CN113582021A

CN113582021A - Method and device for detecting posture of lifting appliance, lifting appliance and hoisting equipment

Info

Publication number: CN113582021A
Application number: CN202110815521.2A
Authority: CN
Inventors: 王伟志; 李阳
Original assignee: Sany Marine Heavy Industry Co Ltd
Current assignee: Sany Marine Heavy Industry Co Ltd
Priority date: 2021-07-19
Filing date: 2021-07-19
Publication date: 2021-11-02
Anticipated expiration: 2041-07-19
Also published as: CN113582021B

Abstract

The application discloses hoist gesture detection method, device, hoist and hoisting equipment can be under the condition of not with the help of the image acquisition method, through than the transmitter of image acquisition method with low costs along preset angle towards the lifting rope transmission preset light, alright in order to obtain the gesture turned angle of loading board, make things convenient for the staff follow-up gesture turned angle according to the loading board, adjust the gesture of loading board, improve hoist and mount stability and security of process.

Description

Method and device for detecting posture of lifting appliance, lifting appliance and hoisting equipment

Technical Field

The application relates to the technical field of engineering machinery, in particular to a lifting appliance attitude detection method and device, a lifting appliance and lifting equipment.

Background

The hoisting equipment can realize the hoisting operation of the container through the hoisting tool and hoist the container to different stations. Generally, in the process of lifting a spreader, the posture of the spreader needs to be checked and identified, and the posture of the spreader is adjusted according to the identification result, so as to improve the stability and safety of the spreader in the process of lifting a container.

In the prior art, the whole attitude image of the lifting appliance is generally acquired by an image recognition technology, and the attitude image of the lifting appliance in the whole operation process is acquired in real time, but the image acquisition method has higher cost.

Disclosure of Invention

The present application is proposed to solve the above-mentioned technical problems. The embodiment of the application provides a lifting appliance posture detection method and device, a lifting appliance and lifting equipment, and can solve the problem that the cost of the image acquisition method is high.

According to one aspect of the application, a method for detecting the posture of a lifting appliance is provided, and the method is applied to the lifting appliance, wherein the lifting appliance comprises a lifting rope and a bearing plate, the lifting rope is lifted on the bearing plate, and the method for detecting the posture of the lifting appliance comprises the following steps:

controlling a transmitter to transmit preset light rays towards the lifting rope, and acquiring a first linear distance between the transmitter and the lifting rope in the transmission direction of the preset light rays; the emission direction of the preset light rays forms a preset angle with the plate surface of the bearing plate;

after the hanger deflects, acquiring a second linear distance between the emitter and the lifting rope in the emission direction of the preset light; and

calculating to obtain the attitude rotation angle of the bearing plate according to the preset angle, the first linear distance and the second linear distance; wherein the attitude rotation angle of the carrier plate characterizes the angle at which the carrier plate is offset relative to its vertical axis.

In one embodiment, the attitude rotation angle includes a target yaw angle and a target yaw angle; the target deflection angle of the bearing plate represents the swinging angle of the bearing plate relative to a vertical axis, and the target rotation angle of the bearing plate represents the rotation of the bearing plate relative to a horizontal plane vertical to the vertical axis;

the calculating the attitude rotation angle of the bearing plate according to the preset angle, the first linear distance and the second linear distance comprises:

calculating to obtain a target deflection angle of the bearing plate according to the preset angle, the first linear distance and the second linear distance; and/or

And calculating to obtain a target rotation angle of the bearing plate according to the preset angle, the first linear distance and the second linear distance.

In an embodiment, the transmitter comprises a first transmitter and a second transmitter; the lifting ropes comprise a first rope and a second rope, and the first rope and the second rope are respectively connected to two opposite sides of the bearing plate; the preset light rays comprise a first light ray and a second light ray; the first linear distance comprises a first distance and a second distance; the second linear distance comprises a third distance and a fourth distance;

the control transmitter is towards the lifting rope transmission is predetermine light, and obtains the transmitter with the lifting rope is in predetermine the first linear distance on the emission direction of light includes:

controlling the first emitter to emit a first light toward the first string, and acquiring the first distance between the first emitter and the first string in the emitting direction of the first light; the emitting direction of the first light ray and the plate surface of the bearing plate form the preset angle; and

controlling the second emitter to emit second light rays towards the second rope, and acquiring the second distance between the second emitter and the second rope in the emitting direction of the second light rays; the emission direction of the second light ray and the plate surface of the bearing plate form the preset angle;

the acquiring a second linear distance between the emitter and the lifting rope in the emitting direction of the preset light after the hanger deflects comprises:

after the hanger deflects, acquiring the third distance between the first emitter and the first rope in the emitting direction of the first light and the fourth distance between the second emitter and the second rope in the emitting direction of the second light;

the step of calculating the target deflection angle of the bearing plate according to the preset angle, the first linear distance and the second linear distance comprises:

and calculating to obtain a target deflection angle of the bearing plate according to the preset angle, the first distance, the second distance, the third distance and the fourth distance.

