CN108249313B - Intelligent container hoisting method and device based on polar coordinates - Google Patents
Intelligent container hoisting method and device based on polar coordinates Download PDFInfo
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- CN108249313B CN108249313B CN201810045881.7A CN201810045881A CN108249313B CN 108249313 B CN108249313 B CN 108249313B CN 201810045881 A CN201810045881 A CN 201810045881A CN 108249313 B CN108249313 B CN 108249313B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
- B66C19/002—Container cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
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Abstract
The invention relates to an intelligent container hoisting method and device based on polar coordinates, the device is a crane, the crane comprises a body stand, a base, a processing device and a control device, the base is provided with a rotating table, the body stand is provided with a lifting appliance and a guide rail mechanism, the processing device is connected with the control device, the control device is connected with the lifting appliance, the lifting appliance is arranged on the guide rail mechanism, the crane is used for hoisting containers, the middle points of the short edges of the top surface of the container are respectively provided with a first position tracking chip, the middle point of the center line is provided with a second position tracking chip, the rotating table is controlled to rotate the container to the longitudinal direction according to the polar coordinates of the first position tracking chip, and the.
Description
Technical Field
The invention relates to the field of wharf transportation and the field of cargo handling, in particular to an intelligent container hoisting method and device based on polar coordinates.
Background
The vigorous demand of container transportation and the throughput of container ports in the world are continuously increased, the requirements for container loading and unloading technical equipment and technology are more updated, and the development and design of efficient container loading and unloading equipment are urgently needed to meet the requirements of container transportation on scale, high speed and automation on loading and unloading productivity of a wharf. Since 90 s, with the increase of global economy and trade, the container transportation volume has been increased rapidly, and under the promotion of strong transportation requirements and good technical and economic benefits, the high and new technology of the shore crane machinery, in particular the automation control technology, has been developed comprehensively, however, the following problems exist in the loading and unloading system of the container terminal used at present. In general, a container terminal can be divided into a quay (on-shore) part for loading and unloading containers from container ships and a quay (yard) part for stacking containers. For the arrangement of the container in the storage yard, two schemes are adopted, namely the direction of the container in the storage yard is parallel to the direction of the container on the ship, and the direction of the container refers to the long axis direction of the container. In order to increase the utilization rate of yard cranes and also to increase the efficiency of yard operations, in recent years, containers are generally arranged in a second method, which is: the container direction on the container ship is perpendicular to the container direction of the yard. For the transportation between the yard and the shore crane, at present, the horizontal transport vehicle driven by the internal combustion engine is used for the transportation between the front and the rear of the wharf, that is, for the ship unloading, the shore crane loads the container from the ship to the horizontal transport vehicle, then the horizontal transport vehicle transports the container to the yard area, and the yard crane lifts the container from the vehicle and arranges the container on the yard. For the container truck, a yard crane lifts the container from the yard, the container is placed on the truck, a horizontal transport vehicle transports the container to the lower part of a shore crane, and the loading is finished by the shore crane.
Disclosure of Invention
The purpose of the invention is as follows:
aiming at the problems, the invention provides an intelligent container hoisting method and device based on polar coordinates.
The technical scheme is as follows:
the utility model provides a method and device based on intelligent container hoist and mount of polar coordinates, the device is the hoist, the hoist includes body pallet, base, processing apparatus, controlling means, the base is provided with the revolving stage, the body pallet sets up by hoist and guide rail mechanism, processing apparatus with the controlling means is connected, controlling means with the hoist is connected, the hoist sets up in guide rail mechanism, the hoist is used for the hoist and mount of container, container top surface short edge department is provided with first position respectively and tracks the chip, the central line central point department sets up the second position and tracks the chip, the method includes the following step:
s010: the first position tracking chips with different positions respectively send a first tracking position A and a first tracking position B to the processing device, and the second position tracking chip sends a second tracking position to the processing device;
s020: the processing device generates a first polar coordinate A according to the first tracking position A and generates a first polar coordinate B according to the first tracking position B;
s030: the processing device calculates projections of the first polar coordinate A and the second polar coordinate B on a polar axis according to an algorithm, wherein the projections are a projection A and a projection B respectively;
s040: the processing device judges whether the projection A is the same as the projection B;
s050: if so, the processing device generates a second polar coordinate according to the second tracking position and sends a control instruction to the control device according to the second polar coordinate position;
s060: the control device controls the lifting appliance to slide to the second polar coordinate position according to the control instruction;
s070: the processing device judges whether the lifting appliance slides to the second polar coordinate position according to the polar coordinate position of the lifting appliance;
s080: if so, the processing device sends a hoisting instruction to the control device;
s090: and the control device controls the lifting appliance to lift the container according to the lifting instruction.
