CN111170154A - Laser box finding method, hoisting system, controller and storage medium - Google Patents
Laser box finding method, hoisting system, controller and storage medium Download PDFInfo
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- CN111170154A CN111170154A CN201911375876.3A CN201911375876A CN111170154A CN 111170154 A CN111170154 A CN 111170154A CN 201911375876 A CN201911375876 A CN 201911375876A CN 111170154 A CN111170154 A CN 111170154A
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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
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
- B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
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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
- B66C13/16—Applications of indicating, registering, or weighing devices
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Abstract
The embodiment of the invention relates to the technical field of operation and maintenance control, and discloses a laser box finding method, a hoisting system, a controller and a storage medium. The laser box finding method is applied to a controller in a hoisting system, the hoisting system comprises a lifting appliance and the controller, eight laser devices are arranged on the periphery of the lifting appliance, four laser devices in the eight laser devices are distributed on four end points of a pair of opposite sides of the lifting appliance, the other four laser devices are distributed on the other pair of opposite sides of the lifting appliance in pairs, and the eight laser devices are respectively in communication connection with the controller; the method comprises the following steps: acquiring laser emission distance values measured by eight laser devices in real time; controlling the lifting appliance to move according to the laser emission distance values reported by the eight laser devices until the reported laser emission distance values meet preset conditions; the high-precision box finding can be realized at lower cost.
Description
Technical Field
The embodiment of the invention relates to the technical field of operation and maintenance control, in particular to a laser box finding method, a hoisting system, a controller and a storage medium.
Background
Along with the development of automation technology, the single machine function of the wharf crane is more and more intelligent, and the unmanned and automatic crane is more and more widely applied. Most of common cranes travel to fixed positions and then are transported by drivers. The wharf stacking operation requires that the relative position error between two box bodies and the whole position error of the stacking box are in a specified range, the box grabbing and stacking processes of the containers have high requirements on the control proficiency of a driver master, and the wharf stacking operation is also a difficult point for realizing wharf automation. In order to solve the problem, a vision system is generally adopted in the existing scheme, and automatic box finding is realized through vision identification and image processing.
The inventor finds that at least the following problems exist in the prior art: the visual system has higher equipment cost, the actual judgment accuracy is greatly influenced by the environment, the judgment result may have larger deviation, and the visual system has high installation requirements and larger construction difficulty.
Disclosure of Invention
An object of an embodiment of the present invention is to provide a laser box finding method, a hoisting system, a controller, and a storage medium, which can achieve high-precision box finding at a low cost.
In order to solve the technical problem, an embodiment of the invention provides a laser box finding method, which is applied to a controller in a hoisting system, wherein the hoisting system comprises a hoisting tool and the controller, eight laser devices are arranged on the periphery of the hoisting tool, four laser devices in the eight laser devices are distributed on four end points of a pair of opposite sides of the hoisting tool, the other four laser devices are distributed on the other pair of opposite sides of the hoisting tool in pairs, and the eight laser devices are respectively in communication connection with the controller; the method comprises the following steps: acquiring laser emission distance values measured by eight laser devices in real time; and controlling the lifting appliance to move according to the laser emission distance values reported by the eight laser devices until the reported laser emission distance values meet preset conditions.
The embodiment of the invention also provides a hoisting system, which comprises a lifting appliance and a controller, wherein eight laser devices are arranged on the periphery of the lifting appliance, four laser devices in the eight laser devices are distributed on four end points of a pair of opposite sides of the lifting appliance, the other four laser devices are distributed on the other pair of opposite sides of the lifting appliance in pairs, and the eight laser devices are respectively in communication connection with the controller; each laser device is used for detecting a laser emission distance value and reporting the laser emission distance value to the controller in real time; the controller is used for controlling the lifting appliance to move according to the laser emission distance values reported by the laser devices until the distance measured by the laser devices is within a preset range.
An embodiment of the present invention also provides a controller, including: at least one processor; and a memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the laser box finding method.
The embodiment of the invention also provides a computer-readable storage medium, which stores a computer program, and is characterized in that the computer program is executed by a processor to realize the laser box finding method.
