CN107934737B - Positioning method using spreader precise positioning system - Google Patents

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 spreader precise positioning system

technical field

The invention relates to the technical field of logistics transportation, in particular to a positioning method using a spreader precise positioning system.

Background technique

The greatest success of the container lies in the standardization of its products and the entire transportation system established thereby. It is indeed worthy of the standardization of a behemoth with a load of tens of tons, and based on this, the gradual realization of a global logistics system for ships, ports, routes, highways, transfer stations, bridges, tunnels, and multimodal transport. It is called one of the great miracles created by human beings in history.

With the increasing role of containers in logistics. There are cranes for containers at the wharf for lifting and transporting containers. The hook of the crane is hung with a container special spreader that can quickly lift the container, that is, the fixed spreader (also called the integral spreader), which is connected to the container through the twist locks at the four corners of the end beam. Realize lifting container. It can only load and unload containers of one specification, and the ratchet mechanism drives the twistlock to rotate through the lifting of the wire rope, so that the automatic opening and closing of the twistlock is realized by the mechanical movement of the wire rope.

But in the hoisting process of the container, the spreader generally has a guide device, which is used for positioning when the spreader is close to the container. When it is not working, it can be rotated 180° and down, just set on the four corners of the container, and can be turned up when not working. The movement of the guide plate is usually controlled by the hydraulic system. However, in actual work, due to various reasons such as the effect of wind, or the inertia of the spreader in the crane operation project, the action of the spreader and the crane are not synchronized, and other reasons make it difficult to quickly and accurately locate the spreader and the container. In order to insert the locks at the four corners of the spreader into the lock holes of the container accurately, it is necessary to align the twist locks of the spreader with the four lock holes, then operate the spreader to land and insert the four twist locks of the spreader into the top of the container. Lock in the four keyholes on the surface, and after the worker climbs down the container, the crane lifts the container to the position on the ship. The whole process takes a long time to operate and requires additional labor to assist.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies of the prior art and provide a positioning method using a spreader precise positioning system. When the spreader body is far away from the container that needs to be hoisted, it can directly find the container that needs to be hoisted through the action of the ultrasonic transmitting module and the ultrasonic receiving module. container, so as to quickly move to the container to be hoisted; when the spreader body is above the container to be hoisted, the spreader body and the container to be hoisted can be positioned efficiently through the positioning auxiliary plate; when the spreader body and the container to be hoisted After the positioning is completed, the electromagnet B can be used to position the twistlock and the keyhole coaxially; the continuity and rapidity of the automatic coarse positioning, fine positioning and precise positioning of the spreader are realized, and the lifting accuracy and efficiency are improved; Through the monitor in the cab, the driver can accurately position the container and carry out automatic hoisting without observing the external conditions; when hoisting, the structure of the positioning auxiliary board and the sequence of actions of multiple positioning auxiliary boards ensure that During the positioning process, after one side of the container is positioned, the positioning on the plane where the side is located can be quickly realized, and finally the positioning in the horizontal direction and the final fixation can be realized; the electromagnet B at the bottom of the screw lock can be used between the spreader and the container. After the positioning of the container is completed, the twistlock can enter the lockhole and lock with the same axis as the lockhole, so as to avoid bumping when the twistlock enters the lockhole, improve the efficiency of the twistlock entering the lockhole and locking, and extend the life of the twistlock. The service life of the lock; each group of hoisting ropes includes multiple hoisting ropes, which not only reduces the bearing capacity of each hoisting rope, thereby prolonging the service life of the hoisting rope, but also maintains the lock when one of the hoisting ropes breaks and fails. The effective hoisting state of the spreader body ensures the continuous hoisting of the spreader body.

The technical scheme that the present invention takes is:

The precise positioning system of the spreader includes a spreader body whose length and width match the container, the top of the spreader body is fixed with the lifting rope of the crane, and the four corners of the side walls of the spreader body are respectively A positioning auxiliary plate is connected up and down, and the positioning auxiliary plate is a vertical plate with an "L" shape structure. The four corners of the bottom of the spreader body are respectively provided with twist locks and ultrasonic receiving modules. The bottom of the spreader body The center is provided with a laser ranging module, and the spreader body is also equipped with a temperature sensor, and also includes an ultrasonic emission module on the top of the container and a controller and display in the crane cockpit. The laser ranging module, ultrasonic The 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.

