CN109835815B - Automatic calibration method and system for container crane - Google Patents
Automatic calibration method and system for container crane Download PDFInfo
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- CN109835815B CN109835815B CN201910201287.7A CN201910201287A CN109835815B CN 109835815 B CN109835815 B CN 109835815B CN 201910201287 A CN201910201287 A CN 201910201287A CN 109835815 B CN109835815 B CN 109835815B
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Abstract
The invention discloses an automatic calibration method of a container crane, which comprises the steps of installing a marker, carrying out reference calibration and establishing a first coordinate system, calibrating a visual positioning device and establishing a second coordinate system, calibrating a first laser positioning device and establishing a third coordinate system, carrying out combined calibration on the visual positioning device and the first laser positioning device, and determining the conversion relation between the second coordinate system and the third coordinate system. The invention also provides an automatic calibration system of the container crane, which comprises the marker, the reference calibration device, the visual positioning device, the first laser positioning device, the second laser positioning device and the controller. The invention can improve the joint calibration efficiency between the visual positioning device and the laser positioning device, reduce the maintenance complexity of the visual positioning device and the laser positioning device and further reduce the system cost.
Description
Technical Field
The invention relates to the field of automatic calibration of cranes, in particular to an automatic calibration method and system for a container crane.
Background
Typically, each port has a large number of containers to be unloaded, transferred to temporary storage and then reloaded onto various types of transport vehicles, with the loading and unloading process requiring a significant amount of time and labor. The automatic loading and unloading of the container can not only improve the production efficiency and reduce the labor cost, but also improve the working environment of workers, reduce the labor intensity and improve the comprehensive competitiveness of ports, so that the construction of equipment such as an automatic shore bridge or an automatic field bridge and the like which can automatically load and unload the container becomes a necessary trend.
The automatic loading and unloading equipment for the container mainly comprises a container crane, an Automatic Guided Vehicle (AGV) and other equipment. In order to realize full-automatic container grabbing and releasing, a lifting appliance detection device (SDS), a target detection device (TDS), an automatic guided vehicle positioning device (APS) and other equipment are required to be installed on a crane operation site. TDS and APS belong to laser positioning device for detect the position of target container, automated guided vehicle or collection card for the hoist, SDS belongs to vision positioner for detect the position of current hoist for the hoist, so that the accurate container of grabbing and releasing of hoist.
In the prior automatic system, TDS and SDS are manually calibrated at a factory-level debugging stage, respective coordinate systems are established, a target is detected and positioned under the coordinate systems, and meanwhile, the joint calibration among systems is carried out, so that the loading and unloading of containers are realized. When the complete machine arrives at the customer scene, need artificially mark TDS once more, need carry out TDS and SDS's two joint calibrations at platform position and back exchange area position to bank bridge, use the active support of taking the lamp to jointly calibrate to the track crane, calibration process is consuming time and is used hard. When TDS and SDS are adjusted or replaced, besides self calibration, a container or an active lamp bracket is needed, the combined calibration process is repeated, the system cost is increased, and the maintenance complexity is high.
Disclosure of Invention
The invention aims to provide an automatic calibration method and system for a container crane, which aim to solve the problems of low joint calibration efficiency and high maintenance complexity between TDS and SDS (sodium dodecyl sulfate) and high system cost in the prior art.
In order to solve the technical problem, the embodiment of the invention discloses an automatic calibration method of a container crane, which comprises the following steps: installing markers, namely installing at least 3 passive markers on the operation site of the container crane, and installing at least 3 active markers on a lifting appliance; and (3) performing reference calibration: establishing a first coordinate system, measuring coordinate values of the passive marker and the active marker in the first coordinate system through a reference calibration device, and measuring the coordinate value of the first position point in the first coordinate system; calibrating the visual positioning device: establishing a second coordinate system, measuring coordinate values of the active marker in the second coordinate system through a visual positioning device on the trolley, and obtaining a first conversion relation between the first coordinate system and the second coordinate system at the first position point by combining the coordinate values of the active marker in the first coordinate system; calibrating a first laser positioning device: establishing a third coordinate system, measuring coordinate values of the passive marker in the third coordinate system through a first laser positioning device on the trolley, and obtaining a second conversion relation between the first coordinate system and the third coordinate system at the first position point by combining the coordinate values of the passive marker in the first coordinate system; carrying out combined calibration: and obtaining a third conversion relation between the second coordinate system and the third coordinate system according to the first conversion relation and the second conversion relation.