In an embodiment, the calculating the target deflection angle of the bearing plate according to the preset angle, the first distance, the second distance, the third distance, and the fourth distance includes:

calculating to obtain a first deflection angle of the first rope according to the preset angle, the first distance and the third distance; the first deflection angle represents the size of an included angle between the deflected first rope and a vertical axis;

calculating a second deflection angle of the second rope according to the preset angle, the second distance and the fourth distance; the second deflection angle represents the size of an included angle between the deflected second rope and the vertical axis; and

and calculating to obtain a target deflection angle of the bearing plate according to the first deflection angle and the second deflection angle.

the step of calculating the target rotation angle of the bearing plate according to the preset angle, the first linear distance and the second linear distance comprises:

and calculating to obtain a target rotation angle of the bearing plate according to the preset angle, the first distance, the second distance, the third distance and the fourth distance.

In an embodiment, the calculating the target rotation angle of the bearing plate according to the preset angle, the first distance, the second distance, the third distance, and the fourth distance includes:

and calculating to obtain a target rotation angle of the bearing plate according to the first deflection angle and the second deflection angle.

According to another aspect of the application, a hoist gesture detection device is provided, is applied to the hoist, the hoist includes lifting rope and loading board, the lifting rope hoist in the loading board, hoist gesture detection device includes:

the first acquisition module is used for controlling the emitter to emit preset light rays towards the lifting rope and acquiring a first linear distance between the emitter and the lifting rope in the emitting direction of the preset light rays; the emission direction of the preset light rays forms a preset angle with the plate surface of the bearing plate;

the second acquisition module is used for acquiring a second linear distance between the emitter and the lifting rope in the emission direction of the preset light after the lifting appliance deflects; and

the calculation module is used for calculating the posture rotation angle of the bearing plate according to the preset angle, the first linear distance and the second linear distance; wherein the attitude rotation angle of the carrier plate characterizes the angle at which the carrier plate is offset relative to its vertical axis.

According to another aspect of the present application, there is provided a spreader comprising:

a carrier plate;

the lifting rope is lifted to the bearing plate;

the emitter is arranged on the bearing plate and used for emitting preset light rays towards the lifting rope; the emission direction of the preset light rays forms a preset angle with the plate surface of the bearing plate; and

and the electronic device is in communication connection with the transmitter and is used for executing the hanger attitude detection method in any one of the preceding embodiments.

In some embodiments, the emitter is mounted on an upper surface of the carrier plate.

According to another aspect of the present application, there is provided a lifting apparatus comprising:

a support frame;

the walking vehicle is movably connected with the supporting frame;

the lifting appliance is arranged on the walking vehicle and is used for moving relative to the support frame along with the walking vehicle; wherein, the hoist is the hoist of any preceding embodiment.

The lifting appliance posture detection method, the lifting appliance posture detection device, the lifting appliance and the lifting equipment can obtain the posture rotation angle of the bearing plate through calculation by emitting preset light towards the lifting rope along the preset angle through the emitter with lower cost than the image acquisition method under the condition without the help of the image acquisition method, so that a worker can adjust the posture of the bearing plate conveniently according to the posture rotation angle of the bearing plate subsequently, and the stability and the safety of the lifting appliance in the lifting process are improved. In addition, the whole detection process does not need to be subjected to additional calibration identification, and the detection process is simple and convenient.

Drawings

The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally represent like parts or steps.

Fig. 1 is a schematic flow chart of a spreader attitude detection method according to an exemplary embodiment of the present application.

Fig. 2 is a schematic flow chart illustrating a process of calculating an attitude rotation angle of the bearing plate according to a preset angle, a first linear distance and a second linear distance according to an exemplary embodiment of the application.

Fig. 3 is a schematic flow chart of a spreader attitude detection method according to another exemplary embodiment of the present application.

Fig. 4 is a schematic flowchart of a process of calculating a target deflection angle of a load according to a preset angle, a first distance, a second distance, a third distance, and a fourth distance according to an exemplary embodiment of the present application.

Fig. 5 is a geometric relationship diagram of the preset angle, the first distance, the third distance and the first deflection angle according to an exemplary embodiment of the present application.

Fig. 6 is a geometric relationship diagram of a preset angle, a second distance, a fourth distance, and a second deflection angle provided by an exemplary embodiment of the present application.

Fig. 7 is a schematic flow chart of a spreader attitude detection method according to another exemplary embodiment of the present application.

Fig. 8 is a schematic flow chart illustrating a process of calculating a loaded target rotation angle by using a preset angle, a first distance, a second distance, a third distance, and a fourth distance according to an exemplary embodiment of the present application.

Fig. 9 is a schematic structural diagram of a spreader attitude detection device according to an exemplary embodiment of the present application.

Fig. 10 is a schematic structural diagram of a spreader attitude detection device according to another exemplary embodiment of the present application.

Fig. 11 is a schematic structural diagram of a hoisting device according to an exemplary embodiment of the present application.

Fig. 12 is a schematic structural diagram of a spreader according to an exemplary embodiment of the present application.

Fig. 13 is a schematic structural diagram of a spreader according to another exemplary embodiment of the present application.

Fig. 14 is a block diagram of an electronic device according to an exemplary embodiment of the present application.

Detailed Description

Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be understood that the described embodiments are only some embodiments of the present application and not all embodiments of the present application, and that the present application is not limited by the example embodiments described herein.