Compared with the prior art, the embodiment of the invention has the advantages that by installing eight laser devices on the lifting appliance, and the eight laser devices are positioned at four end points of one pair of opposite sides of the sling, and the other four laser devices are distributed on the other pair of opposite sides of the sling in pairs, so that, when the lifting appliance needs to grab the container, the laser equipment is controlled to carry out laser ranging, when laser emitted by the laser equipment is shielded by the container body, the measured laser emission distance is different from the laser emission distance measured when the laser is not shielded by the container body, therefore, the position of the lifting appliance can be adjusted according to the shielded condition of the laser line emitted by each laser device (namely the laser emission distance value measured by each device), the distance values measured by all laser equipment on the adjusted lifting appliance meet the preset conditions, so that the lifting appliance can accurately find the box body; the eight laser points are arranged, on one hand, the judgment of whether the lifting appliance is aligned with the box body is more accurate and the precision is ensured because the laser equipment is distributed on the periphery of the lifting appliance, and on the other hand, the cost can be reasonably controlled without excessively using the laser equipment; the scheme adopts a laser ranging method to find the box, and is low in cost, high in precision and easy to construct.
In addition, according to the laser emission distance value control hoist that each laser equipment reported and remove, specifically include: detecting whether the laser emission distance value measured by each laser device jumps or not; and if the laser emission distance value of the laser equipment jumps, controlling the lifting appliance to move according to the position of the laser equipment on the lifting appliance until the reported laser emission distance value meets the preset condition. The laser emission example value measured by the laser equipment jumps, which indicates that the physical height for shielding the laser equipment changes, and the laser emitted by the laser equipment is shielded by the box body under the lifting appliance or is shielded from the box body under the lifting appliance to be not shielded.
In addition, the position that laser equipment installed on the hoist is come control hoist to remove according to, specifically include: if the laser emission distances measured by the laser devices distributed on the four end points of the opposite sides of the lifting appliance are not within the preset range, the lifting appliance is controlled to translate, and if the laser emission distances measured by the laser devices distributed on the other opposite sides of the lifting appliance in pairs are not within the preset range, the lifting appliance is controlled to rotate and translate. The method for controlling the movement of the lifting appliance to be changed according to the position of the laser equipment is provided, and the actual requirements are met.
In addition, whether the laser emission distance value measured by each laser device jumps or not specifically includes: the method comprises the steps of firstly judging whether laser emission distances measured by laser devices distributed on four end points of a pair of opposite sides of a lifting appliance jump or not, and then judging whether laser emission distances measured by the other four laser devices jump or not. The laser emission distance values measured by the laser equipment at the four endpoints are judged firstly, namely the sheltered condition of the laser equipment at the four endpoints is judged firstly, the position relation between the lifting appliance and the box body can be roughly judged, the unnecessary calculation amount can be reduced as much as possible by judging in steps, and the computer resources are saved.
In addition, when the laser emission distance values measured by the other four laser devices are judged to jump or not, if the jumping times of the laser devices are larger than a preset threshold value, the laser emission distance values measured by the laser devices are judged to jump. The laser emission distance value measured by the laser equipment is judged to jump when the jump frequency is larger than a preset threshold value, so that the judgment error caused by the shaking of the lifting appliance is prevented.
In addition, before controlling the lifting appliance to move according to the laser emission distance values reported by the eight laser devices, the method further comprises the following steps: and judging whether laser equipment with a vertically downward mounting position exists according to the laser emission distance values measured by the eight laser equipment, and if so, sending prompt information. If the installation position of the laser equipment is not vertically downward, the measured laser emission distance value is inaccurate, the judgment of the position of the whole lifting appliance and the position of the box body is influenced, whether the installation position of each laser equipment is vertically downward or not is judged in advance, and the laser emission distance value measured by each laser equipment can be guaranteed to be accurate as much as possible.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a flow chart of a laser box finding method according to a first embodiment of the present invention;
fig. 2 is a schematic diagram of the distribution position of a laser device provided according to a first embodiment of the present invention;
fig. 3 is a schematic structural view of a fixing device for mounting a laser device according to a first embodiment of the present invention;
fig. 4 is a schematic diagram of the relative positions of a spreader and a container provided in accordance with a first embodiment of the invention;
fig. 5 is a flowchart of a method for determining whether a jump occurs in a laser emission distance value measured by each laser device according to a second embodiment of the present invention;
fig. 6 is a schematic structural view of a hoisting system provided according to a third embodiment of the present invention;
fig. 7 is a schematic structural diagram of a controller provided according to a third embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments. The following embodiments are divided for convenience of description, and should not constitute any limitation to the specific implementation manner of the present invention, and the embodiments may be mutually incorporated and referred to without contradiction.