Optionally, the method further comprises obtaining a reference coordinate value: and placing the lifting appliance to a first designated position, measuring the coordinate value of the active marker in a second coordinate system by using the visual positioning device, and obtaining the reference coordinate value of the active marker in the first coordinate system according to the first conversion relation.
Optionally, the method further comprises calibrating a second laser positioning device: and establishing a fourth coordinate system, measuring coordinate values of the passive marker in the fourth coordinate system through a second laser positioning device on the connecting beam of the container crane, and obtaining a fourth conversion relation between the first coordinate system and the fourth coordinate system by combining the coordinate values of the passive marker in the first coordinate system.
Optionally, calibrating the first laser positioning device further comprises: the cart is moved to the second location point prior to establishing the third coordinate system.
Optionally, the first location point is a location point where the trolley is located when the first coordinate system starts to be established.
Optionally, the installing the marker further includes installing at least 1 verification marker on the operation site of the container crane, and performing the reference calibration further includes measuring a calibration coordinate value of the verification marker in the first coordinate system by using a reference calibration device, where the verification marker is a passive marker, and after the performing the joint calibration is completed, the method further includes: checking a calibration result: and measuring coordinate values of the calibration marker in a third coordinate system through the first laser positioning device, and calibrating the calibration result according to the calibration coordinate values and by combining the first conversion relation, the second conversion relation and the third conversion relation.
Optionally, the verifying the calibration result further includes: and before the coordinate value of the check marker in the third coordinate system is measured by the first laser positioning device, the lifting appliance is placed at the second appointed position.
Optionally, there are 2 check markers, and the check markers are installed at control points on the spreader.
Alternatively, the passive markers are prismatic reflective films having a side length of 10cm, and there are 4 passive markers.
Optionally, the active markers are infrared lamps and there are 3 active markers.
Optionally, the reference calibration device is a come card, the visual positioning device is a spreader detection device, and the first laser positioning device is a target detection device.
The embodiment of the invention also discloses an automatic calibration system of the container crane, which comprises the following components: the automatic calibration method comprises a marker, a reference calibration device, a visual positioning device, a first laser positioning device, a second laser positioning device and a controller, wherein the visual positioning device and the first laser positioning device are positioned on a trolley of the container crane, the second laser positioning device is positioned on a connecting beam of the container crane, the controller can obtain measurement data of the reference calibration device, the visual positioning device, the first laser positioning device and the second laser positioning device, and the controller is suitable for executing the automatic calibration method of the container crane when the container crane is calibrated.
The automatic calibration method and the system for the container crane, provided by the invention, can improve the joint calibration efficiency between the visual positioning device and the laser positioning device, reduce the maintenance complexity of the visual positioning device and the laser positioning device and further reduce the system cost.
In order that the foregoing and other objects, features, and advantages of the invention will be readily understood, a preferred embodiment of the invention will be hereinafter described in detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 schematically illustrates a calibration field schematic of an embodiment of the present invention;
FIG. 2 schematically illustrates a flow chart of a method for automatic calibration of a container crane according to an embodiment of the present invention;
FIG. 3 schematically illustrates a passive marker in accordance with an embodiment of the present invention;
fig. 4 schematically shows a block diagram of an automatic calibration system for a container crane according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure. While the invention will be described in conjunction with the preferred embodiments, it is not intended that features of the invention be limited to these embodiments. On the contrary, the invention is described in connection with the embodiments for the purpose of covering alternatives or modifications that may be extended based on the claims of the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be practiced without these particulars. Moreover, some of the specific details have been left out of the description in order to avoid obscuring or obscuring the focus of the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that in this specification, like reference numerals and letters refer to like items in the following drawings, and thus, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. The terms "disposed," "connected," and the like are to be construed broadly and may include, for example, a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two elements may be directly connected or indirectly connected through an intermediate medium, and the two elements may be communicated with each other, and the specific meaning of the above terms in the present embodiment will be understood by those skilled in the art. The terms "upper", "lower", "left", "right", "inner", "bottom", and the like, refer to orientations or positional relationships based on those shown in the drawings, or orientations or positional relationships that are conventionally used to place the products of the present invention, and are used for convenience in describing and simplifying the present invention, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
In order to better understand the technical solution of the present invention, in the following description, the technical solution of the present invention is described in detail by taking a double-trolley shore bridge portal system as an example, it should be noted that, in the specific implementation, a person skilled in the art may select a container crane system to which the technical solution of the present invention is applied according to actual needs, and the specific type of container crane does not set any limit to the present invention.
