CN113734976A - Method and device for detecting deflection posture and box width of lifting appliance and crane - Google Patents

Method and device for detecting deflection posture and box width of lifting appliance and crane Download PDF

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Publication number
CN113734976A
CN113734976A CN202111075609.1A CN202111075609A CN113734976A CN 113734976 A CN113734976 A CN 113734976A CN 202111075609 A CN202111075609 A CN 202111075609A CN 113734976 A CN113734976 A CN 113734976A
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width
container
angle
deflection
spreader
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CN113734976B (en
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王宇
覃道赞
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Sany Marine Heavy Industry Co Ltd
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Sany Marine Heavy Industry Co Ltd
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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
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B66C13/44—Electrical transmitters
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

The application discloses hoist deflects gesture and box width detection method and device, hoist, wherein, be used for snatching and install a plurality of detectors on the hoist of box, the scanning direction contained angle of a plurality of detectors is first angle value, and hoist deflects gesture and box width detection method and includes: obtaining a plurality of distance values; wherein the plurality of distance values represent distance values from one long side of the container to the other long side detected by the plurality of detectors; obtaining a deflection angle of the lifting appliance according to the plurality of distance values and the first angle value; and obtaining the width of the container according to the deflection angle of the spreader. The problem of unable accurate quick measurement container width when hoist skew takes place can be solved to this application.

Description

Method and device for detecting deflection posture and box width of lifting appliance and crane
Technical Field
The application relates to the technical field of transportation, in particular to a method and a device for detecting deflection posture and box width of a lifting appliance and a crane.
Background
At present, the container port terminal business is rapidly increased, large-scale mechanized loading and unloading operations in batches are more frequent, most conventional terminals adopt international standard containers to operate, and the container port terminal business has 20 feet, 40 feet and 45 feet box types, and the width is 2440mm, and because of the reason of doing benefit to the box, the container lifting appliance is additionally provided with an angle guide plate or an edge guide plate, and the width between the two edge guide plates is 2440 mm. However, some nonstandard containers exist in some inland wharfs and terminals, the width of the containers is 2500mm or 2550mm, and the like, so that accidents caused by the fact that guide plates are not turned up timely during the operation of ultra-wide containers are avoided, and it is very necessary to accurately measure the width of the containers in order to realize efficient and automatic operation of the loading and unloading process of the containers. Among the prior art, because of the skew can take place for the hoist during the operation, can't the accurate width of measuring the container fast, lead to realizing that there is very big potential safety hazard in automatic container loading and unloading.
Disclosure of Invention
The present application is proposed to solve the above-mentioned technical problems. The embodiment of the application provides a method and a device for detecting the deflection posture and the width of a box body of a lifting appliance and a crane, and can solve the problem that the width of a container cannot be rapidly and accurately measured when the lifting appliance deflects.
According to an aspect of the application, a method for detecting the deflection posture and the width of a box body of a lifting appliance is provided, wherein the lifting appliance used for grabbing the box body is provided with a plurality of detectors, included angles of the scanning directions of the detectors are first angle values, and the method for detecting the deflection posture and the width of the box body of the lifting appliance comprises the following steps: obtaining a plurality of distance values; wherein the plurality of distance values represent distance values from one long side of the container to the other long side detected by the plurality of detectors; obtaining a deflection angle of the lifting appliance according to the plurality of distance values and the first angle value; and obtaining the width of the container according to the deflection angle of the spreader.
In an embodiment, the detector comprises a first detector and a second detector, wherein the obtaining the plurality of distance values comprises: acquiring a first distance value and a second distance value; wherein the first distance value represents a distance value from one long side to the other long side of the container detected by the first detector, the second distance value represents a distance value from one long side to the other long side of the container detected by the second detector, and a scanning direction of the first detector or a scanning direction of the second detector is parallel to the short side of the container; wherein the function is based on the plurality of distance values and theA first angle value, obtaining a deflection angle of the spreader comprising:
Figure BDA0003262063310000021
Figure BDA0003262063310000022
wherein θ represents a deflection angle of the spreader, α represents the first angle value, d1Representing said first distance value, L2Representing the second distance value.