As a preferable aspect of the present invention, before the step S010, the method further includes the following preliminary steps:
s001: the processing device generates a first polar coordinate system by taking a vertex angle point at the left back of the base as a pole and a long side connected with the vertex angle as a polar axis;
s002: and the processing device generates a second polar coordinate system by taking the stand surface vertex angle with the same position as the base vertex angle plane as a pole and the long edge connected with the vertex angle as a polar axis.
In a preferred embodiment of the present invention, the base and the portion of the bottom of the table top not connected to the table legs have the same shape and area, and the first polar coordinate system and the second polar coordinate system correspond to each other.
In a preferred embodiment of the present invention, the step S040 further includes the steps of:
s041: if not, the processing device sends a rotation instruction to the control device;
s042: the control device controls the rotating platform to rotate according to the rotating command;
s043: the processing device calculates a projection A of the first polar coordinate A and a projection B of the first polar coordinate B;
s044: the processing device judges whether the projection A is the same as the projection B, if so, the processing device stops sending the rotation instruction and executes the step S050; if not, step S041 is executed.
In a preferred aspect of the present invention, the processing device is provided with a polar coordinate of a spreader operating position, and the polar coordinate of the operating position is a polar coordinate position of the fixed-point container loading of the container.
As a preferred mode of the present invention, the method further comprises the steps of:
s100: the processing device sends a control instruction to the control device according to the polar coordinates of the working position;
s110: and the control device controls the lifting appliance to slide to the polar coordinate position of the working position according to the control command.
As a preferable mode of the invention, the crane further comprises wheels, slide rails and a driving motor, wherein the wheels are arranged at the central line of the bottom surface of the stand, the slide rails are arranged at two sides of the base, the length of the slide rails is twice of that of the base, the wheels are arranged on the slide rails, one end of each slide rail is the base, the other end of each slide rail is a container loading area, the container loading area is provided with a parking space, and the parking space is a longitudinal parking space.
As a preferred mode of the present invention, the method further comprises the steps of:
s120: the processing device sends a driving instruction to the driving motor;
s130: the driving motor controls the wheels to slide on the sliding rails according to the driving instruction;
s140: when the crane slides to the tail end of the sliding rail, the processing device sends a control instruction to the control device, and the control device loads the container on a container truck stopped at a parking space according to the control instruction.
The invention realizes the following beneficial effects:
1. the polar coordinates are utilized to mark the lifting appliance and the container, and the lifting appliance is controlled according to the polar coordinates corresponding to the container, so that the automatic container ship unloading process is achieved.
2. The container truck is marked by utilizing the polar coordinates, and compared with the polar coordinates of the lifting appliance and the container, the lifting appliance is controlled by comparing the polar coordinates, and therefore the automatic container loading process is achieved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a diagram of the working steps of the present invention;
FIG. 2 is a diagram of two steps in the embodiment;
FIG. 3 is a diagram showing three steps of the embodiment;
FIG. 4 is a system framework diagram;
FIG. 5 is a schematic view of a crane;
fig. 6 is a bottom view of the stand.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
The first embodiment is as follows:
the reference figures are figure 1 and figure 4. The utility model provides a method and device based on intelligent container hoist and mount of polar coordinates, the device is the hoist, the hoist includes body pallet 1, base 2, processing apparatus 3, controlling means 4, base 2 is provided with revolving stage 5, body pallet 1 sets up by hoist 6 and guide rail mechanism 7, processing apparatus 3 with controlling means 4 is connected, controlling means 4 with hoist 6 is connected, hoist 6 sets up in guide rail mechanism 7, the hoist is used for the hoist and mount of container, container top surface short edge department is provided with first position respectively and tracks chip 8, the central line midpoint department sets up second position and tracks chip 9, the method includes the following step:
s010: the first position tracking chips 8 with different positions respectively send a first tracking position A and a first tracking position B to the processing device 3, and the second position tracking chip sends a second tracking position to the processing device 3;
s020: the processing device 3 generates a first polar coordinate a according to the first tracking position a and generates a first polar coordinate B according to the first tracking position B;
s030: the processing device 3 calculates projections of the first polar coordinate A and the second polar coordinate B on a polar axis according to an algorithm, wherein the projections are a projection A and a projection B respectively;
s040: the processing device 3 determines whether the projection a is the same as the projection B;
s050: if yes, the processing device 3 generates a second polar coordinate according to the second tracking position, and sends a control instruction to the control device 4 according to the second polar coordinate position;
s060: the control device 4 controls the lifting appliance 6 to slide to the second polar coordinate position according to the control instruction;
s070: the processing device 3 judges whether the lifting appliance 6 slides to the second polar coordinate position according to the polar coordinate position of the lifting appliance 6;
s080: if yes, the processing device 3 sends a hoisting instruction to the control device 4;
s090: and the control device 4 controls the lifting appliance 6 to lift the container according to the lifting instruction.
