CN113666269A - Lifting appliance zero position detection method based on inclinometer and lifting appliance detection system - Google Patents

Lifting appliance zero position detection method based on inclinometer and lifting appliance detection system Download PDF

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Publication number
CN113666269A
CN113666269A CN202111031348.3A CN202111031348A CN113666269A CN 113666269 A CN113666269 A CN 113666269A CN 202111031348 A CN202111031348 A CN 202111031348A CN 113666269 A CN113666269 A CN 113666269A
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Prior art keywords
lifting appliance
inclinometer
coordinate system
pulley
zero position
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Inventor
阙亚青
韩吉星
刘春明
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Shenzhen Haixing Port Development Co Ltd
Shanghai Zhenghua Heavy Industries Co Ltd
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Shenzhen Haixing Port Development Co Ltd
Shanghai Zhenghua Heavy Industries Co Ltd
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Priority to CN202111031348.3A priority Critical patent/CN113666269A/en
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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
    • 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
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • 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

Abstract

The invention discloses a sling zero position detection method and a sling detection system based on an inclinometer, which comprises the following steps: 1) calibrating a coordinate system of a lifting appliance detection system, establishing a conversion relation between a camera coordinate system and a global coordinate system, and simultaneously measuring an initial value of a geometric model; 2) installing an inclinometer in the camera control cabinet, recording the calibration position of the lifting appliance and detecting the horizontal inclination angle of the track at the box position; 3) and simplifying the value of the geometric model of the winding mode of the lifting appliance, and establishing the linear relation of the horizontal deviation of the lifting appliance along with the lifting height. The invention analyzes the zero offset of the lifting appliance under the condition of not counting the rotation of the lifting appliance caused by the zero offset of the lifting appliance.

Description

Lifting appliance zero position detection method based on inclinometer and lifting appliance detection system
Technical Field
The invention relates to a detection technology of an automatic shore bridge, in particular to a lifting appliance zero position detection method and a lifting appliance detection system based on an inclinometer.
Background
The shore bridge crane is gradually pushed to the full-automatic running direction from the semi-automatic running. With the increasing automation degree, automatic boxing becomes a necessary trend, and the swing angle needs to be detected both in the anti-swing operation of the lifting appliance and the automatic boxing. Because the crane is bulky, the manufacturing and installing process has deviation, and the lifting appliance adopts a cross winding mode, the zero position of the lifting appliance is not positioned at the hanging center. When semi-automatic operation is executed and automatic box landing is not executed, accurate zero position of the lifting appliance is not needed, only the zero position of the lifting appliance is often roughly calibrated, the calibration method mostly adopts fixed trolley position, lifting is slowly changed, a relation table of the zero position of the lifting appliance, the trolley position and lifting height is established, and the current zero position is searched through a table look-up method. When automatic boxing is performed, an accurate zero position of the lifting appliance is needed, and the deviation between the real zero position and the calibration zero position of the lifting appliance in the traditional calibration method is often overlarge, so that the boxing success rate and the boxing efficiency are reduced. At present, a method for improving the zero position accuracy of a lifting appliance is to increase the number of calibrated trolley positions, namely to increase the dimension of a relational table, but the larger the relational table is, the more complicated the maintenance is. Therefore, how to detect the zero position of the spreader and perform compact expression on the zero position is the key of shore bridge automatic loading and unloading.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a lifting appliance zero position detection method and a lifting appliance detection system based on an inclinometer, which are used for analyzing the zero position offset of a lifting appliance under the condition that the rotation of the lifting appliance caused by the lifting appliance offset is not counted.
In order to achieve the purpose, the invention adopts the following technical scheme:
on one hand, the sling zero position detection method based on the inclinometer comprises the following steps:
1) calibrating a coordinate system of a lifting appliance detection system, establishing a conversion relation between a camera coordinate system and a global coordinate system, and simultaneously measuring an initial value of a geometric model;
2) installing an inclinometer in the camera control cabinet, recording the calibration position of the lifting appliance and detecting the horizontal inclination angle of the track at the box position;
3) and simplifying the value of the geometric model of the winding mode of the lifting appliance, and establishing the linear relation of the horizontal deviation of the lifting appliance along with the lifting height.
