CN113734976B - Method and device for detecting deflection gesture and box width of lifting appliance and crane - Google Patents
Method and device for detecting deflection gesture and box width of lifting appliance and crane Download PDFInfo
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- CN113734976B CN113734976B CN202111075609.1A CN202111075609A CN113734976B CN 113734976 B CN113734976 B CN 113734976B CN 202111075609 A CN202111075609 A CN 202111075609A CN 113734976 B CN113734976 B CN 113734976B
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- container
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- lifting appliance
- deflection
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
- B66C13/44—Electrical transmitters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- 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
Abstract
The application discloses a method and a device for detecting a deflection gesture of a lifting appliance and a width of a box body, and a crane, wherein a plurality of detectors are arranged on the lifting appliance for grabbing the box body, the included angle of scanning directions of the plurality of detectors is a first angle value, and the method for detecting the deflection gesture of the lifting appliance and the width of the box body comprises the following steps: acquiring a plurality of distance values; wherein the plurality of distance values represent distance values from one side long edge of the container to the other side long edge 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 lifting appliance. The application can solve the problem that the width of the container can not be measured rapidly and accurately when the lifting appliance is deviated.
Description
Technical Field
The application relates to the technical field of transportation, in particular to a method and a device for detecting the deflection gesture and the width of a box body of a lifting appliance and a crane.
Background
At present, the container port and dock business is rapidly increased, large-scale mechanized loading and unloading operations are more frequent in batches, most of conventional docks adopt international standard containers for operation, the container type is 20 feet, 40 feet and 45 feet, the width is 2440mm, corner guide plates or side guide plates are additionally arranged on container lifting appliances due to the fact that the container lifting appliances are beneficial to the container type, and the width between the two side guide plates is 2440mm. However, some inland wharfs and stations also have some nonstandard containers with 2500mm, 2550mm, etc. width, and in order to realize efficient and automatic operation of container loading and unloading process, and avoid accidents caused by not turning up the guide plate in time during ultra-wide container operation, it is very necessary to accurately measure the width of the container. In the prior art, the lifting appliance can deviate during operation, so that the width of the container cannot be measured rapidly and accurately, and the automatic container loading and unloading can be realized, so that great potential safety hazards exist.
Disclosure of Invention
The present application has been made to solve the above-mentioned technical problems. The embodiment of the application provides a method and a device for detecting the deflection gesture and the width of a box body of a lifting appliance and a crane, which can solve the problem that the width of a container cannot be measured rapidly and accurately when the lifting appliance deflects.
According to one aspect of the present application, there is provided a method for detecting a deflection attitude and a width of a box body of a lifting tool, wherein a plurality of detectors are mounted on the lifting tool for gripping the box body, and a scanning direction included angle of the plurality of detectors is a first angle value, and the method for detecting the deflection attitude and the width of the box body of the lifting tool comprises: acquiring a plurality of distance values; wherein the plurality of distance values represent distance values from one side long edge of the container to the other side long edge 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 lifting appliance.
In an embodiment, the detector comprises a first detector and a second detector, wherein the acquiring a 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 side long side to the other side long side of the container detected by the first detector, the second distance value represents a distance value from one side long side to the other side 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 a short side of the container; wherein, the obtaining the deflection angle of the lifting appliance according to the plurality of distance values and the first angle value includes: wherein θ represents the deflection angle of the spreader, α represents the first angle value, d 1 Representing the first distance value, L 2 Representing the second distance value.
In an embodiment, the obtaining the width of the container according to the deflection angle of the spreader includes:wherein A represents the width of the container, d 1 Representing the first distance value, L 2 Representing the second distance value and representing the first angle value.
In an embodiment, the method for detecting the deflection posture of the lifting appliance and the width of the box body further comprises: 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 side of the container; wherein, according to the plurality of distance values and the first angle value, obtaining the deflection angle of the lifting appliance includes: and obtaining the deflection angle of the lifting appliance according to the 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 includes:wherein a represents the width of the container, γ represents the second angle value, and γ represents the first angle value; d, d 1 And L 2 And the distance value which indicates that the included angle of any two of the plurality of distance values corresponding to the scanning direction of the detector is the first angle value.