A further improvement of the present invention is that a sleeve body matching the structure of the positioning auxiliary plate is fixed on the side wall of the spreader body, and the positioning auxiliary plate is movably connected up and down along the sleeve body in the sleeve body.

A further improvement of the present invention is 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 to the controller through signals or electricity.

The further improvement of the present invention is that when the positioning auxiliary plate is at the highest stroke, the bottom of the positioning auxiliary plate is higher than or equal to the bottom surface of the spreader body; when the positioning auxiliary plate is at the lowest stroke, the bottom of the positioning auxiliary plate is lower on the bottom surface of the spreader body.

A further improvement solution of the present invention is that an electromagnet B is provided on the bottom end surface of the twist lock, and the electromagnet B is connected to the controller through signals or electricity.

The further improvement of the present invention is that the sling body is fixed by the lifting rope and the hook at the bottom of the sling. Each group of hoisting ropes described above includes a plurality of hoisting ropes.

A further improvement of the present invention is that a twistlock control pull cord is provided between the middle of the top surface of the spreader body and the hook, and the twistlock control pull rope is connected to the twistlock through a hydraulic mechanism.

The positioning method using the above-mentioned precise positioning system for the spreader includes the following steps:

1) The controller controls the ultrasonic transmitter module on the container to be hoisted to emit ultrasonic waves;

2) When the spreader body is far away from the container to be hoisted, after the ultrasonic receiving module on the spreader body receives the ultrasonic waves emitted by the ultrasonic transmitting module, the ultrasonic transmitting module will send out the time signal of the ultrasonic waves, and the ultrasonic receiving module will The receiving time signal is sent to the processor, and the processor calculates the distance between each ultrasonic receiving module and the ultrasonic transmitting module, and displays the relative position of the spreader body and the container to be hoisted on the display;

3) The crane driver operates the crane according to the relative position of the spreader body and the container to be hoisted displayed on the display, so that the spreader body approaches the container to be hoisted;

4) When the spreader body approaches to the point where the laser ranging module is directly above the container to be hoisted, the laser ranging module sends out a laser signal to measure the height difference between the spreader body and the container to be hoisted, and sends the height difference signal Send it to the processor, and the processor calculates the distance between the spreader body and the container to be hoisted by calculating the distance between each ultrasonic receiving module and the ultrasonic transmitting module, and combining the measured height difference between the spreader body and the container to be hoisted. The relative precise position of the , and displayed on the display;

5) The crane driver operates the crane according to the relative position of the spreader body and the container to be hoisted displayed on the monitor. When the difference is less than the distance between the bottom edge of the positioning auxiliary plate protruding downward and the bottom surface of the spreader body, and the bottom of the twistlock is higher than the top surface of the container to be hoisted, place the spreader body on the adjacent side outside the container to be hoisted. The positioning auxiliary plates corresponding to the two side walls protrude downward;

6) Then the crane operator controls the spreader body to move until one side of the positioning auxiliary plate fits the side wall of the container to be hoisted;

7) At this time, the other side of the positioning auxiliary plate is still located outside the container to be hoisted, and the crane driver extends the other positioning auxiliary plate on the side wall of the spreader body corresponding to the other side of the positioning auxiliary plate downwards , the two positioning auxiliary plates protruding downwards at this time make the spreader body only move along the plane where the edge of the container to be hoisted and the positioning auxiliary plate fit together;

8) Then the crane operator controls the spreader body to move until all the sides of the two positioning auxiliary plates are in contact with the side walls of the container to be hoisted, and then controls the remaining two positioning auxiliary plates to protrude downward; at this time The position of the twist lock corresponds to the lock hole on the top of the container to be hoisted;

9) Then the crane driver controls the electromagnet B of the twistlock to start, and the axis of the twistlock and the axis of the lock hole are guaranteed to be coaxial through the electromagnet B;

10) The crane driver controls the spreader body to descend to the bottom of the spreader body and fit the top of the container to be hoisted;

11) The crane driver controls the hydraulic mechanism to make the twistlock control the pull rope to lock the twistlock with the keyhole;

12) The crane driver raises all positioning auxiliary plates through the electromagnet A, and lifts the container to be hoisted to the designated position;

13) After the container that needs to be hoisted is hoisted, the crane driver controls the hydraulic mechanism to control the pull rope of the twistlock to separate the twistlock from the keyhole, and prepares for the next container that needs to be hoisted for hoisting.