In an embodiment, the obtaining the width of the container according to the deflection angle of the spreader comprises:
Figure BDA0003262063310000023
wherein A represents the width of the container, d1Representing said first distance value, L2Representing the second distance value and alpha representing the first angle value.
In an embodiment, the method for detecting the deflection posture and the box width of the spreader further includes: when the scanning directions of the detectors are not parallel to the short sides of the container, acquiring a second angle value between the scanning direction of any one of the detectors and the short sides of the container; wherein the obtaining a deflection angle of the spreader from the plurality of distance values and the first angle value comprises: and obtaining the deflection angle of the lifting appliance according to the plurality of distance values, the first angle value and the second angle value.
In an embodiment, the obtaining the width of the container according to the deflection angle of the spreader further comprises:
Figure BDA0003262063310000024
wherein A represents a width of the container, γ represents the second angle value, and α represents the first angle value; d1And L2And the distance value representing that the included angle of the scanning directions of any two of the plurality of distance values corresponding to the detector is the first angle value.
In an embodiment, the method for detecting the deflection posture and the box width of the spreader further includes: comparing the width of the container with the width of a standard container to obtain a comparison result; and sending out a prompt signal when the comparison result shows that the width of the container is larger than the width of the standard container.
In an embodiment, before the obtaining the plurality of distance values, the method further includes: when the spreader generates an inclination angle relative to the container, correcting the detection coordinates according to the inclination angle to acquire the plurality of distance values; wherein the detection coordinates represent coordinates of the detector when used for detection.
In an embodiment, after obtaining the deflection angle of the spreader according to the plurality of distance values and the first angle value, the spreader deflection attitude and box width detection method further includes: correcting the position of the spreader so that the spreader is aligned with the container, based on the deflection angle of the spreader.
According to another aspect of the application, a hoist deflection gesture and box width detection device is provided, wherein for install a plurality of detectors on the hoist that is used for snatching the box, the scanning direction contained angle of a plurality of detectors is first angle value, includes: an obtaining module for obtaining a plurality of distance values; wherein the plurality of distance values represent distance values from one long side of the container to the other long side detected by the plurality of detectors; the deflection calculation module is used for obtaining the deflection angle of the lifting appliance according to the plurality of distance values and the first angle value; and the width calculating module is used for obtaining the width of the container according to the deflection angle of the lifting appliance.
According to another aspect of the present application, there is provided a crane including: a crane body; the lifting appliance is arranged on the crane body; a plurality of detectors mounted on the spreaders, respectively; and the controller is in communication connection with the plurality of detectors and is used for executing the method for detecting the deflection posture and the box body width of the lifting appliance in any embodiment.
According to the method and the device for detecting the deflection posture and the width of the box body of the lifting appliance and the crane, the deflection angle of the lifting appliance can be calculated through data measured by the detector, and the width of a container can be calculated under the condition of referring to the deflection angle of the lifting appliance. This application can deal with the width of container when the hoist appears deflecting and be difficult to detect accurate problem, and the deflection angle of calculating the hoist can provide the reference basis for the case automatically, and the width that detects the container can prevent that the hoist from not matching with the container width and leading to the problem of collision interference, has reduced the operation risk, has improved the operation security.
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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 scene diagram to which the present application is applied.
Fig. 2 is a schematic flow chart of a method for detecting a deflection attitude and a width of a spreader according to an exemplary embodiment of the present disclosure.
FIG. 3 is a schematic illustration of scanning the width of a housing provided in an exemplary embodiment of the present application.
Fig. 4 is a schematic flow chart of a method for detecting a deflection attitude and a width of a spreader according to another exemplary embodiment of the present application.
FIG. 5 is a schematic illustration of scanning the width of a tank as provided in another exemplary embodiment of the present application.
Fig. 6 is a schematic flow chart of a method for detecting a deflection attitude and a width of a spreader according to another exemplary embodiment of the present application.