In an embodiment, the method for detecting the deflection posture of the lifting appliance and the width of the box body further comprises: 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 acquiring the plurality of distance values, the method further includes: when the lifting appliance generates an inclination angle relative to the container, correcting detection coordinates according to the inclination angle to acquire a plurality of distance values; wherein the detection coordinates represent coordinates of the detector for detection.
In an embodiment, after the obtaining the deflection angle of the spreader according to the plurality of distance values and the first angle value, the method for detecting the deflection attitude and the width of the box body of the spreader further includes: correcting the position of the lifting appliance according to the deflection angle of the lifting appliance so as to align the lifting appliance with the container.
According to another aspect of the present application, there is provided a device for detecting a deflection attitude of a spreader and a width of a box, wherein a plurality of detectors are mounted on the spreader for gripping the box, and a scanning direction included angle of the plurality of detectors is a first angle value, including: the acquisition module is used for acquiring a plurality of distance values; wherein the plurality of distance values represent distance values from one side long edge of the container to the other side long edge detected by the plurality of detectors; the deflection calculating 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 comprising: a crane body; the lifting appliance is arranged on the crane body; a plurality of detectors mounted on the spreader, respectively; and the controller is in communication connection with the plurality of detectors and is used for executing the lifting appliance deflection gesture and box width detection method in any embodiment.
According to the method and the device for detecting the deflection gesture 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 the data measured by the detector, and the width of the container can be calculated under the condition of referring to the deflection angle of the lifting appliance. The application can solve the problem that the width of the container is difficult to detect accurately when the lifting appliance deflects, calculate the deflection angle of the lifting appliance can provide a reference basis for the automatic container, detect the width of the container, prevent the problem of collision interference caused by mismatching of the width of the lifting appliance and the container, reduce the operation risk and improve the operation safety.
Drawings
The above and other objects, features and advantages of the present application will become more apparent by describing embodiments of the present application in more detail with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate the application and together with the embodiments of the application, and not constitute a limitation to the application. In the drawings, like reference numerals generally refer to like parts or steps.
Fig. 1 is a scene graph to which the present application is applied.
Fig. 2 is a flow chart of a method for detecting a deflection posture and a width of a box body of a lifting appliance according to an exemplary embodiment of the present application.
Fig. 3 is a schematic diagram of a scanning box according to an exemplary embodiment of the present application.
Fig. 4 is a flow chart of a method for detecting a deflection posture and a width of a box body of a lifting appliance according to another exemplary embodiment of the present application.
Fig. 5 is a schematic diagram of a scanning box according to another exemplary embodiment of the present application.
Fig. 6 is a flowchart of a method for detecting a deflection posture and a width of a box body of a lifting appliance according to another exemplary embodiment of the present application.
Fig. 7 is a flowchart of a method for detecting a deflection posture and a width of a box body of a lifting appliance according to another exemplary embodiment of the present application.
Fig. 8 is a schematic structural view of a device for detecting the deflection posture and the width of a box body of a lifting appliance according to an exemplary embodiment of the present application.
Fig. 9 is a schematic structural view of a device for detecting a deflection posture and a width of a box body of a lifting appliance according to another exemplary embodiment of the present application.
Fig. 10 is a block diagram of an electronic device according to an exemplary embodiment of the present application.
Detailed Description
Hereinafter, exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be apparent that the described embodiments are only some embodiments of the present application and not all embodiments of the present application, and it should be understood that the present application is not limited by the example embodiments described herein.
Exemplary System
The embodiment of the application can be realized by a detection system which consists of a system controller, a laser scanner, a transmission network and a crane programmable controller. During operation, the measurement data of the laser scanner is sent to the system controller, the system controller calculates the measurement data, the transmission network sends the result to the crane programmable controller, if the deflection angle of the lifting appliance is obtained, the measurement data can be fed back to the crane programmable controller to automatically adjust the lifting appliance angle, and if the target container is obtained to be a non-standard container, the lifting appliance is stopped to descend, alarm is given, and the lifting appliance is manually processed or processed in other modes.