Fig. 1 is a schematic diagram of a calibration site according to an embodiment of the present invention, and referring to fig. 1, in an embodiment of the present invention, a visual positioning device 15 is installed on a gantry trolley 14, a first laser positioning device 16 is installed on the gantry trolley 14, a second laser positioning device 17 is installed on a lower tie beam on the land side of the gantry, a passive marker 11 is installed on the operation site of the container crane through an installation bracket, an active marker 12 is installed on a spreader 13, and a verification marker 18 is installed on a control point on the spreader 13. It should be noted that the arrangement and positions of the visual positioning device 15, the first laser positioning device 16, the second laser positioning device 17, the passive marker 11, the active marker 12 and the verification marker 18 shown in fig. 1 are only schematically illustrated, and should not be construed as limiting the present invention.
Referring to fig. 2 in combination with fig. 1, the present invention provides an automatic calibration method for a container crane, including:
step S11: installing the markers, installing at least 3 passive markers on the operation site of the container crane, and installing at least 3 active markers on the spreader.
Specifically, the passive markers 11 are used for calibrating laser positioning devices, such as the first laser positioning device 16 and the second laser positioning device 17 in the embodiment of the present invention, and the installation positions and the number of the passive markers 11 can be determined according to the mechanical structure of the crane and the installation positions of the laser positioning devices, as long as at least 3 passive markers 11 can be scanned by each set of laser positioning devices. The active markers 12 are used for calibrating the visual positioning device 15, and similarly, the installation positions and the number of the active markers 12 can be determined according to the mechanical structure of the crane and the installation position of the visual positioning device 15, as long as it is ensured that the visual positioning device 15 can scan at least 3 active markers 12. Referring to fig. 1, in one embodiment of the present invention, 4 passive markers 11 are installed in a loading area of a crane operation site, and 3 active markers 12 are installed on a spreader 13 of a container crane. Because the visual positioning device 15 is generally installed on the trolley 14 and faces the lifting appliance 13, the arrangement of the active marker 12 on the lifting appliance 13 is beneficial to improving the calibration accuracy of the visual positioning device 15, and better realizes the functions of anti-rolling, anti-tilting, load positioning and the like of the lifting appliance 13. In addition, the active marker 12 is installed on the spreader 13, so that the space of the container loading and unloading area occupied by installing the marker can be reduced, and the loading and unloading efficiency is improved.
Step S12: and carrying out reference calibration, establishing a first coordinate system, measuring coordinate values of the passive marker and the active marker in the first coordinate system through a reference calibration device, and measuring coordinate values of the first position point in the first coordinate system.
Referring to FIG. 1, in one embodiment of the present invention, a first coordinate system W is established with the cart track as the X-axisXYZMeasuring a coordinate value matrix P of the 3 active markers 12 in the first coordinate system by the reference calibration deviceWCoordinate values of 4 passive markers 11, measuring coordinate values of the first location point in the first coordinate systemS0(X0，Y0，Z0)。
Step S13: and calibrating the visual positioning device, establishing a second coordinate system, measuring the coordinate value of the active marker in the second coordinate system by the visual positioning device on the trolley, and obtaining a first conversion relation between the first coordinate system and the second coordinate system at the first position point by combining the coordinate value of the active marker in the first coordinate system.
Referring to fig. 1, in an embodiment of the present invention, the visual positioning apparatus 15 measures coordinate values of 3 active markers 12 relative to the visual positioning apparatus 15 itself, and establishes a local coordinate system of the visual positioning apparatus 15, i.e. a second coordinate system S, by combining the relative position relationship of the 3 active markers 12XYZFurther, a three-dimensional coordinate value matrix P of 3 active markers 12 is obtainedS. The coordinate value matrix P of the 3 active markers 12 obtained by the step S12WA first coordinate system W at the first position point can be calculatedXYZAnd a second coordinate system SXYZFirst conversion relationship between: pW＝RSPS+TS+S0Wherein R isSFor a rotation matrix, TSIs a translation matrix. It should be noted that the visual positioning apparatus 15 cannot obtain three-dimensional information of the active markers 12, and therefore, a three-dimensional coordinate system needs to be established in combination with the relative position relationship of the active markers 12, that is, the positions of 3 active markers 12 cannot be arranged on a straight line, and the distance difference between each two active markers in the longitudinal direction needs to be made.