Fig. 7 is a schematic flow chart of a method for detecting a deflection attitude and a width of a spreader according to another exemplary embodiment of the present application.
Fig. 8 is a schematic structural diagram of a device for detecting a deflection posture of a spreader and a width of a box according to an exemplary embodiment of the present application.
Fig. 9 is a schematic structural diagram of a device for detecting a deflection attitude and a width of a spreader according to another exemplary embodiment of the present application.
Fig. 10 is a block diagram of an electronic device provided in 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.
Exemplary System
The embodiment of the application can be realized through a detection system, and the detection system comprises a system controller, a laser scanner, a transmission network and a programmable controller of the crane. During operation, the measured data is sent to the system controller through the laser scanner, the result is sent to the crane programmable controller through the transmission network after the calculation of the system controller, if the deflection angle of the lifting appliance is obtained, the result can be fed back to the crane programmable controller to automatically adjust the angle of the lifting appliance, and if the target container is a non-standard container, the lifting is stopped, an alarm is given, and manual processing or other processing modes are adopted.
In the embodiment of the application, a control algorithm can be directly built in the laser scanner, and a calculation street is directly output to the programmable controller, namely, a system controller is removed.
Exemplary device
The embodiment of the application can be applied to a crane, wherein the crane comprises: a crane body; the lifting appliance is arranged on the crane body; the detectors are respectively arranged on the lifting appliance; and the controller is in communication connection with the plurality of detectors, and the controller can use the method for detecting the deflection attitude and the width of the box body of the lifting appliance.
The controller can detect the deflection angle of the lifting appliance by utilizing the lifting appliance deflection posture and box body width detection method, adjust the deflection angle, detect the width of the box body, identify the condition of ultra-wide box operation, reduce the condition that the lifting appliance impacts the box body and cannot grab the box body, and reduce the possibility of accidents.
Exemplary method
Fig. 1 is a view of a scene to which the present application is applied, and as shown in fig. 1, a plurality of detectors are mounted on a spreader, and preferably, two detectors may be mounted, specifically, a first detector 1 and a second detector 2, where an included angle between scanning directions of the two detectors is a first angle value. More than two detectors can be installed on the lifting appliance, different angles are formed between the scanning directions of every two detectors, and the average value of the width of the box body calculated by the detectors at multiple angles is taken, so that the accuracy of the final width of the box body is improved.
Fig. 2 is a schematic flow chart of a method for detecting a deflection posture and a width of a spreader according to an exemplary embodiment of the present disclosure, and as shown in fig. 2, the method for detecting a deflection posture and a width of a spreader can be applied to a scene shown in fig. 1, and the method for detecting a deflection posture and a width of a spreader includes:
step 100: a plurality of distance values are obtained.
Wherein the plurality of distance values represent the distance values from one long side of the container to the other long side detected by the plurality of detectors.
When a plurality of detectors are installed on the lifting appliance, a plurality of distance values are generated according to the box body distances scanned by the detectors. The detector may be a laser scanner, and a plurality of distance values having different values may be generated according to different scanning directions of the laser scanner. When the measuring line that the scanning direction of laser scanner generated is parallel with the container minor face, the distance value that the laser scanner scanned equals the container width, when the measuring line that the scanning direction of laser scanner generated and container minor face are nonparallel, the angle that the scanning direction of need considering laser scanner deflected just can calculate the width of container.
Step 200: and obtaining the deflection angle of the lifting appliance according to the plurality of distance values and the first angle value.
When the plurality of detectors are installed on the lifting appliance and included angles of scanning directions among the plurality of detectors are all first angle values, equations can be made by setting the first angle values to be known values, the plurality of distance values to be known values, the deflection angles to be unknown values and the width of the box body to be fixed values, and the unknown values are calculated, so that the deflection angles of the lifting appliance can be obtained.