The embodiment of the application can also directly embed a control algorithm in the laser scanner, and directly output the calculated street to the programmable controller, namely, the system controller is removed.
Exemplary apparatus
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 can use the method for detecting the deflection gesture and the width of the box body of the lifting appliance.
The controller can detect the deflection angle of the lifting appliance by using the deflection gesture of the lifting appliance and the detection method for the width of the box body, adjust the deflection angle, detect the width of the box body, recognize the condition of ultra-wide box operation, reduce the condition that the lifting appliance can not perform grabbing operation when striking the box body, and reduce the possibility of accidents.
Exemplary method
Fig. 1 is a view of a scenario where the present application is applied, as shown in fig. 1, where a plurality of detectors are mounted on a spreader, preferably two detectors may be mounted, specifically including a first detector 1 and a second detector 2, where the included angle between the 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 between every two detectors with a plurality of angles is taken, so that the accuracy of the width of the final box body is improved.
Fig. 2 is a flow chart of a method for detecting a deflection attitude and a width of a box body of a lifting appliance according to an exemplary embodiment of the present application, as shown in fig. 2, the method for detecting a deflection attitude and a width of a box body of a lifting appliance may be applied to a scene shown in fig. 1, and the method for detecting a deflection attitude and a width of a box body of a lifting appliance includes:
step 100: a plurality of distance values is acquired.
Wherein the plurality of distance values represent distance values from one side long edge of the container to the other side long edge 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 plurality of detectors. The detector may employ a laser scanner, and may generate a plurality of distance values having different values depending on the scanning direction of the laser scanner. When the measuring line generated in the scanning direction of the laser scanner is parallel to the short side of the container, the distance value scanned by the laser scanner is equal to the width of the container, and when the measuring line generated in the scanning direction of the laser scanner is not parallel to the short side of the container, the width of the container can be calculated by considering the deflection angle of the scanning direction of the laser scanner.
Step 200: and obtaining the deflection angle of the lifting appliance according to the plurality of distance values and the first angle value.
When a plurality of detectors are arranged on the lifting appliance and included angles in the scanning direction between the plurality of detectors are all first angle values, the first angle values can be set to be known values, the plurality of distance values are known values, the deflection angle is unknown values, the box width is a fixed value to make an equation, and the unknown values are calculated, so that the deflection angle of the lifting appliance is obtained.
For example, the measuring lines formed by scanning the detectors, the horizontal line with the width of the box body and the long side of the box body can be combined to form a closed triangle, the horizontal line with the width of the box body is a fixed value, the first distance value and the second distance value of the two measuring lines formed by the two detectors are known values, the first angle value of the included angle of the scanning directions of the two detectors is a known value, and the deflection angle value of the lifting appliance is an unknown value. The equation can be obtained from the cosine function in the trigonometric function: first distance value cos (deflection angle value) =second distance value cos (first angle value+deflection angle value), wherein only one deflection angle value is unknown, so that the deflection angle value can be calculated.
When more detectors exist, the deflection angle value can be calculated by adopting the equation between any two detectors, and when the more the included angle value generated between the detectors is, the more accurate the calculated deflection angle value is.
Step 300: and obtaining the width of the container according to the deflection angle of the lifting appliance.
After obtaining the deflection angle of the spreader, the width of the container can be calculated continuously by obtaining the only unknown value in step 200, and the width of the container can be calculated by calculating the first distance value of cos (deflection angle value), or by calculating the second distance value of cos (first angle value + deflection angle value).
In actual loading and unloading operation, the three-axis angle sensing and weighing unbalanced load system is usually additionally arranged on the lifting appliance, and the action is stopped when the lifting appliance tilts, so that the lifting appliance surface is parallel to the container surface in normal operation, the tilting angle between the lifting appliance and the container is zero, and the distance value can be accurately measured by a detector arranged on the lifting appliance.