Preferably, in the step 1), coordinates of the hanger in a coordinate system of the hanger detection system are obtained by detecting three light source lamps on the hanger by a hanger detection system, and are transmitted to a PLC controller for automatic operation control and automatic box loading;
at trolley position XcVertically and slowly lowering the unloaded lifting appliance to the ground for packing, using come card to establish a geodetic coordinate system and giving local coordinates P of the three light source lampsa(x,y,z)、Pb(x,y,z)、Pc(x, y, z) simultaneously reading the local coordinates of the light source lamps of three of the spreader detection system coordinate systems
Figure BDA0003245426450000021
Figure BDA0003245426450000022
Establishing a coordinate transformation relation of the following formula (1):
P＝RPs+T (1)
in the above formula, R represents and T represents
Preferably, the formula (1) is solved by using an anti-symmetric matrix, and is expressed as follows:
Figure BDA0003245426450000023
Figure BDA0003245426450000024
after solving the rotation matrix, the euler angle can be obtained:
θx＝atan2(R32,R33)
Figure BDA0003245426450000025
θz＝atan2(R21,R11) (3)。
preferably, in the step 2), when the coordinate system of the hanger detection system is calibrated, the reading θ of the inclinometer at the moment is recorded0The horizontal inclination angle between the coordinate system of the lifting appliance detection system and the track is theta'y+θy+θ0Taking the anticlockwise direction as positive;
when the trolley moves to a certain position xTAt this time, the inclinometer reading is taken and recorded as θxTThen at any position, the euler angle of the spreader detection system coordinate system rotated to the y direction of the global coordinate system is:
θyT＝θy+θ0-θxT (4)
the rotation matrix is updated as follows:
Figure BDA0003245426450000026
Figure BDA0003245426450000031
Figure BDA0003245426450000032
R＝R(θx)R(θyT)R(θz) (5)。
preferably, in the step 3), the winding manner of the two sides of the hanger is parallel winding and/or cross winding.
Preferably, when the winding manner is parallel winding, the height H is1The total length of the rope is S1It is calculated as follows:
S1＝2c+πrt+πrs+2aθ (6)
wherein the content of the first and second substances,
Figure BDA0003245426450000033
a＝rt-rs；
c is the distance from the deflected circle center of the pulley on the trolley frame to the circle center of the pulley on the hanger upper frame, a is the deflection distance of the pulley on the trolley frame, 2 theta is the Euler angle between the pulley on the trolley frame and the pulley on the hanger upper frame, rt is the radius of the pulley on the trolley frame, and rs is the radius of the pulley on the hanger upper frame.
Preferably, when the winding manner is cross winding, the total rope length at the height H is S2It is calculated as follows:
S2＝2C+πrt+πrs+2Aε (7)
wherein the content of the first and second substances,
Figure BDA0003245426450000034
A＝rt-rs；
c is the distance from the tangent point of the steel wire rope on the pulley on the trolley frame to the tangent point of the pulley on the upper frame of the lifting appliance, A is the distance from the circle center of the pulley on the trolley frame to the tangent point of the steel wire rope, 2 epsilon is the deflection angle between the pulley on the trolley frame and the pulley on the upper frame of the lifting appliance, rt is the radius of the pulley on the trolley frame, and rs is the radius of the pulley on the upper frame of the lifting appliance.
