CN112551372B - Automatic box-placing and aligning method for internal collection card based on multiple 2D measuring devices - Google Patents
Automatic box-placing and aligning method for internal collection card based on multiple 2D measuring devices Download PDFInfo
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- CN112551372B CN112551372B CN202011554695.XA CN202011554695A CN112551372B CN 112551372 B CN112551372 B CN 112551372B CN 202011554695 A CN202011554695 A CN 202011554695A CN 112551372 B CN112551372 B CN 112551372B
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- container
- lifting appliance
- guide plate
- measuring device
- placing
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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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- 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
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
- B66C13/44—Electrical transmitters
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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
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses an automatic container placing and aligning method for an inner container based on a plurality of 2D measuring devices. Through the mode, the automatic container placing and aligning method based on the internal collection cards of the plurality of 2D measuring devices detects the positions of the container and the lifting appliance in real time, and adjusts the position of the lifting appliance according to the position information, so that the safety of container placing and the accuracy of detection are ensured, and the working efficiency is improved.
Description
Technical Field
The invention relates to the field of detection of lifting appliance collection cards, in particular to an automatic box-placing and aligning method of an inner collection card based on a plurality of 2D measuring devices.
Background
In the port RMG or RTG automatic implementation or transformation process, the conventional method is that the lifting appliance descends to a certain height when the collection card is reversed, and then the positions of the lifting appliance and the container are controlled in a manual control mode, but the operation efficiency is very low, and potential safety hazards are easily brought to operators.
Disclosure of Invention
The invention mainly solves the technical problem of providing the automatic box-placing and aligning method for the inner set card based on the plurality of 2D measuring devices, has the advantages of high reliability, accurate positioning, and the like, and has wide market prospect in the application and popularization of the detection of the set card of the lifting appliance.
In order to solve the technical problems, the invention adopts a technical scheme that:
the utility model provides an automatic box-placing alignment method of interior integrated circuit card based on a plurality of 2D measuring device, the step includes:
1) A first 2D measuring device is arranged at the middle position of the front end of the lifting appliance and used for scanning and confirming the position of a front guide plate positioned at the front part of the supporting plate in the direction of the cart;
2) A second 2D measuring device is arranged on the side surface of the gantry crane and is parallel to the center of the pallet guide plate and used for scanning the position of the pallet in the direction of the trolley;
3) A third 2D measuring device is arranged on the side surface of the gantry crane according to a preset installation height and used for scanning the position of the container in the direction of the trolley;
4) In the direction of the cart, the CPS of the card collecting guide system guides the card collecting to move to a real-time position of the box collecting according to a preset standard position of the box collecting, and the difference value between the standard position of the box collecting and the real-time position of the box collecting meets a preset error threshold value of the position of the card collecting;
5) Position calibration before use:
5.1 Automatically running the trolley to a lane preset position;
5.2 Placing the container on the pallet and causing the container to be placed in a placement area formed around all of the guide plates;
5.3 Lifting the container by the lifting appliance so that the distance between the bottom of the container and the top of the supporting plate meets the preset height;
5.4 Recording the position St5 of the front guide plate scanned by the first 2D measuring device at the moment, and taking the position St5 of the front guide plate as the standard position of the front guide plate in the cart direction;
5.5 Recording the guide plate position St10 of the side surface of the pallet scanned by the second 2D measuring device at the moment, and recording the position of the side surface of the container scanned by the third 2D measuring device at the moment as St11, ssDiff=St10-St11, wherein SsDiff is the standard deviation value of the pallet and the container in the direction of the trolley;
5.6 Calculating a position error threshold range which enables the container to be normally placed in the placement area, wherein the position error threshold range comprises a guide plate position threshold range for a guide plate at the front part of the supporting plate and a difference value threshold range for a standard difference value;
6) Detecting and judging the position relation between the container and the collector card in real time, adjusting the position of the lifting appliance according to the position relation, and placing the container;
6.1 Automatically running the trolley to a lane preset position;
6.2 The lifting appliance drives the container to descend to a preset height;
6.3 If the real-time position of the front guide plate scanned by the first 2D measuring device is St5', the position of the lifting appliance adjusted in the direction of the cart is DiffB=St5' -St5, and the control mechanism adjusts the position of the lifting appliance according to the DiffB and the threshold range of the position of the guide plate, so that the lifting appliance is positioned at the correct descending position in the direction of the cart;
6.4 The real-time position of the side guide plate of the supporting plate scanned by the second 2D measuring device is St10', the real-time position of the side of the container scanned by the third 2D measuring device is St11', the real-time difference SsDiff '=St10' -St11 'is recorded, and the control mechanism adjusts the position of the lifting appliance according to the SsDiff' and the difference threshold range, so that the lifting appliance is positioned at the correct descending position in the direction of the trolley;
6.5 After the adjustment according to the steps is finished, the lifting appliance drives the container to move to the upper part of the placement area, so that the lifting appliance can normally fall into the placement area;