It should be noted that, since the visual positioning device 15 is located on the trolley 14, the visual positioning device 15 moves along the trolley rail along with the trolley 14 during the container loading and unloading operation, in order to make the first coordinate system WXYZAnd a second coordinate system SXYZTo the same reference point, the first position point S is recorded and utilized0The coordinates of (a). In one embodiment of the present invention, the first position point is the start of establishing the first coordinate system WXYZAt the point where the trolley 14 is located, due to the first coordinate system WXYZWith the trolley track as the X-axis, thereforeA position point S0Can be denoted as S0(X0Y, Z), i.e. the trolley position point is in the first coordinate system W as it moves with the trolley trackXYZThe coordinate values of the lower part are changed only by the X component, and other components are constant. Thus, the first position point is set as the position point of the cart 14 for easy measurement and calculation, for example, the position point of the cart 14 in the first coordinate system W can be easily measured by using a magnetic scaleXYZAnd (4) the following coordinate values.
Step S14: calibrating the first laser positioning device, establishing a third coordinate system, measuring coordinate values of the passive marker in the third coordinate system through the first laser positioning device on the trolley, and obtaining a second conversion relation between the first coordinate system and the third coordinate system at the first position point by combining the coordinate values of the passive marker in the first coordinate system.
Specifically, in one embodiment of the present invention, the first laser positioning device 16 is capable of measuring the coordinate value matrix P of at least 3 passive markers 11 relative to the first laser positioning device 16TThe first laser positioning device 16 has a local coordinate system, i.e. a third coordinate system TXYZFurther, in combination with the coordinate values of the 4 passive markers 11 obtained in step S12, the first coordinate system W at the first position point can be calculatedXYZAnd a third coordinate system TXYZA second translation relationship therebetween.
It should be noted that, during the actual calibration process, due to the relative position relationship between the passive markers 11 and the first laser positioning device 16, the first laser positioning device 16 may not be able to effectively measure at least 3 passive markers 11 at the same time at the first position. To solve this problem, in one embodiment of the present invention, the cart 14 connected to the first laser positioning device 16 is moved to a second position S where at least 3 passive markers 11 can be effectively scanned, and then the first laser positioning device 16 measures at least 3 passive markers 11 in the third coordinate system TXYZCoordinate value matrix P ofTFinally, a first coordinate system W at the first position point is obtainedXYZAnd a third coordinate system TXYZSecond translation relationship between: pW＝RTPT+TT+ S, wherein RTFor a rotation matrix, TTIs a translation matrix. It should be noted that the positions of any 3 passive markers 11 cannot be in a straight line in order to be able to calculate a translation relationship with a unique solution.
Step S15: and performing combined calibration, and obtaining a third conversion relation between the second coordinate system and the third coordinate system according to the first conversion relation and the second conversion relation.
In order to accurately grasp and release the container by the spreader 13 during the container loading and unloading operation, the spatial position of the spreader 13 needs to be correlated with the spatial position information of the container, that is, the visual positioning device 15 and the first laser positioning device 16 need to be calibrated in a combined manner. In an embodiment of the present invention, a specific calibration method is that the second coordinate system S can be calculated according to the first conversion relation obtained in step S13 and the second conversion relation obtained in step S14XYZAnd a third coordinate system TXYZA third conversion relationship between:
in an embodiment of the present invention, the method for automatically calibrating a container crane further includes obtaining a reference coordinate value: and placing the lifting appliance to a first designated position, measuring the coordinate value of the active marker in a second coordinate system by using the visual positioning device, and obtaining the reference coordinate value of the active marker in the first coordinate system according to the first conversion relation.
It can be understood that since the active marker 12 will move along the trolley track along with the trolley 14 and also move vertically along the hanging direction along with the cable, when the calibrated container crane system is operated for a period of time, the visual positioning device 15 needs to be maintained, replaced or adjusted, and the active marker 12 measured by the visual positioning device 15 with changed state is located in the second coordinate system SXYZThe coordinate values of (c) are necessarily changed, but the active marker 12 at the measurement position in the first coordinate system W cannot be directly or indirectly obtained at this timeXYZCoordinate value of, i.e. not to, stateThe changing visual positioning means 15 performs an automatic calibration. In the conventional method, after the visual positioning device 15 is maintained, replaced or adjusted, the reference calibration needs to be performed manually again, and then the visual positioning device 15 is calibrated, which is time-consuming, labor-consuming and low in efficiency.