Preferably, the total rope length S wound on two sides of the lifting appliance in the lifting motion process1、S2The difference of (a) is kept constant, i.e. the following equation holds:
Figure BDA0003245426450000035
in the formula, D, D, A and a are fixed parameters, and H, X is obtained by calibration;
d is the distance between the pulleys on the trolley frame, D is the distance between the pulleys on the upper frame of the lifting appliance, H is the distance between the pulleys on the trolley frame and the vertical line of the pulleys on the upper frame of the lifting appliance, and X is the horizontal distance between the pulleys on the upper frame of the lifting appliance and the vertical line;
when the coordinate system of the lifting appliance detection system is calibrated, the parameters are measured, the parameters are solved through off-line numerical values, and the relation between the horizontal deviation X 'and the lifting height H' of the lifting appliance is fitted as follows:
X′＝kH′+m (9)
then the translation matrix T calibrated by the coordinate system of the lifting appliance detection systemxThe expression of (a) is:
Tx＝Tx0+X′-X＝Tx0+kH′+m-X (10)
at any carriage position xrAnd the translation vector of the zero position of the lifting appliance is as follows:
TxT＝Tx0+X′-X＝Tx0+kH′+m-X+xr-Xc (11)
equations (5) and (11) are the implementation equations of the zero position detection of the lifting appliance, and when the lifting height is h, the position x of any trolley istAnd the expression of the zero position of the lifting appliance in the coordinate system of the lifting appliance detection system is as follows:
Figure BDA0003245426450000041
in another aspect, a spreader detection system includes:
the camera control cabinet is arranged on the trolley and used for detecting a light source lamp on the lifting appliance;
the inclinometer is arranged in the camera control cabinet and used for detecting the inclination angle of the trolley track;
and the PLC acquires the detection data of the camera control cabinet and the inclinometer so as to execute the sling zero position detection method based on the inclinometer.
Preferably, the PLC is arranged in the electric control room and is connected with the camera control cabinet and the inclinometer in a network mode.
According to the lifting appliance zero-position detection method and the lifting appliance detection system based on the inclinometer, provided by the invention, the lifting appliance zero-position offset is analyzed under the condition that the lifting appliance rotation caused by the lifting appliance unbalance loading is not counted, the deviation between the real zero position and the calibrated zero position of the lifting appliance is reduced, the box landing success rate and the box landing efficiency are improved, and the maintenance is convenient.
Drawings
FIG. 1 is a schematic view of a spreader detection system of the present invention in its construction;
FIG. 2 is a schematic perspective view of a camera control cabinet in the spreader detection system of the present invention;
FIG. 3 is a bottom schematic view of the camera control cabinet;
fig. 4 is a schematic diagram of the winding of a spreader, wherein (a) is the overall winding of the spreader, (b) is the parallel winding method, and (c) is the cross winding method.
Detailed Description
In order to better understand the technical solutions of the present invention, the following further describes the technical solutions of the present invention with reference to the accompanying drawings and examples.
Referring to fig. 1 to 3, the spreader detection system provided by the present invention includes:
the camera control cabinet 1 is arranged on the trolley 2 and used for detecting three light source lamps 4 on the lifting appliance 3, obtaining the coordinates of the lifting appliance 3 in a lifting appliance detection system coordinate system and transmitting the coordinates to the PLC 6 for automatic operation and automatic boxing use.
And the inclinometer 5 is arranged in the camera control cabinet 1 and used for detecting the inclination angle of the trolley track.
And the PLC 6 acquires the detection data of the camera control cabinet 1 and the inclinometer 5 so as to execute the sling zero position detection method based on the inclinometer.
PLC controller 6 locates in the electrical control room 7, and inclinometer 5 connects processor 9 through 2 converters 8, and processor 9 is again with data transmission to PLC controller 6.
The inclinometer 5 is connected with the converter 8 through a network cable, the converter 8 is connected with the PLC 6 through an optical fiber, and the converter 8 is connected with the PLC through a network cable.
The invention also provides a lifting appliance zero position detection method based on the inclinometer, which comprises the following steps:
1) calibrating a coordinate system of a lifting appliance detection system, establishing a conversion relation between a camera coordinate system and a global coordinate system, and simultaneously measuring an initial value of a geometric model;
2) installing an inclinometer in the camera control cabinet, recording the calibration position of the lifting appliance and detecting the horizontal inclination angle of the track at the box position;
3) and simplifying the numerical value of a geometric model of a winding mode of the lifting appliance, and establishing a linear relation of the horizontal deviation of the lifting appliance along with the lifting height.
Referring to fig. 1, in step 1), the coordinates of the spreader 3 in the coordinate system of the spreader detection system are obtained by detecting the three light source lamps 4 on the spreader 3 by the spreader detection system, and are transmitted to the PLC controller 6 for automatic operation and automatic boxing.