A first embodiment of the invention relates to a laser box finding method. The embodiment is applied to a controller in a hoisting system, the hoisting system comprises a lifting appliance and the controller, eight laser devices are arranged on the periphery of the lifting appliance, four laser devices in the eight laser devices are distributed on four vertexes of the lifting appliance, the other four laser devices are distributed on a pair of opposite sides of the lifting appliance in pairs, and the eight laser devices are respectively in communication connection with the controller; the method comprises the following steps: acquiring laser emission distance values measured by eight laser devices in real time; the lifting appliance is controlled to move according to the laser emission distance values reported by the eight laser devices until the reported laser emission distance values meet preset conditions. The laser box finding method in the present embodiment is shown in fig. 1, and the implementation details of the present embodiment are specifically described below, which are provided only for easy understanding and are not necessary for implementing the present embodiment.
And 101, acquiring laser emission distance values measured by eight laser devices in real time.
Specifically, the laser box finding method of the embodiment is applied to a controller in a hoisting system, the controller and each laser device can be in communication connection in a wired or wireless mode, after a lifting appliance begins to grab a box body, the controller can send an opening instruction to the laser devices to enable each laser device to start laser ranging, or each laser device is manually opened in advance to enable each laser device to start laser ranging; after each laser device is started, the measured laser emission distance value is reported to the controller in real time for the controller to perform the following operation.
And 102, controlling the lifting appliance to move according to the laser emission distance values reported by the eight laser devices until the reported laser emission distance values meet preset conditions.
Specifically, the controller can continuously obtain the laser emission distance values reported by each laser device in real time, and detect whether the laser emission distance values measured by each laser device jump or not; and if the laser emission distance value of the laser equipment jumps, controlling the lifting appliance to move according to the position of the laser equipment on the lifting appliance until the reported laser emission distance value meets the preset condition. In practical implementation, the movement of the lifting appliance is controlled according to the position of the laser device mounted on the lifting appliance, which can be specifically done as follows: if the laser emission distances measured by the laser devices distributed on the four end points of the opposite sides of the lifting appliance are not within the preset range, the lifting appliance is controlled to translate, and if the laser emission distances measured by the laser devices distributed on the other opposite sides of the lifting appliance in pairs are not within the preset range, the lifting appliance is controlled to rotate and translate.
In one example, the distribution positions of the laser devices on the lifting appliance are shown in fig. 2, the laser devices 1 to 4 are distributed on the end points of a pair of long sides, the laser devices 5 to 8 are distributed on a pair of short sides, the laser devices 5 and 6 are respectively distributed in the middle positions of the two short sides, and the laser devices 7 and 8 are respectively distributed in the end points of the two short sides; the controller can establish a coordinate axis for the initial point by the center of hoist to laser that sends according to the laser equipment of different positions is sheltered from the condition and is controlled the hoist and move toward different directions, and controller accessible eight laser shelters from the judgement of the condition, control hoist translation, rotation, realize automatic operation to the case.
In addition, in actual implementation, the whole process of judging the shielding condition of each laser device and controlling the movement of the lifting appliance can set overtime alarm to prevent accidents.
In practical implementation, before controlling the lifting appliance to move according to the laser emission distance values reported by the eight laser devices, the method further includes: and judging whether laser equipment with a vertically downward mounting position exists according to the laser emission distance values measured by the eight laser equipment, and if so, sending prompt information. In practical implementation, the laser emission distance measured by each laser device is generally within the range of one box height, and the error of 2.5-3 cm is acceptable. That is, the laser emission distance value measured by each laser device is within this error range, and each laser device is considered to be mounted vertically downward. In the invention, a simple structure diagram of the fixing device of each laser device is shown in fig. 3, and in the actual operation process, when a worker installs a laser sensor, the worker finely adjusts the laser devices by adjusting screws, so that the measurement error of each laser device is within a preset range. If the installation position of the laser equipment is not vertically downward, the measured laser emission distance value is inaccurate, the judgment of the position of the whole lifting appliance and the position of the box body is influenced, whether the installation position of each laser equipment is vertically downward or not is judged in advance, and the laser emission distance value measured by each laser equipment can be guaranteed to be accurate as much as possible.