Using the positioning algorithm of the above-mentioned spreader precise positioning system includes the following steps:

Step a, definition: the ultrasonic receiving modules located at the four top corners of the bottom of the spreader body are points A, B, C and D respectively;

Step b, definition: the laser ranging module located at the center of the bottom of the spreader body is point O;

Step c, definition: the ultrasonic transmitter module located at the center of the top of the container to be hoisted is point E;

Step d, definition: the projection of point E facing the plane where point A, point B, point C and point D are located is point F;

Step e, the distance from the point O obtained by the laser ranging module (10) to the plane where the top of the container needs to be hoisted 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 time T, the laser ranging sensor measures the vertical distance between the spreader body and the top surface of the container to be hoisted at time T, which is the length of line segment EF, and transmits it to the controller;

The length of the line segment EF is the time T and the distance that the spreader body needs to move vertically downward;

Step g, in addition, the four ultrasonic receiving modules respectively receive the ultrasonic waves emitted by the ultrasonic transmitting module, and calculate the respective received time intervals tA, tB, tC, tD of the four ultrasonic receiving modules;

Step h, the time difference signal is sent to the controller, and the controller passes the formula:

s=v*t m (I),

Where s is the distance, v is the speed of sound in the air, and t is the time interval;

And, the speed of sound in the air adopts: v = v0 + Δ* c m/s (Ⅱ ),

Where v0 is the propagation speed of sound in the air under the condition of zero degrees Celsius, Δ is the increase in the propagation speed of sound in the air for every increase of one degree Celsius, and c is the air temperature detected by the temperature sensor at time T;

Thereby calculate the length of line segment EA, the length of line segment EB, the length of line segment EC and the length of line segment ED respectively;

Step i, according to the right triangle BFE, triangle AFE and triangle OEF can be calculated respectively:

Step j, knowing that the formula for finding the median of the three sides by the triangle can calculate:

The length of the line segment OF is the time T and the distance that the spreader body needs to move horizontally to the container to be hoisted.

The further improvement scheme of the present invention is,

Step k, definition: the height difference between the bottom of the positioning auxiliary plate and the ground of the spreader body is H after extending downward from the casing;

Step 1. When the length of the line segment EF is less than H, the controller calculates the distance between each top angle of the spreader body and the ultrasonic transmitting module: namely the lengths of the line segment EA, line segment EB, line segment EC and line segment ED, and pass the calculation formula max{EA EB ECED}(Ⅷ);

The farthest distance among them is compared, and the controller controls the positioning auxiliary board farthest from the ultrasonic transmitting module to protrude downward;

Step m, according to the right triangle CFE and triangle DFE can be calculated respectively:

Step n, when the length of line segment AF is equal to the length of line segment BF and the length of line segment CF is equal to the length of line segment DF, or when the length of line segment AF is equal to the length of line segment DF and the length of line segment BF is equal to the length of line segment CF When, through the formula max{AF CF} (Ⅺ);

Compare the longer length among them, and control another positioning auxiliary plate at the top corner of the longer spreader body to protrude downward through the controller;

Step o, continue to pass the formula max{AF CF} (Ⅺ);

Comparing the length of the line segment AF and the length of the line segment CF, when the length of the line segment AF is equal to the length of the line segment CF, the controller controls the remaining two positioning auxiliary plates to extend downward;

Step p. The crane operator sequentially controls the electromagnet B to be energized through the controller to make the twistlock and the keyhole coaxial, and then controls the hydraulic mechanism to make the twistlock control the pull cord to lock the twistlock and the keyhole.