6.6 The lifting appliance descends, and the container is placed on the supporting plate.
In a preferred embodiment of the invention, in step 3), a third 2D measuring device is mounted at a position 3 meters high on the side of the gantry crane for scanning the position of the container in the direction of the trolley.
In a preferred embodiment of the present invention, the range of the position error threshold of the header card is-100 mm to 100mm.
In a preferred embodiment of the invention, in step 5.3), the spreader lifts the container to a position 0.5 meters high from the bottom of the container to the top of the pallet guide.
In a preferred embodiment of the present invention, the threshold range of the guide plate position is-30 mm to 30mm.
In a preferred embodiment of the present invention, the difference threshold ranges from-30 mm to 30mm.
In a preferred embodiment of the invention, in step 6.2), the spreader is automatically lowered to a position at which the bottom of the container is 0.5 meters high from the top of the pallet guide.
The beneficial effects of the invention are as follows: the positions of the container and the lifting appliance are detected in real time, and the lifting appliance is adjusted according to the position information, so that the safety of placing the container and the accuracy of detection are ensured, and the working efficiency is improved.
Drawings
For a clearer description of the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the description below are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art, wherein:
fig. 1 is a schematic structural diagram of a preferred embodiment of an automatic container-placing and aligning method for an inner set card based on a plurality of 2D measuring devices according to the present invention.
Detailed Description
The following description of the technical solutions in the embodiments of the present invention will be clear and complete, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, an embodiment of the present invention includes:
all pallets 6 of the collector 7 in the port are provided with guide plates 5 for fixing the containers 4 so as to prevent the containers from sliding down during transportation. An automatic container placing and aligning method for an inner container truck based on a plurality of 2D measuring devices aligns containers hung by RTG or RMG with a container truck supporting plate in a cart direction and a trolley direction to a certain error range respectively so as to ensure that the containers hung by a lifting appliance 8 can be accurately placed on the supporting plate.
An automatic box-placing and aligning method for an inner collection card based on a plurality of 2D measuring devices comprises the following steps:
1. and a No. 5 laser scanner 1 is arranged at the middle position of the front end of the lifting appliance and is used for scanning and confirming the position of the front guide plate in the direction of the cart.
2. A No. 10 2D laser scanner 2 is installed on the RTG or RMG side and parallel to the center of the pallet guide for scanning the pallet position in the direction of the cart.
3. A number 11 2D laser scanner 3 is installed at a position 3 m high on the side of the RTG or RMG for scanning the position of the container in the direction of the cart.
4. The header card is guided to a range of +/-100 mm from the standard box placing position of the cart direction by the header card guiding system CPS in the cart direction.
5. Calibrating:
5.1 the trolley automatically runs to the lane preset position.
5.2 manually place containers on pallets and ensure that all containers are placed in the middle of all pallets.
5.3 manually controlling the spreader so that the spreader lifts the container to a position 0.5 meters from the top of the pallet guides at the bottom of the container.
5.4 record the guide plate position St5 at the front of the pallet scanned by the No. 5 radar at this time, and take the guide plate position St5 as the standard position of the guide plate in the direction of the cart.