The coordinate position in the coordinate system of the hanger detection system needs to be converted into a geodetic coordinate system for use, so that the coordinate system needs to be calibrated, and the conversion relation between a local coordinate system and a global coordinate system is established. At trolley position XcVertically and slowly lowering the unloaded hanger to the ground for packing, using come card to establish a geodetic coordinate system and giving local coordinates P of three light source lampsa(x,y,z)、Pb(x,y,z)、Pc(x, y, z) and simultaneously reading local coordinates of three light source lamps in a coordinate system of the lifting appliance detection system
Figure BDA0003245426450000051
Establishing a coordinate transformation relation of the following formula (1):
P＝RPs+T (1)
in the above formula, R represents and T represents
Equation (1) is solved using an anti-symmetric matrix, expressed as follows:
Figure BDA0003245426450000061
Figure BDA0003245426450000062
after solving the rotation matrix, the euler angle can be obtained:
θx＝atan2(R32,R33)
Figure BDA0003245426450000063
θz＝atan2(R21,R11) (3)。
the horizontal inclination of the trolley's track is measured by mounting inclinometers 5 and compensated into the rotation matrix of the spreader detection system. Referring to fig. 2 and 3, the inclinometer 5 is fixed in the camera control cabinet 1. In the step 2), when the coordinate system of the hanger detection system is calibrated, the reading theta of the inclinometer at the moment is recorded0And the horizontal inclination angle between the coordinate system of the lifting appliance detection system and the track is theta'y+θy+θ0Taking the anticlockwise direction as positive;
when the trolley moves to a certain position xTAt that time, the reading of the inclinometer at that time is read and recorded as θxTThen, at any position, the euler angle of the coordinate system of the hanger detection system rotating to the y direction of the global coordinate system is:
θyT＝θy+θ0-θxT (4)
the rotation matrix is updated as follows:
Figure BDA0003245426450000064
Figure BDA0003245426450000065
Figure BDA0003245426450000066
R＝R(θx)R(θyT)R(θz) (5)。
referring to fig. 3, in step 3), the two sides of the spreader 3 are wound in parallel and/or cross winding, and one side is typically wound in parallel, and the other side is wound in cross winding.
When the winding mode is parallel winding, at the height H1OfThe length of the rope is S1It is calculated as follows:
S1＝2c+πrt+πrs+2aθ (6)
wherein the content of the first and second substances,
Figure BDA0003245426450000067
a＝rt-rs。
when the winding mode is a cross winding method, the total rope length at the height H is S2It is calculated as follows:
S2＝2C+πrt+πrs+2Aε (7)
wherein the content of the first and second substances,
Figure BDA0003245426450000068
A＝rt-rs。
the total rope length S wound on two sides of the lifting appliance 3 in the lifting motion process1、S2The difference of (a) is kept constant, i.e. the following equation holds:
Figure BDA0003245426450000071
in the formula, D, D, A and a are fixed parameters, and H, X is obtained by calibration;
when the coordinate system of the lifting appliance detection system is calibrated, the parameters are measured, the parameters are solved through off-line numerical values, and the relation between the horizontal deviation X 'and the lifting height H' of the lifting appliance is fitted as follows:
X′＝kH′+m (9)
then the translation matrix T calibrated by the coordinate system of the hanger detection systemxThe expression of (a) is:
Tx＝Tx0+X′-X＝Tx0+kH′+m-X (10)
at any carriage position xrAnd the translation vector of the current zero position of the lifting appliance is as follows:
TxT＝Tx0+X′-X＝Tx0+kH′+m-X+xr-Xc (11)
equation (5),(11) Namely an implementation formula of zero position detection of the lifting appliance, when the lifting height is h, the position x of any trolley istAnd the expression of the zero position of the lifting appliance in the coordinate system of the lifting appliance detection system is as follows:
Figure BDA0003245426450000072
examples
The method for detecting the zero position of the lifting appliance based on the inclinometer comprises the following steps:
1) after the inclinometer is installed in place on the hanger detection system, the trolley is moved to a calibration position XcWhen the lifting appliance is close to rest, the lifting appliance is placed on the ground to be placed in a box, and the vertical height H at the moment is recorded;
2) leica establishes a geodetic coordinate system, and simultaneously gives a Leica coordinate P to the coordinate position of a light source lamp on a lifting appliancea(x,y,z)、Pb(x,y,z)、Pc(x, y, z), center coordinates Q of upper frame pulley on one side of the spreaders(x, y, z) and the pulley center coordinate Q corresponding to the trolley frame on the same sidet(x,y,z)；
3) Record the inclinometer reading θ at this time0And local coordinates of three light source lamps in the coordinate system of the hanger detection system
Figure BDA0003245426450000073
4) Calculating a rotational-translation matrix R, T (T) at the calibration positionx0,Ty,Tz) ', calculating the Euler angle theta according to equation (3)x,θy,θzAn angle;
5) off-line calculation, fitting a formula X of lifting appliance horizontal displacement along with lifting according to a formula (9) to be kh + m;
6) level reading theta of spreader in box-landing stagexTThe current height of the lifting appliance is h, the horizontal displacement is xT, and a rotation matrix R is calculated according to a formula (5) (theta)x,θy,θz) The translation vector T is calculated according to equation (11)xT。
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that changes and modifications to the above described embodiments are within the scope of the claims of the present invention as long as they are within the spirit and scope of the present invention.

