CN114180458A - Container hoisting equipment, hoisting control method, computer equipment and storage medium - Google Patents
Container hoisting equipment, hoisting control method, computer equipment and storage medium Download PDFInfo
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- 238000001514 detection method Methods 0.000 claims abstract description 104
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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
- B66C13/46—Position indicators for suspended loads or for crane elements
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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
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
- B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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Abstract
The invention relates to container hoisting equipment, a hoisting control method, computer equipment and a storage medium. The container hoisting equipment comprises: a spreader; the multiple groups of first detection modules are respectively arranged on different side walls of the lifting appliance and are configured to acquire point cloud characteristic signals of an area where a target container is located; and the controller is electrically connected with the first detection module and is configured to determine the corner position of the target container according to the point cloud characteristic signals and control the lifting appliance to carry out lifting, stacking and deviation adjustment operations on the target container. According to the technical scheme, the accuracy of the detection signal can be effectively improved, the deviation of hoisting and stacking operation can be adjusted, the setting mode of container hoisting equipment is simple, the container hoisting equipment can be modified on the existing lifting appliance, the container hoisting equipment is easy to realize, and the equipment cost is favorably reduced.
Description
Technical Field
The invention relates to the technical field of hoisting machinery, in particular to container hoisting equipment, a hoisting control method, computer equipment and a readable storage medium.
Background
The container hoisting equipment is one of common mechanical equipment in port operation, and is mainly used for carrying, stacking and other operations on containers. Because the position accuracy requirement to the container is higher in the operation process, the traditional manual operation hoisting equipment is more difficult, and the efficiency is not high. Some hoisting equipment capable of automatically grabbing and placing containers are provided in the prior art, but because detection devices and detection modes are limited, the obtained container position information is not high in precision, relatively poor in accuracy and lack of corresponding prevention or adjustment mechanisms, so that potential safety hazards easily exist after the containers are stacked, and particularly, the containers are collided or toppled in a stacked state.
Disclosure of Invention
In view of the above, to solve the above technical problems, the present invention provides a container lifting apparatus, a lifting control method, a computer apparatus and a readable storage medium.
The invention provides a container hoisting device, comprising: a spreader; the multiple groups of first detection modules are respectively arranged on different side walls of the lifting appliance and are configured to acquire point cloud characteristic signals of an area where a target container is located; and the controller is electrically connected with the first detection module and is configured to determine the corner position of the target container according to the point cloud characteristic signals and control the lifting appliance to carry out lifting, stacking and deviation adjustment operations on the target container.
In a feasible implementation manner, the number of the first detection modules is at least four, the first detection modules are respectively arranged on four side walls of the lifting appliance, and each first detection module is positioned on the corresponding side wall and close to the top corner; the first detection module comprises a first single-line radar, the scanning direction of the first single-line radar is perpendicular to the corresponding side wall, and the first single-line radar is configured to acquire point cloud characteristic signals of the side edge of a target container in the corresponding area.
In one possible implementation, the container lifting device further comprises: the at least two groups of second detection modules are respectively arranged on two side walls of the lifting appliance corresponding to the longitudinal direction of the target container, and the second detection modules are electrically connected with the controller; the second detection module comprises a second single-line radar, the scanning direction of the second single-line radar is parallel to the corresponding side wall, and the second single-line radar is configured to acquire a point cloud characteristic signal of a door of the target container.
In one possible implementation, the first detection module further includes: the single-point laser radar is positioned close to the position, close to the vertical edge, on the corresponding side wall, the signal transmitting direction of the single-point laser radar is vertical downwards, and the single-point laser radar is configured to detect the container outside the edge of the target position area; and in the horizontal direction, the distance between the signal emission path of the single-point laser radar and the edge of the target position is 2 cm-5 cm.
In a feasible implementation manner, the number of the first detection modules is at least two, each group of the first detection modules comprises at least one three-dimensional radar, and the two groups of the first detection modules are respectively arranged on two opposite side walls of the lifting appliance and are respectively located at two opposite angles of the lifting appliance.
The invention provides a hoisting control method, which is used for any container hoisting equipment, and comprises the following steps: a first detection module acquires a first point cloud characteristic signal of a target container; determining the corner position of the target container according to the first point cloud characteristic signal; controlling a lifting appliance of container lifting equipment to lift a target container; when the target container is positioned above the target position, second point cloud characteristic signals of the target container and the bottom container are obtained; and performing box stacking operation on the target container according to the second point cloud characteristic signal, and performing deviation adjustment.