As a preferable aspect of the present invention, before the step S010, the method further includes the following preliminary steps:
s001: the processing device 3 generates a first polar coordinate system by taking a vertex angle point at the left back of the base 2 as a pole and a long side connected with the vertex angle as a polar axis;
s002: the processing device 3 generates a second polar coordinate system using a top angle of the mount surface at the same position as the top angle of the base 2 as a pole and a long side connected to the top angle as a polar axis.
In a preferred embodiment of the present invention, the base 2 and the portion of the bottom of the table top not connected to the table legs have the same shape and area, and the first polar coordinate system and the second polar coordinate system correspond to each other.
In a preferred embodiment of the present invention, the step S040 further includes the steps of:
s041: if not, the processing device 3 sends a rotation instruction to the control device 4;
s042: the control device 4 controls the rotation of the rotary table 5 according to the rotation command;
s043: the processing means 3 calculate a projection a of the first polar coordinate a and a projection B of the first polar coordinate B;
s044: the processing device 3 judges whether the projection a is the same as the projection B, and if yes, stops sending the rotation instruction and executes the step S050; if not, step S041 is executed.
In a specific implementation, the first polar coordinate system is identical to the second polar coordinate system, since the base 2 and the part of the bottom of the rack platform not connected to the rack feet are identical in shape and area, and the poles and the polar axes are identical when viewed from the longitudinal plane, the first polar coordinate system is identical to the second polar coordinate system, the first position tracking chip 8 is divided into a first position tracking chip 8A and a first position tracking chip 8B according to the position difference, the first tracking position a and the first tracking position B are correspondingly transmitted, the processing device 3 generates a first polar coordinate a and a first polar coordinate B according to the first tracking position a and the first tracking position B, the processing device 3 calculates a projection a according to the first polar coordinate a, calculates a projection B according to the first polar coordinate a, for example, when the first polar coordinate a is (4,60 °), the first polar coordinate B is (4,30 °), the processing device 3 calculates a projection a is 2, the projection B is 2, the processing device 3 does not change to the longitudinal direction, the control device 4 controls the processing device, the processing device 3 continues to control the processing device, the processing device 3, the control device determines whether the second polar coordinate p 3, the processing device is connected to the spreader, the control device, and transmits the second polar coordinate system, and the control device 3, and the control device determines whether the processing device 3, the processing device 5, and the processing device send the second polar coordinate p 6, the processing device send the processing device 3, the processing device 5, the processing device send the processing device 5, the processing device send the control device 3 and the processing device 5, the control device 5, the processing device 5, the control device send the processing device 5, the control device send the control device 5, the control device send the control device 5, the second polar coordinate p 3 and the control device 5, and the control device send the control device 5, and the control device send the second polar coordinate of the control device 5, and the spreader control device 5.
Example two:
the reference figures are figure 2 and figure 4. For the first embodiment, the present embodiment is different in that:
in a preferred embodiment of the present invention, the processing device 3 is provided with a polar coordinate of the operating position of the spreader 6, and the polar coordinate of the operating position is a polar coordinate position of the fixed-point container loading of the container.