Fig. 1 is a schematic flow chart of a spreader attitude detection method according to an exemplary embodiment of the present disclosure. The method for detecting the posture of the lifting appliance can be used for detecting the posture of the lifting appliance, and after the worker acquires the posture information of the lifting appliance, the worker can correspondingly adjust the posture of the lifting appliance so as to ensure the stability and the safety of the lifting appliance in the lifting process. Specifically, the hoist includes lifting rope and loading board, and the lifting rope hoist and mount are in the loading board. Taking the spreader for hoisting the container as an example, generally, the container is placed on the bearing plate, and then the spreader is moved to move the container to the corresponding station. As shown in fig. 1, the method for detecting the attitude of the spreader includes:

s110: controlling the emitter to emit preset light rays towards the lifting rope, and acquiring a first linear distance between the emitter and the lifting rope in the emitting direction of the preset light rays; the emitting direction of the preset light is at a preset angle with the plate surface of the bearing plate.

The transmitter can be selected from an infrared light transmitter, a 2D laser scanner and the like.

The first linear distance can be understood as the shortest distance from the intersection point of the preset light and the lifting rope to the end face of the emitter emitting the preset light. In the process of emitting the preset light, the preset angle between the emitting direction of the emitter and the plate surface of the bearing plate is kept unchanged, and the calculation accuracy of the first linear distance can be improved.

In an embodiment, the transmitter sets up on the loading board, can guarantee that the relative position between transmitter and the loading board is unchangeable, and the emission direction of the predetermined light that is convenient for make the transmitter send is the angle of predetermineeing with the face of loading board all the time.

In an embodiment, the emitter may also be arranged on other objects, for example by hoisting the emitter by means of a rope. In the process that the loading board takes place to deflect, the transmitter follows the loading board and makes the same motion to guarantee that the emission direction of the light of predetermineeing that the transmitter sent is the angle of predetermineeing with the face of loading board all the time.

S120: and after the lifting appliance deflects, acquiring a second linear distance between the emitter and the lifting rope in the emission direction of the preset light.

In the rest state of the spreader, the lifting rope extends in the vertical direction, and the lifting rope is parallel to the vertical axis.

In the process of transferring the container, the whole sling deflects, the lifting rope can deviate from the vertical axis, and the distance between the emitter and the lifting rope along the emission direction of the preset light can also correspondingly change. Thus, after deflection of the spreader, the second linear distance is of a different magnitude than the first linear distance.

S130: calculating to obtain the attitude rotation angle of the bearing plate according to the preset angle, the first linear distance and the second linear distance; wherein the attitude rotation angle of the carrier plate characterizes the angle of the carrier plate offset relative to its vertical axis.

And under the static state of the lifting appliance, the plate surface of the bearing plate is vertical to the vertical axis. After the lifting rope deflects, the lifting rope can drive the bearing plate to deflect relative to the vertical axis of the bearing plate. Therefore, the first and second linear distances are also related to the attitude rotation angle of the carrier plate. That is to say, a specific geometric relationship exists between the preset angle, the first linear distance and the second linear distance, so that the posture rotation angle of the bearing plate can be calculated according to the preset angle, the first linear distance and the second linear distance.

The application provides a hoist gesture detection method, can be under the condition without the help of image acquisition method, through than the lower transmitter of image acquisition method cost along predetermineeing the angle towards the lifting rope transmission and predetermineeing light, alright in order to calculate the gesture turned angle that obtains the loading board, make things convenient for the staff follow-up gesture turned angle according to the loading board, the gesture of adjustment loading board improves hoist and mount process's stability and security. In addition, the whole detection process does not need to be subjected to additional calibration identification, and the detection process is simple and convenient.

Fig. 2 is a schematic flow chart illustrating a process of calculating an attitude rotation angle of the bearing plate according to a preset angle, a first linear distance and a second linear distance according to an exemplary embodiment of the application. As shown in fig. 2, the attitude turning angle includes a target yaw angle and a target yaw angle, and the step S130 may include:

s131: and calculating to obtain the target deflection angle of the bearing plate according to the preset angle, the first straight line distance and the second straight line distance.

The target deflection angle of the carrier plate characterizes the angle of oscillation of the carrier plate relative to the vertical axis. Specifically, in the resting state, the vertical axis is perpendicular to the plate surface of the carrier plate and passes through the center point of the carrier plate. An initial point is set on the vertical axis, and in a static state, the initial point coincides with the central connecting line of the bearing plate and the vertical axis. After the bearing plate swings relative to the vertical axis, an included angle between a central connecting line of the starting point and the bearing plate and the vertical axis can be understood as a target deflection angle of the bearing plate.

S132: and calculating to obtain the target rotation angle of the bearing plate according to the preset angle, the first straight-line distance and the second straight-line distance.

The target swivel angle of the carrier plate characterizes the rotation of the carrier plate relative to a horizontal plane perpendicular to the vertical axis. Specifically, under the quiescent condition, the face of loading board is parallel with the horizontal plane. After the bearing plate rotates relative to the horizontal plane, the included angle between the plate surface of the bearing plate and the horizontal plane can be understood as the target rotation angle of the bearing plate.

It should be understood that, no matter the target deflection angle of the bearing plate or the target rotation angle of the bearing plate, both have a specific geometric relationship with the aforementioned preset angle, first linear distance and second linear distance, and the target deflection angle and the target rotation angle of the bearing plate can be calculated according to the geometric relationship, the preset angle, the first linear distance and the second linear distance.