In one possible implementation, a spreader controlling a container lifting device performs a lifting operation on a target container, including: adjusting the lifting appliance to be above the target container, controlling the lifting appliance to descend and lifting the target container; the first detection module acquires a third point cloud characteristic signal of the area around the target container; judging whether an adjacent container enters a target position according to the third point cloud characteristic signal to generate a first judgment result; if the first judgment result is yes, controlling the lifting appliance to stop operating, and switching to a manual mode until the manual lifting operation is completed; if the first judgment result is negative, the next step is executed.
In a possible implementation manner, performing a container stacking operation on the target container according to the second point cloud characteristic signal, and performing deviation adjustment includes: generating a point cloud picture according to the second point cloud characteristic signal; deleting the characteristic points of the target container from the point cloud picture, and determining the corner position of the bottom container according to the deleted residual characteristic points; controlling a lifting appliance to stack the target container on the top of the bottom container according to the position of the angular point of the bottom container; and carrying out deviation detection and adjustment operation on the target container.
In one possible implementation, the first detection module includes a first single line radar, and performs a deviation detection and adjustment operation on the target container, including: a first single-line radar acquires fourth cloud characteristic signals of a target container and a bottom container; judging whether the edge deviation value of the target container and the bottom container is greater than a first threshold value or not according to the fourth cloud characteristic signal, and generating a second judgment result; if the second judgment result is yes, the following steps are executed again: controlling a lifting appliance of container lifting equipment to lift a target container; and if the second judgment result is negative, controlling the lifting appliance to loosen the target container to finish the box stacking operation.
In one possible implementation, the first detection module includes a first single line radar and a single point laser radar, and performs a deviation detection and adjustment operation on the target container, including: a first single-line radar acquires fourth cloud characteristic signals of a target container and a bottom container; judging whether the edge deviation value of the target container and the bottom container is greater than a first threshold value or not according to the fourth cloud characteristic signal, and generating a second judgment result; if the second judgment result is yes, the following steps are executed again: controlling a lifting appliance of container lifting equipment to lift a target container; if the second judgment result is negative, the single-point laser radar obtains the distance value from the lower reflector to the single-point laser radar; judging whether the distance value is smaller than a second threshold value or not, and generating a third judgment result; if the third judgment result is yes, the following steps are executed again: controlling a lifting appliance of container lifting equipment to lift a target container; and if the third judgment result is negative, controlling the lifting appliance to loosen the target container to finish the box stacking operation.
The present invention also provides a computer device comprising: the hoisting control method comprises a processor and a memory, wherein the memory is electrically connected with the processor, the memory stores a computer program which is feasible by the processor, and the computer program executes the steps of any one of the hoisting control methods when the computer program is executed by the processor.
The invention further provides a readable storage medium, wherein a computer program is stored in the readable storage medium, and when the computer program is executed by a processor, the steps of any one of the hoisting control methods are executed.
The invention has the beneficial effects that:
1. the accuracy of the acquired container position signal can be effectively improved, and the deviation of the hoisting and stacking operation can be adjusted, so that the accuracy of the hoisting and stacking operation of the container is improved;
2. overall structure and detection device's setting mode is simple, on current hoist reequip can, easily realize, be favorable to reducing equipment cost.
Drawings
Fig. 1 is a top view of a container lifting device according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a container lifting device and a target container according to an embodiment of the present invention.
Fig. 3 is a top view of a container lifting device according to an embodiment of the present invention.
Fig. 4 is a cloud point diagram of a first single-line radar according to an embodiment of the present invention.
Fig. 5 is a top view of a container lifting device according to an embodiment of the present invention.
Fig. 6 is a top view of a container lifting device according to an embodiment of the present invention.
Fig. 7 is a flowchart illustrating a hoisting control method according to an embodiment of the present invention.
Fig. 8 is a flowchart illustrating a hoisting control method according to an embodiment of the present invention.
Fig. 9 is a flowchart of a hoisting control method according to an embodiment of the present invention.
Fig. 10 is a flowchart illustrating a hoisting control method according to an embodiment of the present invention.
Fig. 11 is a flowchart illustrating a hoisting control method according to an embodiment of the present invention.
Detailed Description
In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise. All directional indicators in the embodiments of the present application (such as upper, lower, left, right, front, rear, top, bottom … …) are only used to explain the relative positional relationship between the components, the movement, etc. in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Furthermore, reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In one embodiment of the present invention, a container lifting device is provided.