It should be noted that, in practical implementation, the hanger is simplified into a rectangular parallelepiped, each laser device is installed on each surface around the hanger, and the horizontal heights of the installation are the same, and for convenience of expression, the installation positions of the laser devices mentioned in this scheme are all described from the perspective of the top view of the hanger.
Compared with the prior art, the embodiment has the advantages that eight laser devices are arranged on the lifting appliance, four of the eight laser devices are arranged at four end points of one pair of opposite sides of the lifting appliance, and the other four laser devices are distributed on the other pair of opposite sides of the lifting appliance in pairs, so that when the lifting appliance needs to grab a container, the laser devices are controlled to carry out laser ranging, when laser emitted by the laser devices is shielded by a box body, the measured laser emission distance is different from the measured laser emission distance when the laser is not shielded by the box body, therefore, the position of the lifting appliance can be adjusted according to the shielded condition of laser lines emitted by the laser devices (namely the laser emission distance value measured by each device), so that the distance values measured by all the laser devices on the lifting appliance after adjustment meet the preset condition, and the lifting appliance can accurately find the box body; the eight laser points are arranged, on one hand, the judgment of whether the lifting appliance is aligned with the box body is more accurate and the precision is ensured because the laser equipment is distributed on the periphery of the lifting appliance, and on the other hand, the cost can be reasonably controlled without excessively using the laser equipment; the scheme adopts a laser ranging method to find the box, and is low in cost, high in precision and easy to construct.
A second embodiment of the invention relates to a laser box finding method. The second embodiment is substantially the same as the first embodiment, and mainly differs therefrom in that: in the second embodiment of the present invention, when determining whether the laser emission distance value measured by each laser device jumps, the determination is performed in steps, which may save computer resources as much as possible, and a flowchart of the method for determining whether the laser emission distance value measured by each laser device jumps is shown in fig. 4, which will be described in detail below.
And 502, judging whether the laser emission distances measured by the other four laser devices jump or not.
Specifically, in this embodiment, the determination of the laser emission distance value measured by each laser device is performed in steps, and it is determined whether the laser emission distance value measured by the laser devices distributed at the four end points of the pair of opposite sides of the hanger jumps or not, and then it is determined whether the laser emission distance measured by the other four laser devices jumps or not; and when judging whether the laser emission distance values measured by the other four laser devices jump or not, if the jumping times of the laser devices are larger than a preset threshold (for example, three times), judging that the laser emission distance values measured by the laser devices jump.
In a specific example, before controlling the spreader to move, the controller first determines whether the spreader reaches a preset height (which may also be determined by a laser emission distance value measured by each laser device), and after the spreader reaches the preset height, adjusts the position of the spreader, where the relative positions of the spreader and the container may be roughly classified into four types, as shown in fig. 4. When judging whether each laser device is shielded or not, the method mainly comprises two big steps, wherein the first step is to align the long sides, namely to judge the shielding conditions of the laser devices 1, 2, 3 and 4, and the second step is to align the short sides, namely to judge the shielding conditions of the laser devices 5, 6, 7 and 8. When the first step of judgment is carried out, whether the shielding numbers of 1, 2, 3 and 4 are more than 1 or not is judged, if only one laser device is shielded, the lifting appliance is directly finely adjusted towards the shielded laser device; if a plurality of laser devices are shielded, the lifting appliance is translated in the X-axis direction and the Y-axis direction without rotating the lifting appliance, for example, in the case of fig. 4- (a), the laser devices 2 and 3 are shielded, and therefore, the controller can control the laser devices to move in the positive Y direction until the laser emission distance values measured by the laser devices 2 and 3 jump again, that is, the laser devices 2 and 3 are not shielded any more; when the second step of judgment is carried out, the controller can control the lifting appliance to rotate or translate according to the condition that the laser devices 5, 6, 7 and 8 are shielded. The controller can judge that the laser equipment that is sheltered from is the laser equipment of homonymy still different sides to shelter from the condition control hoist according to the difference and carry out different removals. For example, in fig. 4- (b), the laser device 5 and the laser device 8 on the same side are both blocked, and then the controller controls the spreader to move forward along the X axis; in fig. 4- (c), the laser device 6 and the laser device 8 are both shielded, and the lifting appliance is controlled to rotate clockwise; in fig. 4- (d), the laser device 5 and the laser device 7 are both blocked, and the lifting appliance is controlled to rotate in the counterclockwise direction.