It should be noted that, in practical applications, a worker may adjust the overall posture of the spreader only according to the target deflection angle of the bearing plate, may also adjust the overall posture of the spreader only according to the target rotation angle of the bearing plate, and may also adjust the overall posture of the spreader according to both the target deflection angle and the target rotation angle of the bearing plate. Therefore, in practical applications, only step S131 may be executed, only step S132 may be executed, or both may be executed. It should be understood that, in the case that both step S131 and step S132 are performed, step S131 may be performed first and then step S132 may be performed, or step S132 may be performed first and then step S131 may be performed.

In an embodiment of the application, step S131 and step S132 are both executed, so that the target deflection angle and the target rotation angle of the bearing plate can be calculated, more accurate posture information is provided for the worker, and the worker can adjust the overall posture of the lifting appliance more accurately.

Fig. 3 is a schematic flow chart of a spreader attitude detection method according to another exemplary embodiment of the present application. As shown in fig. 3, the emitter includes a first emitter and a second emitter, the lifting rope includes a first rope and a second rope, the first rope and the second rope are respectively connected to two opposite sides of the bearing plate, the preset light includes a first light and a second light, the first emitter can emit the first light, the second emitter can emit the second light, the first linear distance includes a first distance and a second distance, and the second linear distance includes a third distance and a fourth distance. Step S110 may include:

s111: controlling a first emitter to emit a first light toward a first rope, and acquiring a first distance between the first emitter and the first rope in the emitting direction of the first light; the emitting direction of the first light is at a preset angle with the plate surface of the bearing plate.

The first emitter is arranged corresponding to the first rope and can emit first light towards the first rope. In the static state, after the first emitter emits the first light toward the first rope, the first distance between the first emitter and the first rope in the emitting direction of the first light may be obtained.

In an embodiment, the first emitter is disposed on the bearing plate, so that the relative position between the first emitter and the bearing plate is kept unchanged, and the emission direction of the predetermined light emitted by the first emitter is always at a predetermined angle with the surface of the bearing plate.

In an embodiment, the first emitter may also be arranged on other objects, for example by hoisting the first emitter by means of a rope. In the process that the bearing plate deflects, the first emitter moves along with the bearing plate in the same manner, so that the emission direction of the preset light emitted by the first emitter is always at a preset angle with the plate surface of the bearing plate.

S112: controlling a second emitter to emit second light rays towards a second rope, and acquiring a second distance between the second emitter and the second rope and between the second emitter and the second rope; the emitting direction of the second light is at a preset angle with the plate surface of the bearing plate.

The second emitter is arranged corresponding to the second rope, and the second emitter can emit second light towards the second rope. In a static state, after the second light is emitted by the second emitter towards the second rope, a second distance between the second emitter and the second rope in the emitting direction of the second light can be obtained.

In an embodiment, the second emitter is disposed on the bearing plate, so that the relative position between the second emitter and the bearing plate is not changed, and the emitting direction of the predetermined light emitted by the second emitter is always at a predetermined angle with the surface of the bearing plate.

In an embodiment, the second emitter may also be arranged on another object, for example by hoisting the second emitter by a rope. In the process that the bearing plate deflects, the second emitter follows the bearing plate to move the same to ensure that the emission direction of the preset light emitted by the second emitter is always at a preset angle with the surface of the bearing plate. As shown in fig. 3, step S120 may include:

s121: after the hanger deflects, acquiring a third distance between the first emitter and the first rope in the emitting direction of the first light and a fourth distance between the second emitter and the second rope in the emitting direction of the second light.

In the rest state of the spreader, the first rope and the second rope are both parallel to the vertical axis.

After the lifting appliance deflects integrally, the first rope and the second rope deflect relative to the vertical axis, and because the first rope and the second rope are respectively lifted on two opposite sides of the bearing plate, after the bearing plate deflects, the height positions of the two opposite sides of the bearing plate are different, so that the angle of the first rope deflecting relative to the vertical axis is different from the angle of the second rope deflecting relative to the vertical axis, and the third distance and the fourth distance are also different correspondingly.

As shown in fig. 3, step S131 may include:

s1311: and calculating the target deflection angle of the bearing plate according to the preset angle, the first distance, the second distance, the third distance and the fourth distance.

The preset angle, the first distance, the second distance, the third distance, the fourth distance and the target deflection angle of the bearing plate have a specific geometric relationship, and the target deflection angle of the bearing plate can be calculated under the condition that the preset angle, the first distance, the second distance, the third distance and the fourth distance are known.

Fig. 4 is a schematic flowchart of a process of calculating a target deflection angle of a load according to a preset angle, a first distance, a second distance, a third distance, and a fourth distance according to an exemplary embodiment of the present application. As shown in fig. 4, step S1311 may include:

s13111: calculating to obtain a first deflection angle of the first rope according to the preset angle, the first distance and the third distance; the first deflection angle represents the size of an included angle between the deflected first rope and the vertical axis.

After the posture of the lifting appliance is changed, the first rope deviates from the original position, and a first deflection angle is formed between the first rope and the vertical axis. Since the first distance and the third distance are simultaneously associated with the first rope, the first deflection angle of the first rope can be calculated first according to the preset angle, the first distance, the third distance and the corresponding geometric relationship.