As shown in fig. 1 and 2, the container lifting apparatus includes a spreader 1, a plurality of first detection modules 2, and a controller 4. Wherein each first detection module 2 is electrically connected with the controller 4. The shape of the spreader 1 is matched with the shape of the container and is used for hoisting the container. The multiple groups of first detection modules 2 are respectively arranged on different side walls of the spreader 1, so as to acquire point cloud characteristic signals of an area where the target container 100 is located through the multiple groups of first detection modules 2, and transmit the acquired point cloud characteristic signals to the controller 4. The controller 4 forms a point cloud image according to the point cloud characteristic signals transmitted by the multiple groups of first detection modules 2, determines the angular point position of the target container 100, further identifies the overall outline position of the target container 100, and then the spreader 1 operates under the control instruction of the controller 4 to perform lifting and stacking operations on the target container 100 and perform corresponding deviation adjustment operations.
Specifically, the controller 4 may be disposed on the spreader 1 (in the state shown in fig. 1), and of course, the controller 4 may also be disposed outside the spreader 1, such as a central control room or a ground console, and the controller 4 and the first detection module 2 may be electrically connected in a wired or wireless manner to transmit signals. In addition, the arrangement mode can be combined in various ways according to different numbers of the first detection modules 2. In addition, the spreader 1 may further comprise an actuator 11 for gripping and lifting the container.
The container hoisting equipment in the embodiment determines the position information of the target container 100 through the point cloud characteristic signals, can effectively improve the accuracy of the signals, and can adjust the deviation of hoisting and stacking operations, thereby improving the accuracy of the hoisting and stacking operations of the container. In addition, in this embodiment, container lifting device overall structure is simple, and the mode of setting up of first detection module 2 is also comparatively simple, need not to carry out complicated design and processing, on current hoist reequip can, easily realize, be favorable to reducing equipment cost.
In some embodiments of the present invention, as shown in fig. 1 and 2, the first detection module 2 includes a first single-line radar 21, and the point cloud characteristic signal of the target container 100 is acquired through a scanning line emitted by the first single-line radar 21. The number of the first detection modules 2 is at least four, the at least four groups of the first detection modules 2 are respectively arranged on four side walls of the lifting appliance 1, that is, at least one group of the first detection modules 2 is arranged on each side wall of the lifting appliance 1, the first detection modules 2 are located at positions close to the top corners on the corresponding side walls, for example, in the state shown in fig. 1, and the four first detection modules 2 are respectively located on the four side walls and are respectively located near the four top corners. Wherein, in every first detection module 2, the scanning direction of first single line radar 21 sets up to be perpendicular with the lateral wall of corresponding hoist 1 to utilize four at least first single line radars 21 four directions in the front, back, left and right to acquire the point cloud characteristic signal of target container 100, and then make controller 4 can confirm the specific position of target container 100 according to the point cloud picture that point cloud characteristic signal formed, so that carry out accurate hoist and mount and box folding operation to target container 100. The cloud point is shown in fig. 4.
It should be noted that the number of the first detection modules 2 may also be greater than four, which is not limited to the example in this embodiment, for example, six first detection modules 2 shown in fig. 4 are provided, wherein two groups of the first detection modules 2 are respectively disposed on the side wall where two long sides of the spreader 1 are located, and one group of the first detection modules 2 is respectively disposed on the side wall where two short sides of the spreader 1 are located, so as to expand the scanning range, which is beneficial to further improving the accuracy of the detection result.
Further, as shown in fig. 1, a bracket 12 is further disposed on a side wall of the spreader 1, and the first detection module 2 is mounted on the bracket 12.
In some embodiments of the invention, as shown in fig. 5, the container handling device is further provided with at least two sets of second detection modules 3. At least two sets of the second detection modules 3 are respectively disposed on the side walls where the two short sides of the spreader 1 are located, i.e., on the two side walls in the longitudinal direction of the container when the target container 100 is hoisted, so as to correspond to the doors of the target container 100. The second detection module 3 comprises a second single-line radar 31, and the scanning direction of the second single-line radar 31 is set to be parallel to the corresponding side wall of the lifting appliance 1, so that when the door of the target container 100 is opened, the scanning line of the second single-line radar 31 is used for acquiring a point cloud characteristic signal of the door; each second detection module 3 is electrically connected with the controller 4 to transmit the point cloud characteristic signal of the box door acquired by the second single-wire radar 31 to the controller 4, and the controller 4 determines whether the box door is in an open state according to the point cloud characteristic signal of the box door to prevent the box door from colliding with other surrounding boxes. For example, when it is determined that the door is open, the actuator 11 of the spreader 1 may be controlled to stop the lifting and stacking operations, and when the container lifting apparatus is provided with an alarm device, an alarm prompt may be generated by the alarm device.