In practical implementation, the laser emitted by the laser devices 7 and 8 is also used as the redundant judgment of the laser of 5 # and 6 # in design, so as to prevent the door side door lever from blocking the laser emitted by the laser devices to cause the position of the lifting appliance to be judged incorrectly by the controller (since the container body of each container may be provided with a handle, and the handle is partially raised relative to the container body, if the laser emitted by a certain laser device is actually blocked by the handle rather than the container body, the misjudgment is caused, and the incorrect operation of the lifting appliance by the controller is caused). For example, if the laser device 5 is blocked and the laser device 8 is not blocked, the laser device 5 is considered to be blocked by the handle on the box, in which case the controller does not control the spreader to move.
It should be noted that, in the above example, when the controller determines whether the laser devices 5, 6, 7, and 8 are blocked, if the laser emission distance value measured by a certain laser device continuously jumps for multiple times, it is determined that the laser generated by the local device is blocked, so as to avoid the misdetermination caused by the shaking of the lifting appliance.
Compared with the prior art, the method has the advantages that the laser emission distance values measured by the laser devices at the four endpoints are judged firstly, namely the sheltered condition of the laser devices at the four endpoints is judged firstly, the position relation between the lifting appliance and the box body can be roughly judged, the unnecessary calculation amount can be reduced as much as possible by judging in steps, and the computer resources are saved.
The steps of the above methods are divided for clarity, and the implementation may be combined into one step or split some steps, and the steps are divided into multiple steps, so long as the same logical relationship is included, which are all within the protection scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.
A third embodiment of the present invention relates to a hoisting system, as shown in fig. 6, including: the lifting appliance comprises a lifting appliance 601 and a controller 602, eight laser devices 603 are arranged on the periphery of the lifting appliance 601, four laser devices 603 in the eight laser devices 603 are distributed on four end points of a pair of opposite sides of the lifting appliance 601, the other four laser devices 603 are distributed on the other pair of opposite sides of the lifting appliance 601 in pairs, and the eight laser devices 603 are respectively in communication connection with the controller 602; each laser device 603 is configured to detect a laser emission distance value and report the laser emission distance value to the controller 602 in real time; the controller 602 is configured to control the spreader 601 to move according to the laser emission distance values reported by the laser devices 603 until the distance measured by each laser device 603 is within a preset range.
In one example, one laser device 603 is distributed at the middle position of each of a pair of opposite sides where another four laser devices 603 are distributed, and one laser device 603 is distributed at the end position.
It should be noted that this embodiment is a system example corresponding to the first embodiment or the second embodiment, and may be implemented in cooperation with the first embodiment or the second embodiment. The related technical details mentioned in the first embodiment or the second embodiment are still valid in this embodiment, and are not described herein again in order to reduce the repetition. Accordingly, the related-art details mentioned in the present embodiment can also be applied to the first embodiment or the second embodiment.
A fourth embodiment of the present invention relates to a controller, as shown in fig. 7, including at least one processor 701; and, a memory 702 communicatively coupled to the at least one processor 701; the memory 702 stores instructions executable by the at least one processor 701, and the instructions are executed by the at least one processor 701, so that the at least one processor 701 can execute the laser box finding method.
The memory 702 and the processor 701 are coupled by a bus, which may comprise any number of interconnecting buses and bridges that couple one or more of the various circuits of the processor 701 and the memory 702. The bus may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor 701 is transmitted over a wireless medium through an antenna, which receives the data and transmits the data to the processor 701.
The processor 701 is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And the memory 702 may be used for storing data used by the processor 701 in performing operations.
A fifth embodiment of the present invention relates to a computer-readable storage medium storing a computer program. The computer program realizes the above-described method embodiments when executed by a processor.