S13112: calculating a second deflection angle of the second rope according to the preset angle, the second distance and the fourth distance; and the second deflection angle represents the size of an included angle between the deflected second rope and the vertical axis.

Similarly, after the posture of the lifting appliance is changed, the second rope can deviate from the original position, and a second deflection angle is formed between the second rope and the vertical axis. Since the second distance and the fourth distance are simultaneously associated with the second rope, the second deflection angle of the second rope can be calculated first according to the preset angle, the second distance, the fourth distance and the corresponding geometric relationship.

After the first deflection angle of the first rope and the second deflection angle of the second rope are obtained through calculation, the geometric relation among the first deflection angle, the second deflection angle and the target deflection angle of the bearing plate can be found out more conveniently, and calculation is facilitated.

It should be understood that step S13111 and step S13112 may be performed simultaneously; alternatively, step S13111 may be performed first, and then step S13112 may be performed; alternatively, step S13112 may be performed first, and then step S13111 may be performed.

S13113: and calculating the target deflection angle of the bearing plate according to the first deflection angle and the second deflection angle.

The first deflection angle of the first rope and the second deflection angle of the second rope are related to the target deflection angle of the bearing plate, and the target deflection angle of the bearing plate can be obtained through calculation according to the corresponding geometric relation.

Fig. 5 is a geometric relationship diagram of the preset angle, the first distance, the third distance and the first deflection angle according to an exemplary embodiment of the present application. As shown in fig. 5, point O represents the connection intersection of the first cord with the carrier plate. The straight line DO characterizes the vertical axis and may also characterize the first rope in the rest state. In the process of actual deflection of the spreader, the point D does not actually move, and the point O moves, but in fig. 5, for convenience of calculation, the point O is taken as a reference point, and it is assumed that the point D moves relative to the point O. Thus, the straight line D' O may represent the position where the first rope is after deflection. The angle α 1 between the straight line DO and the straight line D' O can be understood as a first deflection angle. Point B represents the mounting location point of the transmitter, point a is the intersection of line BA and line DO, and the length L1 of line BA may represent the aforementioned first distance. Point C is the intersection of line BA and line D' O, and the length L2 of line BC may represent the aforementioned third distance. The straight line EF can represent the plate surface of the bearing plate, and the included angle beta between the straight line BA and the straight line EF can represent the preset angle between the first light ray and the plate surface of the bearing plate.

As shown in fig. 5, in the right triangle ABO, the length L1 of β and the straight line AB is known, and the length of the straight line OA and the size of ═ BAO can be determined. In the triangle OAC, knowing that the length of the straight line AC is equal to L1-L2, the length of the straight line OA and the size of hagbao, the size of α 1 can be calculated.

Fig. 6 is a geometric relationship diagram of a preset angle, a second distance, a fourth distance, and a second deflection angle provided by an exemplary embodiment of the present application. The process of calculating the second deflection angle in fig. 6 is similar to the process of calculating the second deflection angle in fig. 5 described above. Specifically, the X point represents the connection intersection of the second rope and the carrier plate. The straight line MX characterizes the vertical axis and may also characterize the second rope in the rest condition. In the process of actual deflection of the spreader, the point M does not actually move, and the point X moves, in fig. 6, for convenience of calculation, the point X is taken as a reference point, and it is assumed that the point M moves relative to the point X. The straight line M' X may thus characterize the position in which the second rope is deflected. The angle α 2 between the line MX and the line M' X is understood to be the second deflection angle. Point G represents the mounting location point of the transmitter, point H is the intersection of line GH and line MX, and the length L3 of line GH may represent the aforementioned second distance. Point K is the intersection of line GH and line M' X, and the length L4 of line GK may represent the fourth distance as previously described. The straight line RS can represent the plate surface of the bearing plate, and the included angle beta between the straight line GH and the straight line RS can represent the preset angle between the second light ray and the plate surface of the bearing plate.

As shown in fig. 6, in the right triangle HGX, the length L3 of β and the straight line HG is known, and the length of the straight line XH and the size of ≈ GHX can be determined. In triangle XHK, knowing that the length of straight line HK is equal to L3-L4, the length of straight line XH and the size of & lt GHX, the size of α 2 can be calculated.

That is, after steps S13111 and S13112 are performed, a first deflection angle α 1 and a second deflection angle α 2 can be obtained, and then step S13113 is performed, assuming that the target deflection angle of the carrier plate is θ, a relation can be obtained according to the geometric relationship:

the target deflection angle theta of the carrier plate can thus be determined from alpha 1 and alpha 2.

Fig. 7 is a schematic flow chart of a spreader attitude detection method according to another exemplary embodiment of the present application. As shown in fig. 7, step S110 may include:

s113: controlling a first emitter to emit a first light toward a first rope, and acquiring a first distance between the first emitter and the first rope in the emitting direction of the first light; the emitting direction of the first light is at a preset angle with the plate surface of the bearing plate.

The process of step S113 is the same as the process of step S111. In the case that the target deflection angle and the target rotation angle of the carrier plate need to be calculated at the same time, the first distance in step S113 may be directly called the first distance obtained in step S111, or step S113 and step S111 may be separately executed in two different steps. In case only the target swivel angle of the carrier plate needs to be calculated, only step S113 may be performed. In case only the target deflection angle of the carrier plate needs to be calculated, only step S111 may be performed.