Claims (10)

1. A lifting appliance zero position detection method based on an inclinometer is characterized by comprising the following steps:
1) calibrating a coordinate system of a lifting appliance detection system, establishing a conversion relation between a camera coordinate system and a global coordinate system, and simultaneously measuring an initial value of a geometric model;
2) installing an inclinometer in the camera control cabinet, recording the calibration position of the lifting appliance and detecting the horizontal inclination angle of the track at the box position;
3) and simplifying the value of the geometric model of the winding mode of the lifting appliance, and establishing the linear relation of the horizontal deviation of the lifting appliance along with the lifting height.
2. The inclinometer-based spreader zero position detection method according to claim 1, characterized in that: in the step 1), coordinates of the lifting appliance in a coordinate system of a lifting appliance detection system are obtained through detection of three light source lamps on the lifting appliance by the lifting appliance detection system, and are transmitted to a PLC (programmable logic controller) for automatic operation control and automatic box landing;
at trolley position XcVertically and slowly lowering the unloaded lifting appliance to the ground for packing, using come card to establish a geodetic coordinate system and giving local coordinates P of the three light source lampsa(x,y,z)、Pb(x,y,z)、Pc(x, y, z) simultaneously reading the local coordinates of the light source lamps of three of the spreader detection system coordinate systems
Figure FDA0003245426440000011
Figure FDA0003245426440000012
Establishing a coordinate transformation relation of the following formula (1):
P＝RPs+T (1)
in the above formula, R represents and T represents.
3. The inclinometer-based spreader zero position detection method according to claim 2, characterized in that the formula (1) is solved by an antisymmetric array, expressed as follows:
Figure FDA0003245426440000013
Figure FDA0003245426440000014
after solving the rotation matrix, the euler angle can be obtained:
θx＝atan2(R32,R33)
Figure FDA0003245426440000015
θz＝atan2(R21,R11) (3)。
4. the inclinometer-based spreader zero position detection method according to claim 3, characterized in that: in the step 2), when the coordinate system of the hanger detection system is calibrated, the reading theta of the inclinometer at the moment is recorded0The horizontal inclination angle between the coordinate system of the lifting appliance detection system and the track is theta'y+θy+θ0Taking the anticlockwise direction as positive;
when the trolley moves to a certain position xTAt this time, the inclinometer reading is taken and recorded as θxTThen at any position, the euler angle of the spreader detection system coordinate system rotated to the y direction of the global coordinate system is:
θyT＝θy+θ0-θxT (4)
the rotation matrix is updated as follows:
Figure FDA0003245426440000021
Figure FDA0003245426440000022
Figure FDA0003245426440000023
R＝R(θx)R(θyT)R(θz) (5)。
5. the inclinometer-based spreader zero position detection method according to claim 3, characterized in that: in the step 3), the winding mode of the two sides of the lifting appliance is a parallel winding method and/or a cross winding method.