According to the method for detecting the deflection attitude and the width of the box body of the lifting appliance, the deflection angle of the lifting appliance can be calculated through the data measured by the detector, and the width of the container can be calculated under the condition of referring to the deflection angle of the lifting appliance. The application can solve the problem that the width of the container is difficult to detect accurately when the lifting appliance deflects, calculate the deflection angle of the lifting appliance can provide a reference basis for the automatic container, detect the width of the container, prevent the problem of collision interference caused by mismatching of the width of the lifting appliance and the container, reduce the operation risk and improve the operation safety.
FIG. 3 is a schematic diagram of the width of the scanning box according to an exemplary embodiment of the present application, as shown in FIG. 3, the original mounting position of the first detector is d 0 Where the original mounting position of the second detector is at L 1 A first angle alpha is formed between the scanning direction of the first detector and the scanning direction of the second detector, when the lifting appliance deflectsAnd when the deflection angle is theta, the distance value scanned by the first detector is d 1 The second detector scans a distance value L 2 At this time, the original scanning direction of the first detector is parallel to the short side of the case. The specific embodiment of step 100 may be adjusted as follows: a first distance value and a second distance value are obtained. The first distance value represents the distance value from one long side to the other long side of the container detected by the first detector, the second distance value represents the distance value from one long side to the other long 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 side of the container.
Correspondingly, the specific embodiment of the step 200 may be adjusted as follows:wherein θ represents the deflection angle of the lifting appliance, α represents a first angle value, d 1 Represents a first distance value, L 2 Representing a second distance value.
According to equation d 1 cos(θ)＝L 2 cos (alpha+θ) can be obtainedBecause of d therein 1 、L 2 And 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 is obtained.
Correspondingly, the specific embodiment of the step 300 may be adjusted as follows:wherein A represents the width of the container, d 1 Represents a first distance value, L 2 A second distance value is represented and a first angle value is represented.
In the above equation, d 1 cos(θ)＝L 2 cos (α+θ) =a, and therefore, when the unknown value θ in the equation is found, θ is substituted therein again, and the width a of the container can be found. When (when)When it willSubstituted into d 1 cos (θ) or L 2 The width a of the container can be obtained from cos (α+θ).
Fig. 4 is a schematic flow chart of a method for detecting a deflection posture and a width of a box body according to another exemplary embodiment of the present application, as shown in fig. 4, where the method for detecting a deflection posture and a width of a box body may further include:
step 400: when the scanning directions of the plurality of detectors are not parallel to the short side of the container, a second angle value between the scanning direction of any one of the detectors and the short side of the container is acquired.
Correspondingly, the specific embodiment 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 application for scanning the width of the case, as shown in FIG. 5, where the primary mounting position of the first detector is d 0 Where the original mounting position of the second detector is at L 1 A first angle alpha is formed between the scanning direction of the first detector and the scanning direction of the second detector, and when the lifting appliance deflects and the deflection angle is theta, the distance value scanned by the first detector is d 1 The second detector scans a distance value L 2 At 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 the scanning direction of the second detector and the short side of the box form the third angle value γ+α, and accordingly, the specific embodiment of the above step 300 may be further adjusted to:
wherein A represents the width of the container, and gamma represents a second angle value and a first angle value; d, d 1 And L 2 And the distance value which indicates that the included angle of the scanning direction 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 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 d 1 cos(θ+γ)＝L 2 cos (α+γ+θ) =a; when gamma is also a known value, a unique unknown value is still extracted from itThereby calculating the deflection angle of the lifting appliance, and substituting θ into d after calculating the deflection angle θ 1 cos (θ+γ) or L 2 cos (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 width of a box body according to another exemplary embodiment of the present application, as shown in fig. 6, the method for detecting a deflection posture and a width of a box body may further include:
step 500: and comparing the width of the container with the width of a standard container to obtain a comparison result.