The beneficial effects of the present invention are:

First, the precise positioning system of the spreader of the present invention can directly find the container to be hoisted when the spreader body is away from the container to be hoisted through the action of the ultrasonic transmitting module and the ultrasonic receiving module, thereby moving quickly to the container to be hoisted; When the spreader body is above the container to be hoisted, the positioning auxiliary plate can efficiently position the spreader body and the container to be hoisted. Hole coaxial positioning; realizes the continuity and rapidity of automatic rough positioning, fine positioning and precise positioning of the spreader, and improves the lifting accuracy and efficiency.

Second, with the precise positioning system for the spreader of the present invention, the crane driver can accurately position the container and automatically hoist the container without observing the external conditions through the display in the cab.

Third, the precise positioning system of the spreader of the present invention, through the structure of the positioning auxiliary board and the sequence of actions of multiple positioning auxiliary boards during hoisting, thus ensuring that during the positioning process, after positioning by one side of the container, it can be quickly realized. Positioning on the plane where the side is located, and finally realize the positioning in the horizontal direction and the final fixation.

Fourth, the precise positioning system of the spreader of the present invention, through the electromagnet B at the bottom of the twist lock, can make the twist lock enter the lock hole when the center of the lock hole is guaranteed to be coaxial after the spreader and the container are positioned. Locking, to avoid bumping when the twistlock enters the lockhole, improves the efficiency of the twistlock entering the lockhole and locking, and prolongs the service life of the twistlock.

Fifth, in the precise positioning system for the spreader of the present invention, each set of hoisting ropes includes multiple hoisting ropes, which can not only reduce the bearing capacity of each hoisting rope, thereby prolonging the service life of the hoisting ropes, but also when one of the hoisting ropes breaks After falling and failing, the effective hoisting state of the spreader body can still be maintained to ensure the continuous hoisting of the spreader body.

Description of 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 positioning of the structure of the present invention.

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 of the display effect of the display of the present invention.

Figure 8 is a wiring diagram of the display.

Figure 9 is a wiring circuit diagram of the ultrasonic receiving module.

Figure 10 is the wiring circuit diagram of the ultrasonic transmitting module.

Detailed ways

1 to 4, the present invention includes a spreader body 1, the length and width of the spreader body 1 match the container, the top of the spreader body 1 is fixed with the lifting rope 4 of the crane, and the spreader body 1 The four corners of the side wall of the tool body 1 are respectively connected with positioning auxiliary plates 7 up and down, and the positioning auxiliary plates 7 are vertical plates of "L" shape structure, and the four corners of the bottom of the spreader body 1 are respectively provided with twist locks. 6 and an ultrasonic receiving module 9, the center of the bottom of the spreader body 1 is provided with a laser ranging module 10, the spreader body 1 is also provided with a temperature sensor, and also includes an ultrasonic transmitting module and a crane set on the top of the container The controller and the display in the cockpit, the laser ranging module 10, the ultrasonic receiving module 9, the temperature sensor and the display are connected with the controller by signal or electricity, and the ultrasonic emission module is connected with the controller by signal.

A sleeve body 8 matching the structure of the positioning auxiliary plate 7 is fixed on the side wall of the spreader body 1 , and the positioning auxiliary plate 7 is movably connected up and down along the sleeve body 8 in the sleeve body 8 .

The sleeve body 8 controls the up and down movement of the positioning auxiliary plate 7 through the electromagnet A, and the electromagnet A is connected to the controller through signals or electricity.

When the positioning auxiliary plate 7 is at the highest stroke, the bottom of the positioning auxiliary plate 7 is higher than or equal to the bottom surface of the spreader body 1; when the positioning auxiliary plate 7 is at the lowest stroke, the bottom of the positioning auxiliary plate 7 is lower than the spreader The bottom surface of the body 1.

An electromagnet B11 is provided on the bottom end surface of the twist lock 6, and the electromagnet B11 is connected to the controller through signals or electricity.

The sling body 1 is fixed by the lifting rope 2 and the hook 3 at the bottom of the sling 4, and the sling 2 is provided with four groups, and each group of slings 2 is fixed to one corner of the top of the sling body 1. Each set of hoisting ropes 2 includes a plurality of hoisting ropes 2 .