That is, as can be understood by those skilled in the art, all or part of the steps in the method according to the above embodiments may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (10)
1. The laser box finding method is characterized by being applied to a controller in a hoisting system, wherein the hoisting system comprises a lifting appliance and the controller, eight laser devices are installed on the periphery of the lifting appliance, four laser devices of the eight laser devices are distributed on four end points of a pair of opposite sides of the lifting appliance, the other four laser devices are distributed on the other pair of opposite sides of the lifting appliance in a pairwise manner, and the eight laser devices are respectively in communication connection with the controller;
the method comprises the following steps:
acquiring laser emission distance values measured by the eight laser devices in real time;
and controlling the lifting appliance to move according to the laser emission distance values reported by the eight laser devices until the reported laser emission distance values meet preset conditions.
2. The laser box finding method according to claim 1, wherein the controlling the lifting tool to move according to the laser emission distance value reported by each laser device specifically comprises:
detecting whether the laser emission distance value measured by each laser device jumps or not;
and if the laser emission distance value of the laser equipment jumps, controlling the lifting appliance to move according to the position of the laser equipment on the lifting appliance until the reported laser emission distance value meets the preset condition.
3. The laser box finding method according to claim 2,
the controlling the movement of the lifting appliance according to the position of the laser equipment mounted on the lifting appliance specifically comprises:
and if detecting that the laser emission distances measured by the laser devices distributed on the four end points of the opposite sides of the lifting appliance are not within a preset range, controlling the lifting appliance to translate, and if detecting that the laser emission distances measured by the laser devices distributed on the other opposite sides of the lifting appliance in pairs are not within the preset range, controlling the lifting appliance to rotate and translate.
4. The laser box finding method according to claim 2,
whether the laser emission distance value measured by each laser device jumps or not specifically comprises:
judging whether laser emission distances measured by laser devices distributed on four end points of a pair of opposite sides of the lifting appliance jump or not, and judging whether laser emission distances measured by the other four laser devices jump or not.
5. The laser box finding method according to claim 4,
and when judging whether the laser emission distance values measured by the other four laser devices jump or not, if the jumping times of the laser devices are larger than a preset threshold value, judging that the laser emission distance values measured by the laser devices jump.
6. The laser box finding method according to claim 1,
before the controlling the lifting appliance to move according to the laser emission distance values reported by the eight laser devices, the method further includes:
and judging whether laser equipment with a vertically downward mounting position exists according to the laser emission distance values measured by the eight laser equipment, and if so, sending prompt information.
7. A hoisting system comprises a lifting appliance and a controller, wherein eight laser devices are arranged on the periphery of the lifting appliance, four laser devices of the eight laser devices are distributed on four end points of a pair of opposite sides of the lifting appliance, the other four laser devices are distributed on the other pair of opposite sides of the lifting appliance in a pairwise manner, and the eight laser devices are respectively in communication connection with the controller;
each laser device is used for detecting a laser emission distance value and reporting the laser emission distance value to the controller in real time;
the controller is used for controlling the lifting appliance to move according to the laser emission distance values reported by the laser devices until the distance measured by the laser devices is within a preset range.
8. The hoisting system of claim 7,
and a laser device is distributed at the middle position of each edge of the pair of opposite edges distributed with the other four laser devices, and a laser device is distributed at the end position.
9. A controller, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the laser box finding method of any one of claims 1 to 6.
10. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the laser box finding method of any one of claims 1 to 6.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112320558A (en) * | 2020-11-17 | 2021-02-05 | 中冶华天工程技术有限公司 | Container spreader capable of automatically finding containers and using method thereof |
| CN112320557A (en) * | 2020-11-17 | 2021-02-05 | 中冶华天工程技术有限公司 | Induction type container lifting appliance capable of automatically finding containers and using method thereof |
| CN117369541A (en) * | 2023-12-07 | 2024-01-09 | 湖南华夏特变股份有限公司 | Auxiliary control method for power transmission vehicle, and readable storage medium |
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| CN117369541B (en) * | 2023-12-07 | 2024-03-26 | 湖南华夏特变股份有限公司 | Auxiliary control method for power transmission vehicle, and readable storage medium |
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