For example, the width of a preset standard container is 2440mm, the width of the container is calculated according to the deflection angle of the lifting appliance, the width of the container is compared with the standard container, whether the container is an ultra-wide container is checked, and interference collision of the lifting appliance caused by the ultra-wide container is prevented.
Step 600: and when the comparison result shows that the width of the container is larger than that of the standard container, sending out a prompt signal.
When the width of the container is larger than that of a standard container, a signal can be output to the crane programmable controller through a transmission network, a prompt signal that the container body exceeds the width is sent out, and a worker is prompted to timely handle the condition of the ultra-wide container.
When the width of the container is detected to be larger than that of a standard container, a signal can be output to the crane programmable controller through a transmission network to control the lifting appliance to stop descending, so that the problem of collision interference caused by mismatching of the lifting appliance and the container width 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 and a width of a box of the lifting appliance may further include: when the lifting appliance generates an inclination angle relative to the container, correcting the detection coordinates according to the inclination angle to acquire a plurality of distance values; wherein the detection coordinates represent coordinates at which the detector is used for detection.
If the triaxial angle sensing and weighing unbalanced load system arranged on the lifting appliance does not timely detect the inclination of the lifting appliance, and the lifting appliance does not alarm and stop, namely the lifting appliance continuously descends under the inclination condition, and the detector can correct the detection coordinate according to the inclination angle fed back by the triaxial angle sensor on the lifting appliance when continuously detecting under the inclination condition, so that the effect of accurately obtaining the distance value under the inclination condition is achieved.
Fig. 7 is a flowchart of a method for detecting a deflection attitude and a width of a box body according to another exemplary embodiment of the present application, as shown in fig. 7, after the step 200, the method for detecting a deflection attitude and a width of a box body may further include:
step 700: correcting the position of the lifting appliance according to the deflection angle of the lifting appliance so as to align the lifting appliance 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 smaller than a preset angle value, and interference collision with a container can not be generated when the deflection angle is smaller than the preset angle value.
In an embodiment, the maximum value of the deflection angle of the spreader is typically set to 5 °, i.e. the deflection angle of the spreader used for the calculation is typically within 5 °, and in order to prevent the detection point of the detector from being separated from the box when the spreader deflects within 5 °, the mounting position of the detector needs to be set according to the maximum deflection angle of the spreader. Assuming that the detector is mounted at a position M from the short side of the container body, when the deflection angle of the lifting appliance is maximum, M needs to satisfyWherein, A is tableShowing the width of the container, alpha represents a first angle value, gamma represents a second angle value, theta max Indicating that the deflection angle of the lifting appliance reaches the maximum value, thereby obtaining the installation range of the detector. The detector is installed in the installation range, so that when the lifting appliance deflects, the scanning point of the detector cannot be separated from the container body, and the possibility that the distance value cannot be scanned is reduced.
In one embodiment, the steps of the present application may be as follows: the whole system is arranged as shown in fig. 1, wherein the whole system comprises a scanner controller, two laser scanners, a transmission network and a programmable controller; in the process of descending and grabbing the container by the lifting appliance, the two laser scanners on the lifting appliance send 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 to hold the container without intervention; if the lifting appliance is calculated to be a non-standard box, outputting a signal to a programmable controller through a transmission network to stop the lifting appliance from descending, alarming and manually processing; after the deflection angle of the lifting appliance is obtained, the fine adjustment and alignment of the lifting appliance can be controlled by a trolley on the crane according to the deflection angle of the lifting appliance.
Exemplary apparatus
Fig. 8 is a schematic structural diagram of a device for detecting a deflection posture and a width of a box body 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 width of a box body includes: an acquisition module 81 for acquiring a plurality of distance values; wherein the plurality of distance values represent distance values from one side long edge to the other side long edge of the container detected by the plurality of detectors; a calculating deflection module 82, configured to obtain a deflection angle of the lifting appliance 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 according to the deflection angle of the spreader.