Between the middle part of the top surface of the spreader body 1 and the hook 3 there is also a twistlock control pull rope 5 connected to the twistlock 6 through a hydraulic mechanism.

From Figures 1 to 5, it can be seen that the positioning method using the above-mentioned spreader precise positioning system includes the following steps:

1) The controller controls the ultrasonic transmitter module on the container to be hoisted to emit ultrasonic waves;

2) When the spreader body 1 is far away from the container that needs to be hoisted, after the ultrasonic receiving module 9 on the spreader body 1 receives the ultrasonic waves emitted by the ultrasonic transmitting module, the ultrasonic transmitting module will transmit the time signal of the ultrasonic wave, and receive the ultrasonic wave. The module 9 sends the receiving time signal of the ultrasonic to the processor, and the processor calculates the distance between each ultrasonic receiving module 9 and the ultrasonic transmitting module, and displays the relative position of the spreader body 1 and the container to be hoisted on the display;

3) The crane driver operates the crane according to the relative position of the spreader body 1 and the container to be hoisted shown on the display, so that the spreader body 1 approaches the container to be hoisted;

4) When the spreader body 1 approaches to the point where the laser ranging module 10 is directly above the container to be hoisted, the laser ranging module 10 sends out a laser signal to measure the height difference between the spreader body 1 and the container to be hoisted, and The signal of the height difference is sent to the processor, and the processor calculates the distance between each ultrasonic receiving module 9 and the ultrasonic transmitting module, and combines the measured height difference between the spreader body 1 and the container to be hoisted to calculate the height difference of the spreader. The relative precise position of the main body 1 and the container to be hoisted is displayed on the display;

5) The crane driver operates the crane according to the relative position of the spreader body 1 and the container to be hoisted displayed on the display. When the height difference between the surfaces is less than the distance between the bottom edge of the positioning auxiliary plate 7 protruding downwards and the bottom surface of the spreader body 1, and the bottom of the twist lock 6 is higher than the top surface of the container to be hoisted, place the spreader body 1 at the desired position. The positioning auxiliary plates 7 corresponding to the two adjacent side walls on the outer side of the hoisted container protrude downward;

6) Then the crane operator controls the spreader body 1 to move to one side of the positioning auxiliary plate 7 to fit the side wall of the container to be hoisted;

7) At this time, the other side of the positioning auxiliary plate 7 is still located outside the container to be hoisted, and the crane driver uses another positioning auxiliary plate 7 on the side wall of the spreader body 1 corresponding to the other side of the positioning auxiliary plate 7 Stretch downward, at this time, the two positioning auxiliary plates 7 protruding downward make the spreader body 1 only move along the plane where the edge of the container to be hoisted and the positioning auxiliary plate 7 fit together;

8) Then the crane operator controls the spreader body 1 to move until all the sides of the two positioning auxiliary plates 7 are in contact with the side walls of the container to be hoisted, and then controls the remaining two positioning auxiliary plates 7 to protrude downward ; At this time, the position of the twist lock 6 corresponds to the lock hole on the top of the container that needs to be hoisted;

9) Then the crane driver controls the electromagnet B11 of the twist lock 6 to start, and the axis of the twist lock 6 and the axis of the lock hole are guaranteed to be coaxial through the electromagnet B11;

10) The crane driver lowers the spreader body 1 by controlling the spreader body 1 until the bottom of the spreader body 1 fits the top of the container to be hoisted;

11) The crane driver controls the hydraulic mechanism to make the twistlock control the pull rope 5 to lock the twistlock 6 with the keyhole;

12) The crane driver raises all positioning auxiliary plates 7 through the electromagnet A, and lifts the container to be hoisted to the designated position;

13) After the container that needs to be hoisted is hoisted, the crane operator controls the hydraulic mechanism to make the twistlock control the pull rope 5 to separate the twistlock 6 from the keyhole, and prepares for the next container that needs to be hoisted for hoisting.