S114: controlling a second emitter to emit second light rays towards a second rope, and acquiring a second distance between the second emitter and the second rope and between the second emitter and the second rope; the emitting direction of the second light is at a preset angle with the plate surface of the bearing plate.

The process of step S114 is the same as the process of step S112. In the case that the target deflection angle and the target rotation angle of the carrier plate need to be calculated at the same time, the second distance in step S114 may directly call the second distance obtained in step S112, or step S114 and step S112 may be performed separately in two different steps. In case only the target swivel angle of the carrier plate needs to be calculated, only step S114 may be performed. In case only the target deflection angle of the carrier plate needs to be calculated, only step S112 may be performed.

As shown in fig. 7, step S120 may include:

s122: after the hanger deflects, acquiring a third distance between the first emitter and the first rope in the emitting direction of the first light and a fourth distance between the second emitter and the second rope in the emitting direction of the second light.

The process of step S122 is the same as the process of step S121. In the case that the target deflection angle and the target rotation angle of the carrier plate need to be calculated at the same time, the third distance and the fourth distance in step S122 may be directly called as the third distance and the fourth distance obtained in step S121, or step S122 and step S121 may be separately executed in two different steps. In case only the target swivel angle of the carrier plate needs to be calculated, only step S122 may be performed. In case only the target deflection angle of the carrier plate needs to be calculated, only step S121 may be performed.

As shown in fig. 7, step S132 may include:

s1321: and calculating the target rotation angle of the bearing plate according to the preset angle, the first distance, the second distance, the third distance and the fourth distance.

The preset angle, the first distance, the second distance, the third distance, the fourth distance and the target rotation angle of the bearing plate have a specific geometrical relationship, and the target rotation angle of the bearing plate can be calculated under the condition that the preset angle, the first distance, the second distance, the third distance and the fourth distance are known.

Fig. 8 is a schematic flow chart illustrating a process of calculating a loaded target rotation angle by using a preset angle, a first distance, a second distance, a third distance, and a fourth distance according to an exemplary embodiment of the present application. As shown in fig. 8, step S1321 may include:

s13211: calculating to obtain a first deflection angle of the first rope according to the preset angle, the first distance and the third distance; the first deflection angle represents the size of an included angle between the deflected first rope and the vertical axis.

The process of step S13211 is the same as the process of step S13111. In the case that the target deflection angle and the target rotation angle of the loading plate need to be calculated at the same time, the first deflection angle of the first rope in step S13211 may directly call the first deflection angle of the first rope obtained in step S13111, or step S13211 and step S13111 may be separately executed in two different steps. In case only the target swivel angle of the carrier plate needs to be calculated, only step S13211 may be performed. In case only the target deflection angle of the carrier plate needs to be calculated, only step S13111 may be performed.

S13212: calculating a second deflection angle of the second rope according to the preset angle, the second distance and the fourth distance; and the second deflection angle represents the size of an included angle between the deflected second rope and the vertical axis.

The process of step S13212 is the same as the process of step S13112. In the case that the target deflection angle and the target rotation angle of the loading plate need to be calculated at the same time, the second deflection angle of the second rope in step S13212 may directly call the second deflection angle of the second rope obtained in step S13112, or step S13212 and step S13112 may be separately executed in two different steps. In case only the target swivel angle of the carrier plate needs to be calculated, only step S13212 may be performed. In case only the target deflection angle of the carrier plate needs to be calculated, only step S13112 may be performed.

It should be understood that after the first deflection angle of the first rope and the second deflection angle of the second rope are obtained through calculation, the geometric relationship among the first deflection angle, the second deflection angle and the target rotation angle of the bearing plate can be found more conveniently, and calculation is facilitated.

It should be understood that step S13211 and step S13212 may be performed simultaneously; alternatively, step S13211 may be performed first, and then step S13212 may be performed; alternatively, step S13212 may be performed first, and then step S13211 may be performed.

S13213: and calculating the target rotation angle of the bearing plate according to the first deflection angle and the second deflection angle.

The first deflection angle of the first rope and the second deflection angle of the second rope are related to the target rotation angle of the bearing plate, and the target deflection angle of the bearing plate can be obtained through calculation according to the corresponding geometric relation.

After steps S13211 and S13212 are executed, a first deflection angle α 1 and a second deflection angle α 2 can be obtained, and then step S13213 is executed, assuming that the target rotation angle of the carrier plate is γ, the relationship can be obtained according to the geometric relationship:

the target deflection angle γ of the carrier plate can thus be determined from α 1 and α 2.

In one embodiment, the number of the first ropes and the number of the second ropes are both one, the number of the calculated alpha 1 and alpha 2 are also both one, and a target deflection angle theta and a target rotation angle gamma of the bearing plate are calculated according to the alpha 1 and the alpha 2.

In an embodiment, the number of the first ropes is two, the two first ropes are connected to the same side of the bearing plate, the number of the second ropes is two, and the two second ropes are connected to the same side of the bearing plate, so that two α 1 and two α 2 can be obtained through calculation, two target deflection angles θ and two target rotation angles γ of the bearing plate can be obtained through calculation according to the two α 1 and the two α 2, then the two target deflection angles θ can be averaged to obtain a more accurate target deflection angle, and the two target rotation angles γ can be averaged to obtain a more accurate target rotation angle.