5.5 recording the guide plate position St10 of the pallet side scanned by the No. 10 radar at this time, recording the position of the container side scanned by the No. 11 radar at this time as St11, ssDiff=St10-St 11, ssDiff being the relative standard deviation of the pallet and the container in the direction of the trolley.
When the first relative difference between the real-time guide plate position and the guide plate position St5 meets the preset guide plate position threshold range and the second relative difference between the real-time difference and SsDiff meets the preset difference threshold range, the container can be normally placed into the guide plates around the supporting plate. Wherein, the threshold range of the guide plate position is (-30 mm, +30 mm), and the threshold range of the difference value is (-30 mm, +30 mm).
Through testing, when the real-time error value is within the error threshold range, the container can be normally placed in the guide plates around the supporting plate, so that when the position of the guide plates is St 5+/-30 mm and the relative real-time difference value is SsDiff+/-30 mm, the container can be normally placed in the guide plates around the supporting plate.
When in formal use:
6. the trolley automatically moves to a lane preset position.
7. The spreader automatically descends to a position 0.5 meters from the bottom of the container to the top of the pallet guide.
8. At this time, the position of the front guide plate scanned by the No. 5 radar is St5', the position of the lifting appliance to be adjusted in the direction of the cart is DiffB=St5' -St5, and the control mechanism adjusts the position of the lifting appliance, so that the lifting appliance moves to a position within the range of DiffB+/-30 mm.
9. And testing the position St10 'of the pallet side guide plate scanned by the No. 10 radar, recording the position of the container side scanned by the No. 11 radar as St11', ssDiff '=St10' -St11 ', and adjusting the position of the lifting appliance by the control mechanism so that the lifting appliance moves to a position within the range of SsDiff' + -30 mm.
10. And (3) after the adjustment in the step 8 and the step 9 is finished, slowly lowering the lifting appliance onto the supporting plate.
The automatic box-placing and aligning method for the inner collection card based on the plurality of 2D measuring devices has the beneficial effects that: the positions of the container and the lifting appliance are detected in real time, and the lifting appliance is adjusted according to the position information, so that the safety of placing the container and the accuracy of detection are ensured, and the working efficiency is improved.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related arts are included in the scope of the present invention.
Claims (7)
1. An automatic box-placing and aligning method for an inner collection card based on a plurality of 2D measuring devices is characterized by comprising the following steps:
1) A first 2D measuring device is arranged at the middle position of the front end of the lifting appliance and used for scanning and confirming the position of a front guide plate positioned at the front part of the supporting plate in the direction of the cart;
2) A second 2D measuring device is arranged on the side surface of the gantry crane and is parallel to the center of the pallet guide plate and used for scanning the position of the pallet in the direction of the trolley;
3) A third 2D measuring device is arranged on the side surface of the gantry crane according to a preset installation height and used for scanning the position of the container in the direction of the trolley;
4) In the direction of the cart, the CPS of the card collecting guide system guides the card collecting to move to a real-time position of the box collecting according to a preset standard position of the box collecting, and the difference value between the standard position of the box collecting and the real-time position of the box collecting meets a preset error threshold value of the position of the card collecting;
5) Position calibration before use:
5.1 Automatically running the trolley to a lane preset position;
5.2 Placing the container on the pallet and causing the container to be placed in a placement area formed around all of the guide plates;
5.3 Lifting the container by the lifting appliance so that the distance between the bottom of the container and the top of the supporting plate meets the preset height;
5.4 Recording the position St5 of the front guide plate scanned by the first 2D measuring device at the moment, and taking the position St5 of the front guide plate as the standard position of the front guide plate in the cart direction;
5.5 Recording the guide plate position St10 of the side surface of the pallet scanned by the second 2D measuring device at the moment, and recording the position of the side surface of the container scanned by the third 2D measuring device at the moment as St11, ssDiff=St10-St11, wherein SsDiff is the standard deviation value of the pallet and the container in the direction of the trolley;