Combining Figures 1 to 4, and Figures 6 and 7, it can be seen that the positioning algorithm using the above-mentioned spreader precise positioning system includes the following steps:

Step a, definition: the ultrasonic receiving modules 9 located at the four top corners of the bottom of the spreader body 1 are points A, B, C and D respectively;

Step b, definition: the laser ranging module 10 located at the center of the bottom of the spreader body 1 is point O;

Step c, definition: the ultrasonic transmitter module located at the center of the top of the container to be hoisted is point E;

Step d, definition: the projection of point E facing the plane where point A, point B, point C and point D are located is point F;

Step e, the distance from the point O obtained by the laser ranging module 10 to the plane where the top of the container needs to be hoisted 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 time T, the laser ranging sensor measures the vertical distance between the spreader body 1 and the top surface of the container to be hoisted at time T, which is the length of line segment EF, and sends it to the controller;

The length of the line segment EF is the time T and the distance that the spreader body 1 needs to move vertically downward;

Step g, in addition, the four ultrasonic receiving modules 10 respectively receive the ultrasonic waves emitted by the ultrasonic transmitting modules, and calculate the respective received time intervals tA, tB, tC, tD of the four ultrasonic receiving modules 10;

Step h, the time difference signal is sent to the controller, and the controller passes the formula:

s=v*t meters (I), where s is the distance, v is the speed of sound in the air, and t is the time interval;

And, the speed of sound in the air adopts: v = v0 + Δ* c m/s (Ⅱ ),

Where v0 is the propagation speed of sound in the air under the condition of zero degrees Celsius, Δ is the increase in the propagation speed of sound in the air for every increase of one degree Celsius, and c is the air temperature detected by the temperature sensor at time T;

Thereby calculate the length of line segment EA, the length of line segment EB, the length of line segment EC and the length of line segment ED respectively;

Step i, according to the right triangle BFE, triangle AFE and triangle OEF can be calculated respectively:

Step j, knowing that the formula for finding the median of the three sides by the triangle can calculate:

The length of the line segment OF is the time T and the distance that the spreader body 1 needs to move horizontally to the container to be hoisted.

Step k, definition: the height difference between the bottom of the positioning auxiliary plate 7 and the ground of the spreader body 1 protruding downward from the sleeve body 8 is H;

Step 1, when the length of the line segment EF is less than H, the controller calculates the distance between each vertex angle of the spreader body 1 and the ultrasonic transmitting module: that is, the lengths of the line segment EA, the line segment EB, the line segment EC and the line segment ED, and pass Formula max{EA EB ECED} (Ⅷ);

The farthest distance is compared, and the controller controls the positioning auxiliary board 7 which is farthest from the ultrasonic transmitting module to extend downward;

Step m, according to the right triangle CFE and triangle DFE can be calculated respectively:

Step n, when the length of line segment AF is equal to the length of line segment BF and the length of line segment CF is equal to the length of line segment DF, or when the length of line segment AF is equal to the length of line segment DF and the length of line segment BF is equal to the length of line segment CF When, through the formula max{AF CF} (Ⅺ);

The longer length is compared, and another positioning auxiliary plate 7 at the top corner of the longer spreader body 1 is controlled by the controller to protrude downward;

Step o, continue to pass the formula max{AF CF} (Ⅺ);

Comparing the length of the line segment AF and the length of the line segment CF, when the length of the line segment AF is equal to the length of the line segment CF, the controller controls the remaining two positioning auxiliary plates 7 to also extend downward;

Step p, the crane driver sequentially controls the electromagnet B11 to be energized through the controller to make the twistlock 6 concentric with the keyhole, and then controls the hydraulic mechanism to make the twistlock control the pull cord 5 to lock the twistlock 6 with the keyhole.

8 to 10, it can be seen that in the present invention, the model of the laser ranging module is VL53L0X V2; the ultrasonic receiving module 9 and the ultrasonic transmitting module respectively adopt the receiving module and the transmitting module of the model HC-SR04; the model adopted by the present invention is The wireless transceiver module of nRF24LE1D transmits signals; the model of the controller is 51 single-chip microcomputer, the display module of model 12864 with wireless receiving function is installed on the display, and the model of the temperature sensor used to correct the 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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