For example, a measuring line formed by scanning of the detectors, a box width horizontal line and a long edge of the box can be combined to form a closed triangle, the box width horizontal line is a fixed value, a first distance value and a second distance value of two measuring lines formed by the two detectors are known values, a first angle value of an included angle between scanning directions of the two detectors is a known value, and a sling deflection angle value is an unknown value. From the cosine function in the trigonometric function, the equation can be obtained: the first distance value (deflection angle value) is the second distance value (first angle value + deflection angle value), and only the deflection angle value has an unknown value, so that the deflection angle value can be calculated.
When more detectors exist, the deflection angle value can be solved by adopting the equation between any two detectors, and when the included angle value generated between the detectors is more, the calculated deflection angle value is more accurate.
Step 300: and obtaining the width of the container according to the deflection angle of the lifting appliance.
After the deflection angle of the spreader is obtained, that is, the only unknown value in step 200 is obtained, the width of the container may be calculated continuously, and the width of the container may be calculated by the first distance value × cos (deflection angle value) or may be calculated by the second distance value × cos (first angle value + deflection angle value).
In actual loading and unloading operation, a three-axis angle sensing and weighing unbalance loading system is usually additionally arranged on the lifting appliance, and when the lifting appliance inclines, an alarm is given to stop the action, so that when the lifting appliance operates normally, the lifting appliance surface is parallel to the container surface, the inclination angle between the lifting appliance and the container is zero, and a detector arranged on the lifting appliance can accurately measure a distance value.
According to the method for detecting the deflection posture and the width of the box body of the lifting appliance, the deflection angle of the lifting appliance can be calculated through data measured by the detector, and the width of a container can be calculated under the condition of referring to the deflection angle of the lifting appliance. This application can deal with the width of container when the hoist appears deflecting and be difficult to detect accurate problem, and the deflection angle of calculating the hoist can provide the reference basis for the case automatically, and the width that detects the container can prevent that the hoist from not matching with the container width and leading to the problem of collision interference, has reduced the operation risk, has improved the operation security.
FIG. 3 is a schematic view of the scanning of the width of the housing according to an exemplary embodiment of the present application, as shown in FIG. 3, with the first detector in the original mounting position at d0At the original mounting position of the second detector at L1A first angle value alpha is formed between the scanning direction of the first detector and the scanning direction of the second detector, and when the hanger deflects and the deflection angle is theta, the distance value scanned by the first detector is d1The distance value scanned by the second detector is L2At this time, the original scanning direction of the first detector is parallel to the short side of the cabinet. The specific implementation of the step 100 can be adjusted as follows: a first distance value and a second distance value are obtained. The first distance value represents the distance value from the long edge of one side of the container detected by the first detector to the long edge of the other side of the container detected by the first detector, the second distance value represents the distance value from the long edge of one side of the container detected by the second detector to the long edge of the other side of the container detected by the second detector, and the scanning direction of the first detector or the scanning direction of the second detector is parallel to the short edge of the container.
Correspondingly, the specific implementation of the step 200 may be adjusted as follows:
Figure BDA0003262063310000081
where theta denotes the deflection angle of the spreader, alpha denotes a first angle value, d1Representing a first distance value, L2Representing a second distance value.
According to equation d1cos(θ)＝L2cos (. alpha. + Theta), can be obtained
Figure BDA0003262063310000082
Because, in which d1、L2And alpha is a known value, and only theta is an unknown value in the equation, so that the unknown value theta can be obtained, and the deflection angle of the lifting appliance can be obtained.
Correspondingly, the specific implementation of step 300 may be adjusted as follows:
Figure BDA0003262063310000083
wherein A represents the width of the container and d1Representing a first distance value, L2Representing the second distance value and alpha the first angle value.
In the above equation, d1cos(θ)＝L2Since cos (α + θ) ═ a, when an unknown value θ in the equation is obtained, θ is substituted again, and the width a of the container can be obtained. When in use
Figure BDA0003262063310000084
When in use, will
Figure BDA0003262063310000085
Substitution into d1cos (θ) or L2The width A of the container can be determined for cos (α + θ).