In the calibration process of the previous stage, a step of obtaining a reference coordinate value is added, that is, the lifting appliance 13 is placed at the first designated position, and the second coordinate system S of the active marker 12 at the first designated position is measured by the visual positioning device 15XYZCoordinate value matrix P of1Then, based on the first transformation, the active marker 12 is calculated in the first coordinate system WXYZReference coordinate value matrix P1 W. By using the reference coordinate value, automatic recalibration and combined calibration of the visual positioning device 15 can be completed when the visual positioning device 15 is maintained, replaced or adjusted, and the automation degree of calibration of the container crane and the efficiency of container loading and unloading operation are further improved. It should be noted that the first designated position is a position where the spreader 13 can be stably and accurately placed, and the first designated position is not particularly limited in the present invention, as long as the absolute position of the spreader 13 is fixed each time the spreader is placed at the first position.
Specifically, when the calibrated container crane system is operated for a period of time and the visual positioning device 15 is maintained, replaced or adjusted, the spreader 13 is simply placed at the first designated position, and the active marker 12 is measured in the second coordinate system S at the timeXYZCoordinate value matrix P of2According to P2And P1 WCalculating to obtain the first coordinate system W after the maintenance, replacement or adjustment of the visual positioning device 15XYZAnd a second coordinate system SXYZAnd re-calibrating the joint calibration with the first laser positioning device 16 according to the conversion relation.
In an embodiment of the present invention, the automatic calibration method for a container crane further includes calibrating a second laser positioning device: and establishing a fourth coordinate system, measuring coordinate values of the passive marker in the fourth coordinate system through a second laser positioning device on the connecting beam of the container crane, and obtaining a fourth conversion relation between the first coordinate system and the fourth coordinate system by combining the coordinate values of the passive marker in the first coordinate system.
Referring to FIG. 1, in one embodiment of the present invention, a second laser positioning device 17 is further provided for obtaining the location information of the container and/or the pallet and/or the AGV, and the calibration principle is the same as that of the first laser positioning device 16, and the local coordinate system of the passive markers 11 in the second laser positioning device 17, i.e. the fourth coordinate system A, is obtained by measuring the location information of at least 3 passive markers 11XYZCoordinate value matrix P ofAThen, in combination with the coordinate values of the passive marker 11 in the first coordinate system, the first coordinate system W is calculatedXYZAnd a fourth coordinate system AXYZA fourth conversion relationship between: pW＝RAPA+TA. It should be noted that since the second laser positioning device 17 is located on the container crane connecting beam, its position is fixed, and therefore no first position information is needed for calculating the fourth conversion relation. In addition, because the second laser positioning device 17 is positioned on the connecting beam of the container crane, the visual field is better, the container loading and/or the container truck and/or the AGV in the detection area can be positioned at any time, so that the lifting appliance 13 can obtain more comprehensive information, meanwhile, the second laser positioning device 17 can also be used as the redundant configuration of the first laser positioning device 16, when one of the two devices fails, the other laser positioning device can also work normally, and the normal operation of the container loading and unloading operation is ensured.
It should be noted that the embodiments of the present invention may also enable the recalibration and the joint calibration of the first laser positioning device 16 and/or the second laser positioning device 17 to be completed when the first laser positioning device 16 and/or the second laser positioning device 17 are maintained, replaced or adjusted. Specifically, when the calibrated container crane system is operated for a period of time and the first laser positioning device 16 and/or the second laser positioning device 17 are/is maintained, replaced or adjusted, the first laser positioning device 16 and/or the second laser positioning device 17 only need to measure the passive marker 11 again in the third coordinate system TXYZAnd/or a fourth coordinate system AXYZThe coordinate values of the passive marker 11 obtained in the reference calibration stage are combined in the first coordinate system WXYZAnd the recalibration and the combined calibration of the first laser positioning device 16 and/or the second laser positioning device 17 are automatically completed according to the coordinate values. Therefore, the calibration of the first laser positioning device 16 and/or the second laser positioning device 17 does not need manual intervention, and the automation degree of the calibration of the container crane and the efficiency of the container loading and unloading operation are further improved.