As a preferred mode of the present invention, the method further comprises the steps of:
s100: the processing device 3 sends a control instruction to the control device 4 according to the polar coordinates of the working position;
s110: and the control device 4 controls the lifting appliance 6 to slide to the polar coordinate position of the working position according to the control instruction.
In a specific implementation process, when the spreader 6 slides to the second polar coordinate position and finishes lifting the container, the processing device 3 sends a control instruction to the control device 4, and the control device 4 controls the spreader 6 to slide to the polar coordinate of the working position according to the control instruction. When the spreader 6 slides to the polar coordinates of the working position, the processing device 3 sends a control instruction to the control device 4, and the control device 4 controls the spreader 6 to load the container onto the container truck.
Example three:
the reference figures are fig. 3, fig. 5 and fig. 6. For the first embodiment, the present embodiment is different in that:
as a preferable mode of the present invention, the crane further includes wheels 10, slide rails 11, and a driving motor 12, the wheels 10 are disposed at a central line of the bottom surface of the stand, the slide rails 11 are disposed at two sides of the base 2, the length of the slide rails 11 is twice the length of the base 2, the wheels 10 are disposed on the slide rails 11, one end of the slide rails 11 is the base 2, the other end of the slide rails is a container loading area, the container loading area is provided with a parking space, and the parking space is a longitudinal parking space.
As a preferred mode of the present invention, the method further comprises the steps of:
s120: the processing device 3 sends a driving instruction to the driving motor 12;
s130: the driving motor 12 controls the wheel 10 to slide on the slide rail 11 according to the driving instruction;
s140: when the crane slides to the tail end of the slide rail 11, the processing device 3 sends a control instruction to the control device 4, and the control device 4 loads the container on a container truck stopped in a parking space according to the control instruction.
In a specific implementation process, when the processing device 3 determines that the container is lifted, the processing device 3 sends a driving instruction to the driving motor 12, the driving motor 12 controls the wheels 10 to slide on the sliding rails 11 and slide to the tail ends of the sliding rails 11, the platform surface slides to the position above the parking space, at this time, the processing device 3 sends a control instruction to the control device 4, and the control device 4 loads the container on a container truck parked on the parking space according to the control instruction.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (7)
1. The method for hoisting the intelligent container based on the polar coordinates is used for a crane, the crane comprises a body stand, a base, a processing device and a control device, the base is provided with a rotating platform, the body stand is provided with a lifting appliance and a guide rail mechanism, the processing device is connected with the control device, the control device is connected with the lifting appliance, the lifting appliance is arranged on the guide rail mechanism, the crane is used for hoisting the container, a first position tracking chip is arranged at the middle point of the short edge of the top surface of the container respectively, and a second position tracking chip is arranged at the middle point of the middle line, and the method is characterized by comprising the following steps of:
s010: the first position tracking chips with different positions respectively send a first tracking position A and a first tracking position B to the processing device, and the second position tracking chip sends a second tracking position to the processing device;
s020: the processing device generates a first polar coordinate A according to the first tracking position A and generates a first polar coordinate B according to the first tracking position B;
s030: the processing device calculates projections of the first polar coordinate A and the second polar coordinate B on a polar axis according to an algorithm, wherein the projections are a projection A and a projection B respectively;
s040: the processing device judges whether the projection A is the same as the projection B;
s041: if not, the processing device sends a rotation instruction to the control device;
s042: the control device controls the rotating platform to rotate according to the rotating command;
s043: the processing device calculates a projection A of the first polar coordinate A and a projection B of the first polar coordinate B;
s044: the processing device judges whether the projection A is the same as the projection B, if so, the processing device stops sending the rotation instruction and executes the step S050; if not, executing step S041;
s050: if so, the processing device generates a second polar coordinate according to the second tracking position and sends a control instruction to the control device according to the second polar coordinate position;
s060: the control device controls the lifting appliance to slide to the second polar coordinate position according to the control instruction;
s070: the processing device judges whether the lifting appliance slides to the second polar coordinate position according to the polar coordinate position of the lifting appliance;
s080: if so, the processing device sends a hoisting instruction to the control device;
s090: and the control device controls the lifting appliance to lift the container according to the lifting instruction.