Fig. 4 is a schematic flow chart of a method for detecting a deflection posture and a box width of a spreader according to another exemplary embodiment of the present application, and as shown in fig. 4, the method for detecting a deflection posture and a box width of a spreader may further include:
step 400: and when the scanning directions of the plurality of detectors are not parallel to the short edge of the container, acquiring a second angle value between the scanning direction of any one of the detectors and the short edge of the container.
Correspondingly, the specific implementation of the step 200 may be adjusted as follows: and obtaining the deflection angle of the lifting appliance according to the plurality of distance values, the first angle value and the second angle value.
FIG. 5 is a schematic view of another exemplary embodiment of the present application for scanning the width of a housing, such as the first detector shown in FIG. 5Initial installation position at d0At the original mounting position of the second detector at L1A first angle value alpha is formed between the scanning direction of the first detector and the scanning direction of the second detector, and when the hanger deflects and the deflection angle is theta, the distance value scanned by the first detector is d1The distance value scanned by the second detector is L2At this time, the scanning direction of the first detector is not parallel to the short side of the box, and the scanning direction of the first detector and the short side of the box have the second angle value γ, so that the scanning direction of the second detector and the short side of the box form the third angle value γ + α, and accordingly, the above-mentioned specific implementation manner of step 300 may be further adjusted to:
Figure BDA0003262063310000091
wherein A represents the width of the container, γ represents the second angle value, and α represents the first angle value; d1And L2And the distance value represents that the included angle of the scanning directions of any two corresponding detectors in the plurality of distance values is a first angle value.
That is, when the first detector is not parallel to the short side of the container, the included angle between the first detector and the short side of the container needs to be considered in the calculation process, so the equation is correspondingly modified to d1cos(θ+γ)＝L2cos (α + γ + θ) ═ a; when gamma is also a known value, a unique unknown value is still extracted from gamma
Figure BDA0003262063310000092
Thereby calculating the deflection angle of the lifting appliance, substituting theta into d after calculating the deflection angle theta1cOs (theta + gamma) or L2cos (α + γ + θ), and finally calculating the container width a.
Fig. 6 is a schematic flow chart of a method for detecting a deflection posture and a box width of a spreader according to another exemplary embodiment of the present application, and as shown in fig. 6, the method for detecting a deflection posture and a box width of a spreader may further include:
step 500: and comparing the width of the container with the width of the standard container to obtain a comparison result.
For example, the width of a preset standard container is 2440mm, after the width of the container is calculated according to the deflection angle of the lifting appliance, the width of the container is compared with that of the standard container, whether the container is an ultra-wide container or not is checked, and the phenomenon that the lifting appliance is interfered and collided due to the ultra-wide container is prevented.
Step 600: and when the comparison result shows that the width of the container is larger than the width of the standard container, sending a prompt signal.
When the width of the container is larger than that of the standard container, a signal can be output to the programmable controller of the crane through the transmission network, a prompt signal that the width of the box body exceeds the width is sent, and a worker is prompted to timely handle the condition of the ultra-wide box.
When the width of the detected container is larger than the width of the standard container, the signal can be output to the programmable controller of the crane through the transmission network, the lifting appliance is controlled to stop descending, the problem of collision interference caused by the fact that the width of the lifting appliance is not matched with the width of the container is prevented, the operation risk is reduced, and the operation safety is improved.
In an embodiment, before the step 100, the method for detecting a deflection posture of a spreader and a width of a container may further include: when the spreader generates an inclination angle relative to the container, correcting the detection coordinates according to the inclination angle to obtain a plurality of distance values; wherein the detection coordinates represent coordinates at which the detector is used for detection.
If the three-axis angle sensing and weighing unbalance loading system arranged on the lifting appliance does not detect the inclination of the lifting appliance in time and does not give an alarm to stop the action, namely the lifting appliance continuously descends under the condition of inclination, and when the detector continuously detects under the condition of inclination, the detector can correct the detection coordinate of the detector according to the inclination angle fed back by the three-axis angle sensor on the lifting appliance so as to achieve the effect of accurately obtaining the distance value under the condition of inclination.
