lifting appliance body approaches to the position where the laser ranging module is positioned right above a container to be lifted, laser measuring is performed
The distance module sends out a laser signal to measure the height difference between the lifting appliance body and the container to be lifted, and transmits the signal of the height difference to the processor, and the processor calculates the relative accurate position of the lifting appliance body and the container to be lifted by calculating the distance between each ultrasonic receiving module and the ultrasonic transmitting module and combining the measured height difference between the lifting appliance body and the container to be lifted, and displays the relative accurate position on the display;
5) The crane driver operates the crane according to the relative position of the lifting tool body and the container to be lifted, which is displayed on the display, when the lifting tool body is controlled to descend to a position where the height difference between the bottom surface of the lifting tool body and the top surface of the container to be lifted is smaller than the distance between the bottom edge of the downward-extending positioning auxiliary plate and the bottom surface of the lifting tool body, and the bottom of the twistlock is higher than the top surface of the container to be lifted, the positioning auxiliary plates corresponding to the two adjacent side walls of the lifting tool body, which are positioned at the outer side of the container to be lifted, extend downwards;
6) Then a crane driver controls the lifting tool body to move to one side of the positioning auxiliary plate to be attached to the side wall of the container to be lifted;
7) At this time, the other side of the positioning auxiliary plate is still positioned at the outer side of the container to be lifted, a crane driver downwards extends the other positioning auxiliary plate on the side wall of the lifting appliance body corresponding to the other side of the positioning auxiliary plate, and at this time, the downwards extending two positioning auxiliary plates enable the lifting appliance body to only move along the plane where the container to be lifted is attached to the positioning auxiliary plate;
8) Then controlling the lifting appliance body to move by a crane driver until all sides of the two positioning auxiliary plates are attached to the side wall of the container to be lifted, and then controlling the rest two positioning auxiliary plates to extend downwards; the position of the rotary lock corresponds to a lock hole at the top of the container to be hoisted;
9) Then the crane driver controls the electromagnet B of the rotary lock to start, and the axle center of the rotary lock and the axle center of the lock hole are ensured to be coaxial through the electromagnet B;
10 The crane driver is controlled to descend to the bottom of the lifting appliance body to be attached to the top of the container to be lifted;
11 A crane driver controls the hydraulic mechanism to enable the rotary lock control stay rope to lock the rotary lock with the lock hole;
12 Lifting all positioning auxiliary plates by a crane driver through an electromagnet A, and lifting a container to be lifted to a designated position;
13 After the container to be lifted is lifted, a crane driver makes a twistlock control pull rope separate the twistlock from the lock hole by controlling the hydraulic mechanism, and prepares the next container to be lifted for lifting.
2. The positioning method using a precise positioning system for a crane according to claim 1, wherein: the lifting appliance is characterized in that a sleeve body (8) matched with the positioning auxiliary plate (7) in structure is fixed on the side wall of the lifting appliance body (1), and the positioning auxiliary plate (7) is movably connected in the sleeve body (8) up and down along the sleeve body (8).
3. The positioning method using the precise positioning system of the lifting appliance according to claim 2, wherein: the sleeve body (8) controls the positioning auxiliary plate (7) to move up and down through the electromagnet A, and the electromagnet A is connected with the controller through signals or electricity.
4. The positioning method using the precise positioning system of the lifting appliance according to claim 2, wherein: when the positioning auxiliary plate (7) is positioned at the highest travel, the bottom of the positioning auxiliary plate (7) is higher than or equal to the bottom surface of the lifting appliance body (1); when the positioning auxiliary plate (7) is located at the lowest stroke, the bottom of the positioning auxiliary plate (7) is lower than the bottom surface of the lifting appliance body (1).
5. The positioning method using a precise positioning system of a crane according to claim 1, wherein: an electromagnet B (11) is arranged on the bottom end face of the rotary lock (6), and the electromagnet B (11) is connected with the controller through signals or electricity.
6. The positioning method using a precise positioning system for a crane according to claim 1, wherein: the lifting appliance is characterized in that the lifting appliance body (1) is fixed with the lifting hook (3) at the bottom of the lifting rope (4) through the lifting rope (2), four groups of lifting ropes (2) are arranged, each group of lifting ropes (2) is fixed with one corner of the top of the lifting appliance body (1), and each group of lifting ropes (2) comprises a plurality of lifting ropes (2).
7. The positioning method using a precise positioning system for a crane according to claim 1, wherein: a rotary lock control pull rope (5) is further arranged between the middle part of the top surface of the lifting appliance body (1) and the lifting hook (3), and the rotary lock control pull rope (5) is connected with a rotary lock (6) through a hydraulic mechanism.
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