2. The polar coordinate-based intelligent container hoisting method according to claim 1, wherein the method comprises the following steps: before the step S010, the following preliminary steps are further included:
s001: the processing device generates a first polar coordinate system by taking a vertex angle point at the left back of the base as a pole and a long side connected with the vertex angle as a polar axis;
s002: and the processing device generates a second polar coordinate system by taking the stand surface vertex angle with the same position as the base vertex angle plane as a pole and taking the long edge connected with the vertex angle as a polar axis.
3. The method for hoisting the intelligent container based on the polar coordinates as claimed in claim 2, wherein the method comprises the following steps: the first polar coordinate system is consistent with the second polar coordinate system.
4. The polar coordinate-based intelligent container hoisting method according to claim 1, wherein the method comprises the following steps: the processing device is provided with a polar coordinate of a working position of a lifting appliance, and the polar coordinate of the working position of the lifting appliance is a polar coordinate position of the fixed-point container loading of the container.
5. The method for hoisting the intelligent container based on the polar coordinates as claimed in claim 4, wherein the method comprises the following steps: the method further comprises the steps of:
s100: the processing device sends a control instruction to the control device according to the polar coordinate of the working position of the lifting appliance;
s110: and the control device controls the lifting appliance to slide to the polar coordinate position of the working position of the lifting appliance according to the control command.
6. The polar coordinate-based intelligent container hoisting method according to claim 1, wherein the method comprises the following steps: the crane further comprises wheels, slide rails and a driving motor, wherein the wheels are arranged at the central line of the bottom surface of the stand foot, the slide rails are arranged on two sides of the base, the length of the slide rails is twice of the length of the base, the wheels are arranged on the slide rails, one end of each slide rail is a base, the other end of each slide rail is a container loading area, the container loading area is provided with a parking space, and the parking space is a longitudinal parking space.
7. The method for hoisting the intelligent container based on the polar coordinates of claim 6, wherein the method comprises the following steps: the method further comprises the steps of:
s120: the processing device sends a driving instruction to the driving motor;
s130: the driving motor controls the wheels to slide on the sliding rails according to the driving instruction;
s140: when the crane slides to the tail end of the sliding rail, the processing device sends a control instruction to the control device, and the control device loads the container on a container truck stopped at a parking space according to the control instruction.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810045881.7A CN108249313B (en) | 2018-01-17 | 2018-01-17 | Intelligent container hoisting method and device based on polar coordinates |
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| CN201810045881.7A CN108249313B (en) | 2018-01-17 | 2018-01-17 | Intelligent container hoisting method and device based on polar coordinates |
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| CN108249313B true CN108249313B (en) | 2020-04-21 |
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| CN108726383A (en) * | 2018-06-04 | 2018-11-02 | 太仓秦风广告传媒有限公司 | A method of the intelligent container lifting based on cylindrical coordinates |
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| DE10145513A1 (en) * | 2001-09-14 | 2003-04-10 | Siemens Ag | Loading device for ISO containers |
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|---|---|---|---|---|
| CN201357784Y (en) * | 2008-12-30 | 2009-12-09 | 樊茂勇 | Container hopper car and container crane having same |
| CN103818828A (en) * | 2014-03-05 | 2014-05-28 | 上海振华重工电气有限公司 | Container crane sling aligning guide system |
| CN205709438U (en) * | 2016-05-04 | 2016-11-23 | 湖南科天健光电技术有限公司 | A kind of detection automatically for container is grabbed case and piles up the device of position |
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Effective date of registration: 20200324 Address after: 325000, 1, Ying Qian village, Linjiang Town, Lucheng District, Zhejiang, Wenzhou Applicant after: Zhu Damiao Address before: 215400 Taicang Economic Development Zone, Jiangsu, Beijing West Road, No. 6, No. Applicant before: SUZHOU CHENGMAN INFORMATION TECHNOLOGY Co.,Ltd. |
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Effective date of registration: 20221009 Address after: 271200 Yangliu Industrial Park, Xintai City, Tai'an City, Shandong Province Patentee after: SHANDONG LONGHUI HOISTING MACHINERY Co.,Ltd. Address before: No.1 Qianying village, Linjiang Town, Lucheng District, Wenzhou City, Zhejiang Province 325000 Patentee before: Zhu Damiao |