Fig. 7 is a schematic flow chart of a method for detecting a deflection posture and a box width of a spreader according to another exemplary embodiment of the present application, and as shown in fig. 7, after step 200, the method for detecting a deflection posture and a box width of a spreader may further include:
step 700: and correcting the position of the spreader according to the deflection angle of the spreader so that the spreader is aligned with the container.
After the deflection angle of the lifting appliance is obtained, the lifting appliance can be corrected according to the deflection angle, so that the deflection angle is equal to 0 or less than a preset angle value, and when the deflection angle is less than the preset angle value, interference and collision with the container can be avoided.
In one embodiment, the maximum value of the deflection angle of the spreader is generally set to 5 °, that is, the deflection angle of the spreader used for the above calculation is generally within 5 °, and in order to prevent the detection point of the detector from being separated from the box body when the spreader deflects within 5 °, the installation position of the detector needs to be set according to the maximum deflection angle of the spreader. Assuming that the detector is installed at the short side M from the container body, M needs to satisfy the condition when the deflection angle of the spreader is maximum
Figure BDA0003262063310000111
Wherein A represents the width of the container, α represents a first angle value, γ represents a second angle value, and θ representsmaxThe maximum deflection angle of the lifting appliance is shown, so that the installation range of the detector is obtained. The detector is installed in the installation range, so that the scanning point of the detector can not be separated from the container body when the hanger deflects, and the possibility that the distance value cannot be scanned is reduced.
In one embodiment, the specific implementation steps of the present application may be as follows: the whole system is arranged as shown in fig. 1, which comprises a scanner controller, two laser scanners, a transmission network and a programmable controller; during the process that the spreader descends to grab the container, the two laser scanners on the spreader transmit the measured container data to the system controller; the system control calculates the deflection angle of the lifting appliance and the accurate width of the container below according to the corresponding function; calculating the width of the container according to the deflection angle of the lifting appliance, and if the width is calculated to be the standard width, continuing the container without intervention; if the non-standard box is calculated, outputting a signal to the programmable controller through a transmission network to stop the descending of the lifting appliance, alarming and manually processing; after the deflection angle of the lifting appliance is obtained, the lifting appliance can be controlled to be finely adjusted and aligned through a trolley on the crane according to the deflection angle of the lifting appliance.
Exemplary devices
Fig. 8 is a schematic structural diagram of a device for detecting a deflection posture and a box width of a spreader according to an exemplary embodiment of the present application, and as shown in fig. 8, the device 8 for detecting a deflection posture and a box width of a spreader includes: an obtaining module 81, configured to obtain a plurality of distance values; wherein the plurality of distance values represent the distance values from one long side of the container to the other long side detected by the plurality of detectors; a calculating deflection module 82, configured to obtain a deflection angle of the spreader according to the plurality of distance values and the first angle value; and a calculate width module 83 for obtaining the width of the container based on the deflection angle of the spreader.
The device 8 for detecting the deflection posture and the width of the box body of the lifting appliance obtains a plurality of distance values through the obtaining module 81, then calculates the deflection angle of the lifting appliance according to the plurality of measured distance values through the calculating deflection module 82, and calculates the width of the container through the calculating width module 83 under the condition of referring to the deflection angle of the lifting appliance. This application can deal with the width of container when the hoist appears deflecting and be difficult to detect accurate problem, and the deflection angle of calculating the hoist can provide the reference basis for the case automatically, and the width that detects the container can prevent that the hoist from not matching with the container width and leading to the problem of collision interference, has reduced the operation risk, has improved the operation security.
In an embodiment, the obtaining module 81 may be further configured to: a first distance value and a second distance value are obtained. The first distance value represents a distance value from the long edge of one side of the container to the long edge of the other side detected by the first detector, the second distance value represents a distance value from the long edge of one side of the container to the long edge of the other side detected by the second detector, and the scanning direction of the first detector or the scanning direction of the second detector is parallel to the short edge of the container; correspondingly, the calculating deflection module 82 may be further configured to:
Figure BDA0003262063310000121
wherein θ represents the deviation of the spreaderAngle of rotation, alpha representing a first angle value, d1Representing a first distance value, L2Representing a second distance value.