5.6 Calculating a position error threshold range which enables the container to be normally placed in the placement area, wherein the position error threshold range comprises a guide plate position threshold range for a guide plate at the front part of the supporting plate and a difference value threshold range for a standard difference value;
6) Detecting and judging the position relation between the container and the collector card in real time, adjusting the position of the lifting appliance according to the position relation, and placing the container;
6.1 Automatically running the trolley to a lane preset position;
6.2 The lifting appliance drives the container to descend to a preset height;
6.3 If the real-time position of the front guide plate scanned by the first 2D measuring device is St5', the position of the lifting appliance adjusted in the direction of the cart is DiffB=St5' -St5, and the control mechanism adjusts the position of the lifting appliance according to the DiffB and the threshold range of the position of the guide plate, so that the lifting appliance is positioned at the correct descending position in the direction of the cart;
6.4 The real-time position of the side guide plate of the supporting plate scanned by the second 2D measuring device is St10', the real-time position of the side of the container scanned by the third 2D measuring device is St11', the real-time difference SsDiff '=St10' -St11 'is recorded, and the control mechanism adjusts the position of the lifting appliance according to the SsDiff' and the difference threshold range, so that the lifting appliance is positioned at the correct descending position in the direction of the trolley;
6.5 After the adjustment according to the steps is finished, the lifting appliance drives the container to move to the upper part of the placement area, so that the lifting appliance can normally fall into the placement area;
6.6 The lifting appliance descends, and the container is placed on the supporting plate.
2. The automatic container-placing and aligning method for the inner set card based on the plurality of 2D measuring devices according to claim 1, wherein in the step 3), a third 2D measuring device is installed at a position 3 meters high on the side surface of the gantry crane for scanning the position of the container in the direction of the trolley.
3. The automatic container-placing alignment method for the internal collection cards based on the plurality of 2D measuring devices according to claim 1, wherein the range of the collection card position error threshold value is-100 mm.
4. The automatic container placement alignment method for an inner set card based on a plurality of 2D measuring devices according to claim 1, wherein in step 5.3), the spreader lifts the container to a position 0.5 meters high from the bottom of the container to the top of the pallet guide.
5. The automatic container placement alignment method for the inner set card based on the plurality of 2D measuring devices according to claim 1, wherein the range of the guide plate position threshold value is-30 mm.
6. The automatic container placement alignment method for the inner set card based on the plurality of 2D measuring devices according to claim 1, wherein the range of the difference threshold is-30 mm.
7. The automatic container placement alignment method for the inner set card based on the plurality of 2D measuring devices according to claim 1, wherein in step 6.2), the lifting appliance is automatically lowered to a position 0.5 m from the bottom of the container to the top of the pallet guide plate.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011554695.XA CN112551372B (en) | 2020-12-25 | 2020-12-25 | Automatic box-placing and aligning method for internal collection card based on multiple 2D measuring devices |
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| CN202011554695.XA CN112551372B (en) | 2020-12-25 | 2020-12-25 | Automatic box-placing and aligning method for internal collection card based on multiple 2D measuring devices |
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| CN112551372A CN112551372A (en) | 2021-03-26 |
| CN112551372B true CN112551372B (en) | 2023-07-07 |
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| CN115849195B (en) * | 2022-11-16 | 2023-12-19 | 上海西井科技股份有限公司 | Self-adaptive alignment calibration method, system, equipment and storage medium for transportation equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109384151A (en) * | 2017-08-03 | 2019-02-26 | 南通通镭软件有限公司 | Automatic the case of automated handling operation and anti-sling method |
| WO2019114155A1 (en) * | 2017-12-11 | 2019-06-20 | Machinery Technology (Shan Dong) Heavy Industry Co. Ltd. | Intelligent container yard system |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109384151A (en) * | 2017-08-03 | 2019-02-26 | 南通通镭软件有限公司 | Automatic the case of automated handling operation and anti-sling method |
| WO2019114155A1 (en) * | 2017-12-11 | 2019-06-20 | Machinery Technology (Shan Dong) Heavy Industry Co. Ltd. | Intelligent container yard system |
Non-Patent Citations (1)
| Title |
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| 轨道式集装箱门式起重机自动装卸箱的实现;蔡佳俊;张氢;张小龙;;机电一体化(第09期);45-48 * |
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