6. The inclinometer-based spreader zero position detection method according to claim 5, characterized in that: when the winding mode is a parallel winding method, the height H is1The total length of the rope is S1It is calculated as follows:
S1＝2c+πrt+πrs+2aθ (6)
wherein the content of the first and second substances,
Figure FDA0003245426440000024
a＝rt-rs；
c is the distance from the deflected circle center of the pulley on the trolley frame to the circle center of the pulley on the hanger upper frame, a is the deflection distance of the pulley on the trolley frame, 2 theta is the Euler angle between the pulley on the trolley frame and the pulley on the hanger upper frame, rt is the radius of the pulley on the trolley frame, and rs is the radius of the pulley on the hanger upper frame.
7. The base of claim 5The method for detecting the zero position of the lifting appliance of the inclinometer is characterized by comprising the following steps: when the winding mode is a cross winding method, the total rope length at the height H is S2It is calculated as follows:
S2＝2C+πrt+πrs+2Aε (7)
wherein the content of the first and second substances,
Figure FDA0003245426440000031
A＝rt-rs；
c is the distance from the tangent point of the steel wire rope on the pulley on the trolley frame to the tangent point of the pulley on the upper frame of the lifting appliance, A is the distance from the circle center of the pulley on the trolley frame to the tangent point of the steel wire rope, 2 epsilon is the deflection angle between the pulley on the trolley frame and the pulley on the upper frame of the lifting appliance, rt is the radius of the pulley on the trolley frame, and rs is the radius of the pulley on the upper frame of the lifting appliance.
8. The inclinometer-based spreader zero position detection method according to any one of claims 1 to 7, characterized in that: the total rope length S wound on two sides of the lifting appliance in the lifting motion process1、S2The difference of (a) is kept constant, i.e. the following equation holds:
Figure FDA0003245426440000032
in the formula, D, D, A and a are fixed parameters, and H, X is obtained by calibration;
d is the distance between the pulleys on the trolley frame, D is the distance between the pulleys on the upper frame of the lifting appliance, H is the distance between the pulleys on the trolley frame and the vertical line of the pulleys on the upper frame of the lifting appliance, and X is the horizontal distance between the pulleys on the upper frame of the lifting appliance and the vertical line;
when the coordinate system of the lifting appliance detection system is calibrated, the parameters are measured, the parameters are solved through off-line numerical values, and the relation between the horizontal deviation X 'and the lifting height H' of the lifting appliance is fitted as follows:
X′＝kH′+m (9)
then the translation matrix T calibrated by the coordinate system of the lifting appliance detection systemxThe expression of (a) is:
Tx＝Tx0+X′-X＝Tx0+kH′+m-X (10)
at any carriage position xrAnd the translation vector of the zero position of the lifting appliance is as follows:
TxT＝Tx0+X′-X＝Tx0+kH′+m-X+xr-Xc (11)
equations (5) and (11) are the implementation equations of the zero position detection of the lifting appliance, and when the lifting height is h, the position x of any trolley istAnd the expression of the zero position of the lifting appliance in the coordinate system of the lifting appliance detection system is as follows:
Figure FDA0003245426440000033
9. a spreader detection system, comprising:
the camera control cabinet is arranged on the trolley and used for detecting a light source lamp on the lifting appliance;
the inclinometer is arranged in the camera control cabinet and used for detecting the inclination angle of the trolley track;
a PLC controller for acquiring the detection data of the camera control cabinet and the inclinometer so as to execute the inclinometer-based sling zero position detection method as claimed in any one of claims 1-8.
10. The spreader detection system of claim 9, wherein: the PLC is arranged in the electric control chamber and is connected with the camera control cabinet and the inclinometer in a network mode.
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CN102452611A (en) * 2010-10-21 2012-05-16 上海振华重工(集团)股份有限公司 Detection method and detection device for space attitude of suspender of container crane
CN105480864A (en) * 2016-01-20 2016-04-13 上海振华重工电气有限公司 Automatic detecting and calibrating system and method for container crane
CN108263950A (en) * 2018-02-05 2018-07-10 上海振华重工(集团)股份有限公司 Harbour gantry crane suspender based on machine vision it is automatic case system and method

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