Correspondingly, the width calculating module 83 may be further configured to:
Figure BDA0003262063310000122
wherein A represents the width of the container and d1Representing a first distance value, L2Representing the second distance value and alpha the first angle value.
Fig. 9 is a schematic structural diagram of a device for detecting a deflection posture and a box width of a spreader according to another exemplary embodiment of the present application, and as shown in fig. 9, the device 8 for detecting a deflection posture and a box width of a spreader may further include: an angle obtaining module 84, configured to obtain a second angle value between the scanning direction of any one of the detectors and the short side of the container when the scanning directions of the multiple detectors are not parallel to the short side of the container; correspondingly, the calculating deflection module 82 may be further configured to: and obtaining the deflection angle of the lifting appliance according to the plurality of distance values, the first angle value and the second angle value.
Correspondingly, the width calculating module 83 may be further configured to:
Figure BDA0003262063310000131
wherein A represents the width of the container, γ represents the second angle value, and α represents the first angle value; d1And L2And the distance value represents that the included angle of the scanning directions of any two corresponding detectors in the plurality of distance values is a first angle value.
In an embodiment, as shown in fig. 9, the device 8 for detecting the deflection posture of the spreader and the width of the container may further include: the comparison module 85 is used for comparing the width of the container with the width of the standard container to obtain a comparison result; and the prompting module 86 is used for sending a prompting signal when the comparison result shows that the width of the container is larger than the width of the standard container.
In an embodiment, the device 8 for detecting the deflection posture of the lifting appliance and the width of the box body can be further adjusted to: when the spreader generates an inclination angle relative to the container, correcting the detection coordinates according to the inclination angle to obtain a plurality of distance values; wherein the detection coordinates represent coordinates at which the detector is used for detection.
In an embodiment, as shown in fig. 9, the device 8 for detecting the deflection posture of the spreader and the width of the container may further include: and a correction module 87 for correcting the position of the spreader according to the deflection angle of the spreader so that the spreader is aligned with the container.
Exemplary electronic device
Next, an electronic apparatus according to an embodiment of the present application is described with reference to fig. 10. The electronic device may be either or both of the first device and the second device, or a stand-alone device separate from them, which stand-alone device may communicate with the first device and the second device to receive the acquired input signals therefrom.
FIG. 10 illustrates a block diagram of an electronic device in accordance with an embodiment of the present application.
As shown in fig. 10, the electronic device 10 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 10 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 deflection attitude and tank width 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 10 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).
When the electronic device is a stand-alone device, the input means 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 10 relevant to the present application are shown in fig. 10, and components such as buses, input/output interfaces, and the like are omitted. In addition, the electronic device 10 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 (10)

1. The utility model provides a hoist deflects gesture and box width detection method, wherein, is used for snatching the hoist of box and installs a plurality of detectors on, the scanning direction contained angle of a plurality of detectors is first angle value, its characterized in that, hoist deflects gesture and box width detection method includes:
obtaining a plurality of distance values; wherein the plurality of distance values represent distance values from one long side of the container to the other long side detected by the plurality of detectors;
obtaining a deflection angle of the lifting appliance according to the plurality of distance values and the first angle value; and
and obtaining the width of the container according to the deflection angle of the spreader.
2. The method of detecting a spreader deflection attitude and a pod width according to claim 1, wherein the detector comprises a first detector and a second detector, and wherein the obtaining the plurality of distance values comprises:
acquiring a first distance value and a second distance value; wherein the first distance value represents a distance value from one long side to the other long side of the container detected by the first detector, the second distance value represents a distance value from one long side to the other long side of the container detected by the second detector, and a scanning direction of the first detector or a scanning direction of the second detector is parallel to the short side of the container;
wherein said obtaining a deflection angle of the spreader from the plurality of distance values and the first angle value comprises:
Figure FDA0003262063300000011
wherein θ represents a deflection angle of the spreader, α represents the first angle value, d1Representing said first distance value, L2Representing the second distance value.