Referring to fig. 1, in an embodiment of the present invention, the installing the markers further includes installing at least 1 verification marker on the operation site of the container crane, and performing the reference calibration further includes measuring, by the reference calibration apparatus, a calibration coordinate value of the verification marker in the first coordinate system, where the verification marker is a passive marker, and after performing the joint calibration, the method further includes: and checking the calibration result, measuring the coordinate value of the calibration marker in the third coordinate system through the first laser positioning device, and checking the calibration result according to the calibration coordinate value and by combining the first conversion relation, the second conversion relation and the third conversion relation.
Specifically, to further confirm whether the calibration result in the previous stage is accurate, at least 1 check marker 18 may be installed on the operation site of the container crane, and the check marker 18 may be measured and recorded in the first coordinate system W during the reference calibration stageXYZThe calibration coordinate value is measured by the first laser positioning device 16 in the third coordinate system T after the joint calibration is completedXYZAnd then checking the calibration result according to the first conversion relation, the second conversion relation, the third conversion relation, the latest measured calibration coordinate value and the calibration coordinate value recorded in the measurement at the reference calibration stage.
In an embodiment of the present invention, verifying the calibration result further includes: and before the coordinate value of the check marker in the third coordinate system is measured by the first laser positioning device, the lifting appliance is placed at the second appointed position. Because the lifting appliance 13 is easy to shake in the running state, if the calibration result operation is performed at this time, the precision of the calibration is affected, so that when the calibration result is calibrated, the lifting appliance 13 needs to be placed at a second designated position where the lifting appliance 13 can be kept in a stable state (for example, without shaking), for example, the lifting appliance 13 is placed on the ground.
More specifically, in one embodiment of the invention, there are 2 verification markers, control points mounted on the spreader. The calibration marker 18 is arranged at the control point of the lifting appliance 13, and the distance between the control point and the active marker 12 on the lifting appliance 13 can be used for calculating the second coordinate system S of the control pointXYZThe coordinate values are, that is, the first laser positioning device 16 measures the calibration marker 18 in the third coordinate system TXYZAfter the coordinate value is obtained, the second coordinate system S of the check mark 18 can also be obtained at the same timeXYZThe coordinate values do not need to reuse the conversion relation, and the precision of the calibration result is improved.
Referring to fig. 3, in an embodiment of the present invention, the passive marker 11 is a prismatic reflective film with a side length of 10cm, and when the passive marker 11 and the calibration marker 18 are installed, the reflective film is only required to be attached to the installation position, which is convenient and fast. In addition, because the side length of the prismatic reflective film reaches 10cm, the energy emitted by the first laser positioning device 16 and the second laser positioning device 17 can be effectively reflected, and the calibration precision of the first laser positioning device 16 and the second laser positioning device 17 can be improved.
Referring to fig. 2, in an embodiment of the present invention, the active marker 12 is an infrared lamp, which is beneficial for the visual positioning apparatus 15 to identify the active marker 12, and improves the calibration accuracy of the visual positioning apparatus 15.
In one embodiment of the present invention, the reference calibration device is a come card, the vision positioning device 15 is a spreader 13 detection device (SDS), the first laser positioning device 16 is a target detection device (TDS), and the second laser positioning device 17 is an automated guided vehicle positioning device (APS).
Referring to fig. 4 in combination with fig. 1, the present invention provides an automatic calibration system for a container crane, comprising: the automatic calibration method comprises a marker, a reference calibration device, a visual positioning device, a first laser positioning device, a second laser positioning device and a controller, wherein the visual positioning device and the first laser positioning device are positioned on a trolley of the container crane, the second laser positioning device is positioned on a connecting beam of the container crane, the controller can obtain measurement data of the reference calibration device, the visual positioning device, the first laser positioning device and the second laser positioning device, and the controller is suitable for executing the automatic calibration method of the container crane when the container crane is calibrated.
It can be understood that the controller can be connected with the reference calibration device, the visual positioning device, the first laser positioning device and the second laser positioning device directly or indirectly and can acquire data, and the controller can execute the automatic calibration method of the container crane and control the container crane to execute corresponding actions. The present invention is not limited to the specific form of the controller, for example, the controller may be a computer device including a memory and a processor, the memory is suitable for storing computer instructions, and the processor is suitable for executing the automatic calibration method of the container crane when the computer instructions are executed.
While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that the foregoing is a more detailed description of the invention, taken in conjunction with the specific embodiments thereof, and that no limitation of the invention is intended thereby. Various changes in form and detail, including simple deductions or substitutions, may be made by those skilled in the art without departing from the spirit and scope of the invention.