In an embodiment, the number of first cords may also be three, four, five, etc. The number of second cords may also be three, four, five, etc.

Fig. 9 is a schematic structural diagram of a spreader attitude detection device 20 according to an exemplary embodiment of the present application. The lifting appliance posture detection device 20 can be applied to the lifting appliance to detect the posture of the lifting appliance, so that a worker can adjust the lifting appliance conveniently according to the posture of the lifting appliance, and the safety and the stability of the lifting appliance during lifting operation are ensured. As shown in fig. 9, the device 20 for detecting the posture of the lifting appliance includes a first obtaining module 21, configured to control the transmitter to transmit a preset light to the lifting rope, and obtain a first linear distance between the transmitter and the lifting rope in a transmission direction of the preset light; the emission direction of the preset light and the plate surface of the bearing plate form a preset angle; the second obtaining module 22 is configured to obtain a second linear distance between the emitter and the lifting rope in the emitting direction of the preset light after the lifting appliance deflects; the calculating module 23 is configured to calculate an attitude rotation angle of the bearing plate according to a preset angle, the first linear distance and the second linear distance; wherein the attitude rotation angle of the carrier plate characterizes the angle of the carrier plate offset relative to its vertical axis.

According to the lifting appliance posture detection device 20, under the condition that an image acquisition method is not used, the preset light is emitted towards the lifting rope along the preset angle through the emitter with lower cost than the image acquisition method, the posture rotation angle of the bearing plate can be obtained through calculation, workers can adjust the posture of the bearing plate conveniently according to the posture rotation angle of the bearing plate, and the stability and the safety of the lifting appliance in the lifting process are improved. In addition, the lifting appliance posture detection device does not need to carry out extra calibration identification in the detection process, and the detection process is simple and convenient.

Fig. 10 is a schematic structural diagram of a spreader attitude detection device 20 according to another exemplary embodiment of the present application. As shown in fig. 10, the calculation module 23 includes: the deflection angle calculation module 231 is used for calculating a target deflection angle of the bearing plate according to a preset angle, the first straight line distance and the second straight line distance; the rotation angle calculating module 232 calculates a target rotation angle of the bearing plate according to the preset angle, the first linear distance and the second linear distance.

As shown in fig. 10, in an embodiment, the first obtaining module 21 may be further configured to: controlling a first emitter to emit a first light toward a first rope, and acquiring a first distance between the first emitter and the first rope in the emitting direction of the first light; the emitting direction of the first light ray and the plate surface of the bearing plate form a preset angle; controlling a second emitter to emit second light rays towards a second rope, and acquiring a second distance between the second emitter and the second rope and between the second emitter and the second rope; the emitting direction of the second light is at a preset angle with the plate surface of the bearing plate.

In an embodiment, the second obtaining module 22 may be further configured to: after the hanger deflects, acquiring a third distance between the first emitter and the first rope in the emitting direction of the first light and a fourth distance between the second emitter and the second rope in the emitting direction of the second light.

In an embodiment, the aforementioned deflection angle calculation module 231 may be further configured to: and calculating the target deflection angle of the bearing plate according to the preset angle, the first distance, the second distance, the third distance and the fourth distance.

In an embodiment, the deflection angle calculation module 231 may be further configured to: calculating to obtain a first deflection angle of the first rope according to the preset angle, the first distance and the third distance; the first deflection angle represents the size of an included angle between the deflected first rope and a vertical axis; calculating a second deflection angle of the second rope according to the preset angle, the second distance and the fourth distance; the second deflection angle represents the size of an included angle between the deflected second rope and the vertical axis; and calculating the target deflection angle of the bearing plate according to the first deflection angle and the second deflection angle.

In an embodiment, the gyration angle calculation module 232 may be further configured to: and calculating the target rotation angle of the bearing plate according to the first deflection angle and the second deflection angle.

Fig. 11 is a schematic structural diagram of a hoisting device 30 according to an exemplary embodiment of the present disclosure. As shown in fig. 11, the lifting apparatus 30 includes a support frame 31; a traveling vehicle 32 movably connected to the support frame 31; the spreader 33 is mounted on the carriage 32. It will be appreciated that during movement of the carriage 32 on the support frame 31, the spreader 33 may be moved relative to the support frame 31, with the hoisted container also correspondingly following the spreader 33. Thus, by controlling the movement of the traveling vehicle 32 relative to the support frame 31, the container can be transported to different stations.

In fig. 11, the lifting appliance 33 can execute the lifting appliance posture detection method, the posture information of the lifting appliance 33 can be fed back to the worker on the traveling vehicle 32 in real time, and the worker adjusts the speed of the traveling vehicle 32 according to the posture information of the lifting appliance 33, so as to achieve the purpose of changing the posture of the lifting appliance 33.

Fig. 12 is a schematic structural diagram of a spreader 33 according to an exemplary embodiment of the present application. As shown in fig. 12, the spreader 33 includes a carrier plate 331; a lifting rope 332 which is lifted from the bearing plate 331; the emitter 333, the emitter 333 is disposed on the bearing plate 331, and is configured to emit a predetermined light toward the lifting rope 332, where an emitting direction of the predetermined light forms a predetermined angle with the plate surface of the bearing plate 332; and an electronic device 334, wherein the electronic device 334 is communicatively connected to the transmitter 333, and the electronic device 334 is configured to execute the aforementioned method for detecting the attitude of the spreader, so as to obtain the attitude information of the spreader.