3. The method for detecting the deflection attitude and the width of the container body of the spreader according to claim 2, wherein the obtaining the width of the container according to the deflection angle of the spreader comprises:
Figure FDA0003262063300000012
wherein A represents the width of the container, d1Representing said first distance value, L2Representing the second distance value and alpha representing the first angle value.
4. The method for detecting the deflection attitude and the width of the box body of the lifting appliance according to claim 1, further comprising:
when the scanning directions of the detectors are not parallel to the short sides of the container, acquiring a second angle value between the scanning direction of any one of the detectors and the short sides of the container;
wherein the obtaining a deflection angle of the spreader from the plurality of distance values and the first angle value comprises:
and obtaining the deflection angle of the lifting appliance according to the plurality of distance values, the first angle value and the second angle value.
5. The method for detecting the deflection attitude and the width of the container body of the spreader according to claim 4, wherein the obtaining the width of the container according to the deflection angle of the spreader further comprises:
Figure FDA0003262063300000021
wherein A represents a width of the container, γ represents the second angle value, and α represents the first angle value; d1And L2And the distance value representing that the included angle of the scanning directions of any two of the plurality of distance values corresponding to the detector is the first angle value.
6. The method for detecting the deflection attitude and the width of the box body of the lifting appliance according to claim 1, further comprising:
comparing the width of the container with the width of a standard container to obtain a comparison result; and
and when the comparison result shows that the width of the container is larger than the width of the standard container, sending a prompt signal.
7. The method for detecting the deflection attitude and the width of the container body of the spreader according to claim 1, further comprising, before the obtaining the plurality of distance values:
when the spreader generates an inclination angle relative to the container, correcting the detection coordinates according to the inclination angle to acquire the plurality of distance values; wherein the detection coordinates represent coordinates of the detector when used for detection.
8. The method for detecting the deflection posture and the box width of the spreader according to claim 1, further comprising, after obtaining the deflection angle of the spreader according to the plurality of distance values and the first angle value:
correcting the position of the spreader so that the spreader is aligned with the container, based on the deflection angle of the spreader.
9. The utility model provides a hoist deflects gesture and box width detection device, wherein for install a plurality of detectors on the hoist of snatching the box, the scanning direction contained angle of a plurality of detectors is first angle value, its characterized in that includes:
an obtaining module for obtaining a plurality of distance values; wherein the plurality of distance values represent distance values from one long side of the container to the other long side detected by the plurality of detectors;
the deflection calculation module is used for obtaining the deflection angle of the lifting appliance according to the plurality of distance values and the first angle value; and
and the width calculating module is used for obtaining the width of the container according to the deflection angle of the lifting appliance.
10. A crane, comprising:
a crane body;
the lifting appliance is arranged on the crane body;
a plurality of detectors mounted on the spreaders, respectively; and
a controller communicatively connected to the plurality of detectors, the controller being configured to perform the spreader deflection attitude and pod width detection method of any of claims 1-8.
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CN107664492A (en) * 2017-04-01 2018-02-06 武汉川丰软件技术有限公司 The deflection angle measuring method and system of harbour gantry crane laser scanner installation
CN112141894A (en) * 2020-09-25 2020-12-29 苏州巨能图像检测技术有限公司 Box grabbing alignment method based on fusion of multiple 2D measuring devices

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19519741A1 (en) * 1995-06-02 1996-12-05 Siemens Ag Stacker crane sensor system
US20050281644A1 (en) * 2002-11-07 2005-12-22 Siemens Aktiengesellschaft Container crane, and method of determining and correcting a misalignment between a load-carrying frame and a transport vehicle
CN107664492A (en) * 2017-04-01 2018-02-06 武汉川丰软件技术有限公司 The deflection angle measuring method and system of harbour gantry crane laser scanner installation
CN112141894A (en) * 2020-09-25 2020-12-29 苏州巨能图像检测技术有限公司 Box grabbing alignment method based on fusion of multiple 2D measuring devices

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