Claims (12)
1. An automatic calibration method for a container crane is characterized by comprising the following steps:
installing markers, namely installing at least 3 passive markers on the operation site of the container crane, and installing at least 3 active markers on a lifting appliance;
and (3) performing reference calibration: establishing a first coordinate system, measuring coordinate values of a passive marker and an active marker in the first coordinate system through a reference calibration device, and measuring coordinate values of a first position point in the first coordinate system;
calibrating the visual positioning device: establishing a second coordinate system, measuring coordinate values of the active marker in the second coordinate system through a visual positioning device on the trolley, and obtaining a first conversion relation between the first coordinate system and the second coordinate system at the first position point by combining the coordinate values of the active marker in the first coordinate system;
calibrating a first laser positioning device: establishing a third coordinate system, measuring coordinate values of the passive marker in the third coordinate system through a first laser positioning device on the trolley, and obtaining a second conversion relation between the first coordinate system and the third coordinate system at the first position point by combining the coordinate values of the passive marker in the first coordinate system;
carrying out combined calibration: and obtaining a third conversion relation between the second coordinate system and the third coordinate system according to the first conversion relation and the second conversion relation.
2. The automatic calibration method for a container crane according to claim 1, further comprising:
obtaining reference coordinate values: and placing the lifting appliance to a first designated position, measuring the coordinate value of the active marker in the second coordinate system by a visual positioning device, and obtaining the reference coordinate value of the active marker in the first coordinate system according to the first conversion relation.
3. The automatic calibration method for a container crane according to claim 1, further comprising:
calibrating the second laser positioning device: establishing a fourth coordinate system, measuring coordinate values of the passive marker in the fourth coordinate system through a second laser positioning device on a connecting beam of the container crane, and obtaining a fourth conversion relation between the first coordinate system and the fourth coordinate system by combining the coordinate values of the passive marker in the first coordinate system.
4. The method for automatically calibrating a container crane as defined in claim 1, wherein said calibrating said first laser positioning device further comprises: and before the third coordinate system is established, the trolley is operated to the second position point.
5. The method for automatically calibrating a container crane as claimed in claim 1, wherein said first location point is a location point of a trolley at which said first coordinate system is initially established.
6. The method for automatically calibrating a container crane according to claim 1, wherein said installing a marker further comprises installing at least 1 calibration marker at the site of the container crane, and said performing a reference calibration further comprises measuring calibration coordinate values of the calibration marker in the first coordinate system by a reference calibration device, wherein the calibration marker is a passive marker, and after said performing a combined calibration, the method further comprises:
checking a calibration result: and measuring coordinate values of the calibration marker in the third coordinate system through the first laser positioning device, and calibrating the calibration result according to the calibration coordinate values and by combining the first conversion relation, the second conversion relation and the third conversion relation.
7. The method for automatically calibrating a container crane according to claim 6, wherein said verifying the calibration result further comprises: and before the coordinate value of the check marker in the third coordinate system is measured by the first laser positioning device, the lifting appliance is placed at a second appointed position.
8. The method for automatically calibrating a container crane according to claim 6, wherein 2 verification markers are installed at the control points of the spreader.
9. The automatic calibration method for the container crane as claimed in any one of claims 1 to 8, wherein the passive markers are prismatic reflective films with 10cm sides, and the number of the passive markers is 4.
10. The automatic calibration method for the container crane according to any one of the claims 1 to 8, wherein the active markers are infrared lamps, and the number of the active markers is 3.
11. The automatic calibration method for a container crane according to any one of claims 1 to 8, wherein said reference calibration device is a come card, said visual positioning device is a spreader detection device, and said first laser positioning device is a target detection device.
12. An automatic calibration system for a container crane, comprising: the automatic calibration method comprises a marker, a reference calibration device, a visual positioning device, a first laser positioning device, a second laser positioning device and a controller, wherein the visual positioning device and the first laser positioning device are positioned on a trolley of the container crane, the second laser positioning device is positioned on a connection beam of the container crane, the controller can obtain measurement data of the reference calibration device, the visual positioning device, the first laser positioning device and the second laser positioning device, and the controller is suitable for executing the automatic calibration method of the container crane according to any one of claims 1 to 11 when the container crane is calibrated.
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| CN114955579A (en) * | 2022-04-12 | 2022-08-30 | 三一海洋重工有限公司 | Shell position calibration method, device, equipment and system for container yard |
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