According to the lifting appliance deflection posture and box width detection device 8 provided by the application, a plurality of distance values are acquired through the acquisition module 81, then the deflection angle of the lifting appliance is calculated according to the measured plurality of distance values through the calculation deflection module 82, and the width of the container is calculated under the condition of referring to the deflection angle of the lifting appliance through the calculation width module 83. The application can solve the problem that the width of the container is difficult to detect accurately when the lifting appliance deflects, calculate the deflection angle of the lifting appliance can provide a reference basis for the automatic container, detect the width of the container, prevent the problem of collision interference caused by mismatching of the width of the lifting appliance and the container, reduce the operation risk and improve the operation safety.
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 the distance value from one side long edge to the other side long edge of the container detected by the first detector, the second distance value represents the distance value from one side long edge to the other side long edge 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 above-described calculated deflection module 82 may be further configured to:wherein θ represents the deflection angle of the lifting appliance, α represents a first angle value, d 1 Represents a first distance value, L 2 Representing a second distance value.
Correspondingly, the calculation width module 83 may be further configured to:wherein A represents the width of the container, d 1 Represents a first distance value, L 2 A second distance value is represented and a first angle value is represented.
Fig. 9 is a schematic structural diagram of a device for detecting a deflection posture and a width of a box body 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 width of a box body may further include: an angle acquisition module 84, configured to acquire a second angle value between the scanning direction of any one of the plurality of detectors and the short side of the container when the scanning directions of the plurality of detectors are not parallel to the short side of the container; correspondingly, the above-described calculated 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 calculation width module 83 may be further configured to:wherein A represents the width of the container, and gamma represents a second angle value and a first angle value; d, d 1 And L 2 And the distance value which indicates that the included angle of the scanning direction 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 hanger deflection posture and box width detection device 8 may further include: a comparison module 85, configured to compare the width of the container with the width of the standard container, and obtain a comparison result; the prompt module 86 is configured to send a prompt signal when the comparison result indicates that the width of the container is greater than the standard container width.
In an embodiment, the hanger deflection posture and the box width detection device 8 may be further adjusted to: when the lifting appliance generates an inclination angle relative to the container, correcting the detection coordinates according to the inclination angle to acquire 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 hanger deflection posture and box width detection device 8 may further include: and a correction module 87 for correcting the position of the lifting appliance according to the deflection angle of the lifting appliance so as to align the lifting appliance with the container.
Exemplary electronic device
Next, an electronic device 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 independent thereof, which 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 according to an embodiment of the application.
As shown in fig. 10, the electronic device 10 includes one or more processors 11 and a memory 12.
The processor 11 may be a Central Processing Unit (CPU) or other form of processing unit having data processing 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) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer readable storage medium that can be executed by the processor 11 to perform the spreader deflection attitude and bin width detection method and/or other desired functions of the various embodiments of the application described above. Various contents such as an input signal, a signal component, a noise component, and the like 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 forms of connection mechanisms (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.
In addition, the input device 13 may also include, for example, a keyboard, a mouse, and the like.
The output device 14 may output various information to the outside, including the determined distance information, direction information, and the like. The output means 14 may include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, etc.
Of course, only some of the components of the electronic device 10 that are relevant to the present application are shown in fig. 10 for simplicity, components such as buses, input/output interfaces, etc. being omitted. In addition, the electronic device 10 may include any other suitable components depending on the particular application.
The computer program product may write program code for performing 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, partly on a remote computing device, or entirely on the remote computing device or server.
The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is 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 would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk 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, this description is not intended to limit embodiments of the application to the form disclosed herein. Although a number of example aspects and embodiments have been discussed above, a person of ordinary skill in the art will recognize certain variations, modifications, alterations, additions, and subcombinations thereof.