In one embodiment, the emitter 333 is mounted on the upper surface of the carrier plate 331. In this way, the preset light emitted by the emitter 333 is not easily blocked by the bearing plate 331, so that the first and second linear distances can be conveniently obtained.

In one embodiment, the emitter 333 may also be mounted on a side surface of the carrier plate 331.

Fig. 13 is a schematic structural diagram of a spreader according to another exemplary embodiment of the present application. As shown in fig. 13, the lifting rope 332 may include a first rope 3321 and a second rope 3322, the first rope 3321 and the second rope 3322 are respectively connected to two opposite sides of the supporting plate 331, and both the first rope 3321 and the second rope 3322 will deflect when the carriage 32 drives the spreader 33 to move. As shown in fig. 13, the emitters 333 may include a first emitter 3331 and a second emitter 3332, the first emitter 3331 may emit first light toward the first string 3321, and the second emitter 3332 may emit second light toward the second string 3322.

Fig. 14 is a block diagram of an electronic device 334 according to an exemplary embodiment of the present disclosure. The electronics 334 may be either or both of the first and second devices, or a stand-alone device separate from them that may communicate with the first and second devices to receive the collected input signals therefrom.

As shown in fig. 14, electronics 334 includes one or more processors 11 and memory 12.

The processor 11 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 334 to perform desired functions.

Memory 12 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer readable storage medium and executed by the processor 11 to implement the spreader attitude detection methods of the various embodiments of the present application described above and/or other desired functions. Various contents such as an input signal, a signal component, a noise component, etc. may also be stored in the computer-readable storage medium.

In one example, the electronic device 334 may further include: an input device 13 and an output device 14, which are interconnected by a bus system and/or other form of connection mechanism (not shown).

Where the electronic apparatus 334 is a stand-alone device, the input device 13 may be a communication network connector for receiving the acquired input signals from the first device and the second device.

The input device 13 may also include, for example, a keyboard, a mouse, and the like.

The output device 14 may output various information including the determined distance information, direction information, and the like to the outside. The output devices 14 may include, for example, a display, speakers, a printer, and a communication network and its connected remote output devices, among others.

Of course, for simplicity, only some of the components of the electronic device 334 relevant to the present application are shown in fig. 14, omitting components such as buses, input/output interfaces, and the like. In addition, the electronic device 334 may include any other suitable components depending on the particular application.

The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.

The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.

Claims

1. A lifting appliance posture detection method is applied to a lifting appliance, the lifting appliance comprises a lifting rope and a bearing plate, and the lifting rope is lifted on the bearing plate, and the lifting appliance posture detection method is characterized by comprising the following steps:

2. The spreader attitude detection method according to claim 1, wherein the attitude rotation angle includes a target yaw angle and a target yaw angle; the target deflection angle of the bearing plate represents the swinging angle of the bearing plate relative to a vertical axis, and the target rotation angle of the bearing plate represents the rotating angle of the bearing plate relative to a horizontal plane vertical to the vertical axis;

3. The spreader attitude detection method according to claim 2, wherein the transmitters include a first transmitter and a second transmitter; the lifting ropes comprise a first rope and a second rope, and the first rope and the second rope are respectively connected to two opposite sides of the bearing plate; the preset light rays comprise a first light ray and a second light ray; the first linear distance comprises a first distance and a second distance; the second linear distance comprises a third distance and a fourth distance;

4. The method for detecting the posture of the lifting appliance according to claim 3, wherein the calculating the target deflection angle of the bearing plate according to the preset angle, the first distance, the second distance, the third distance and the fourth distance comprises:

5. The spreader attitude detection method according to claim 2, wherein the transmitters include a first transmitter and a second transmitter; the lifting ropes comprise a first rope and a second rope, and the first rope and the second rope are respectively connected to two opposite sides of the bearing plate; the preset light rays comprise a first light ray and a second light ray; the first linear distance comprises a first distance and a second distance; the second linear distance comprises a third distance and a fourth distance;

6. The method for detecting the posture of the lifting appliance according to claim 5, wherein the step of calculating the target rotation angle of the bearing plate according to the preset angle, the first distance, the second distance, the third distance and the fourth distance comprises:

7. The utility model provides a hoist gesture detection device, is applied to the hoist, the hoist includes lifting rope and loading board, the lifting rope hoist and mount in the loading board, its characterized in that, hoist gesture detection device includes:

8. A spreader, comprising:

a carrier plate;

the lifting rope is lifted to the bearing plate;

an electronic device communicatively connected to the transmitter, the electronic device being configured to perform the spreader attitude detection method of any of claims 1-6.

9. The spreader of claim 8, wherein the emitter is mounted on an upper surface of the carrier plate.

10. A hoisting device, comprising:

a support frame;

the walking vehicle is movably connected with the supporting frame;

the lifting appliance is arranged on the walking vehicle and is used for moving relative to the support frame along with the walking vehicle; wherein the spreader is the spreader of claim 8 or 9.