Claims (9)
1. The utility model provides a hoist deflection gesture and box width detection method, wherein, is used for installing a plurality of detectors on the hoist that snatchs the box, the scanning direction contained angle of a plurality of detectors is first angle value, its characterized in that, hoist deflection gesture and box width detection method includes:
acquiring a plurality of distance values; wherein the plurality of distance values represent distance values from one side long edge of the container to the other side long edge 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 lifting appliance;
wherein the detector comprises a first detector and a second detector, the acquiring a plurality of distance values comprising:
acquiring a first distance value and a second distance value; wherein the first distance value represents a distance value from one side long side to the other side long side of the container detected by the first detector, the second distance value represents a distance value from one side long side to the other side 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 a short side of the container;
wherein, the obtaining the deflection angle of the lifting appliance according to the plurality of distance values and the first angle value includes:
wherein θ represents the deflection angle of the spreader, α represents the first angle value, d 1 Representing the first distance value, L 2 Representing the second distance value.
2. The method for detecting the deflection attitude and the width of a container according to claim 1, wherein obtaining the width of the container according to the deflection angle of the spreader comprises:
wherein A represents the width of the container, d 1 Representing the first distance value, L 2 Representing the second distance value and representing the first angle value.
3. The method for detecting the deflection attitude and the width of a box body of a 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 side of the container;
wherein, according to the plurality of distance values and the first angle value, obtaining the deflection angle of the lifting appliance includes:
and obtaining the deflection angle of the lifting appliance according to the distance values, the first angle value and the second angle value.
4. The method for detecting a deflection attitude and a width of a container according to claim 3, wherein obtaining the width of the container according to the deflection angle of the spreader further comprises:
wherein a represents the width of the container, γ represents the second angle value, and γ represents the first angle value; d, d 1 And L 2 And the distance value which indicates that the included angle of any two of the plurality of distance values corresponding to the scanning direction of the detector is the first angle value.
5. The method for detecting the deflection attitude and the width of a box body of a 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 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.
6. The spreader deflection attitude and box width detection method according to claim 1, further comprising, prior to said acquiring the plurality of distance values:
when the lifting appliance generates an inclination angle relative to the container, correcting detection coordinates according to the inclination angle to acquire a plurality of distance values; wherein the detection coordinates represent coordinates of the detector for detection.
7. The method for detecting a yaw attitude and a box width of a spreader according to claim 1, further comprising, after the obtaining a yaw angle of the spreader according to the plurality of distance values and the first angle value:
correcting the position of the lifting appliance according to the deflection angle of the lifting appliance so as to align the lifting appliance with the container.
8. The utility model provides a hoist deflection gesture and box width detection device, wherein, is used for installing 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:
the acquisition module is used for acquiring a plurality of distance values; wherein the plurality of distance values represent distance values from one side long edge of the container to the other side long edge detected by the plurality of detectors;
the deflection calculating 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;
the detector comprises a first detector and a second detector, and the acquisition module is used for acquiring a plurality of distance values and is particularly used for:
acquiring a first distance value and a second distance value; wherein the first distance value represents a distance value from one side long side to the other side long side of the container detected by the first detector, the second distance value represents a distance value from one side long side to the other side 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 a short side of the container;
wherein, the obtaining the deflection angle of the lifting appliance according to the plurality of distance values and the first angle value includes:
wherein θ represents the deflection angle of the spreader, α represents the first angle value, d 1 Representing the first distance value, L 2 Representing the second distance value.
9. A crane, comprising:
a crane body;
the lifting appliance is arranged on the crane body;
a plurality of detectors mounted on the spreader, respectively; and
a controller in communication with the plurality of detectors, the controller being configured to perform the spreader deflection attitude and bin width detection method of any one of claims 1-7.
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| CN202111075609.1A CN113734976B (en) | 2021-09-14 | 2021-09-14 | Method and device for detecting deflection gesture and box width of lifting appliance and crane |
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| DE19519741A1 (en) * | 1995-06-02 | 1996-12-05 | Siemens Ag | Stacker crane sensor system |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10251910B4 (en) * | 2002-11-07 | 2013-03-14 | Siemens Aktiengesellschaft | container crane |
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2021
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| DE19519741A1 (en) * | 1995-06-02 | 1996-12-05 | Siemens Ag | Stacker crane sensor system |
| 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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