It will be appreciated that the doors of the container are generally arranged in a longitudinal direction and the position of the second detection module 3 in this embodiment corresponds to the position of the doors. Further, the second single-wire radar 31 may employ the same type of device as the first single-wire radar 21.
In some embodiments of the invention, as shown in fig. 3, the first detection module 2 further comprises a single point lidar 22. In each first detection module 2, the single-point lidar 22 is located at a position close to the vertical edge on the corresponding side wall, that is, the single-point lidar 22 is located at a position close to the outer side on the side wall relative to the first single-line radars 21 in the same group. The single-point laser radar 22 emits a light spot signal vertically downwards, and when the light spot signal contacts a reflector and returns, a distance value from the reflector to the single-point laser radar 22 is obtained. When the stacking operation is performed, the controller 4 can identify whether the reflector is the bottom container according to the distance value, and further determine whether the deviation value of the target container 100 and the bottom container in the horizontal direction exceeds the normal range. It can be understood that the height of the container is a fixed value, when the target container 100 is accurately stacked on the bottom container, the light spot signal of the single-point laser radar 22 should be transmitted to the ground and then reflected, and the distance value should be the height value of the single-point laser radar 22; if the distance value of the reflector value single-point lidar 22 is smaller than the height value of the large-point lidar, for example, the distance value is smaller than the height of one container body, it indicates that the light spot signal is reflected back by the bottom container, and thus it can be determined that the deviation value between the target container 100 and the bottom container exceeds the normal range, at this time, the controller 4 can control the actuator 11 of the spreader 1 to perform adjustment operation, and the target container 100 is accurately stacked on the bottom container.
Further, as shown in fig. 2, in the horizontal direction, a distance L between a transmission path of a spot signal of the single-point laser radar 22 and an edge of the target position is in a range of 2cm to 5cm, that is, a maximum deviation value of the target container 100 and the bottom container in the horizontal direction is in a range of 2cm to 5cm, specifically, the distance L may be 3cm, that is, when the deviation value is not more than 3cm, the distance L falls within a normal range, and at this time, the single-point laser radar 22 cannot detect the bottom container, and may not perform an adjustment operation. It can be understood that if the maximum deviation value between the target container 100 and the bottom container is set too large, the accuracy of the stacking operation is affected, and there is a potential safety hazard.
It should be noted that the single-point laser radar 22 is not limited to be disposed in the first detection module 2, for example, in the example shown in fig. 5, when the second detection module 3 is disposed on the lifting appliance 1, the single-point laser radar 22 may also be disposed in the second detection module 3, the effect is the same as that of the single-point laser radar 22 in the first detection module 2, the accuracy of the detection result may also be improved by increasing the number of the single-point laser radars 22, and details are not repeated here.
In another embodiment of the present invention, as shown in fig. 6, the number of the first detection modules 2 is at least two, and two first detection modules 2 are respectively disposed on two opposite side walls of the spreader 1, for example, two side walls corresponding to the longitudinal direction of the container shown in fig. 6 (on the side wall on which the short side of the spreader 1 is located). The first detection modules 2 comprise three-dimensional radars 23, and scanning signals of the three-dimensional radars 23 are emitted outwards in a planar form, and the two first detection modules 2 are respectively arranged at positions close to two top angles of the spreader 1, so that the whole body of the target container 100 can be covered, point cloud characteristic signals of the target container 100 can be obtained, and specific positions of the target container 100 can be determined, so that basis is provided for hoisting operation. In addition, the three-dimensional radar 23 can scan the three-dimensional range and can also acquire height information, so that the accuracy of detection results can be further improved, and particularly, in the process of box stacking operation, point cloud characteristic signals and height data of the target container 100 and the bottom container can be detected simultaneously. Of course, the first detection module 2 in this embodiment may also be provided with a single-point laser radar 22, which is used in cooperation with the three-dimensional radar 23, and details are not repeated here.
In one embodiment of the invention, a hoisting control method is provided for the container hoisting device in any one of the above embodiments. As shown in fig. 7, the hoisting control method includes the following steps:
step S100: a first detection module acquires a first point cloud characteristic signal of a target container;
step S200: determining the corner position of the target container according to the first point cloud characteristic signal;
step S300: controlling a lifting appliance of container lifting equipment to lift a target container;
step S400: when the target container is positioned above the target position, second point cloud characteristic signals of the target container and the bottom container are obtained;
step S500: and performing box stacking operation on the target container according to the second point cloud characteristic signal, and performing deviation adjustment.
In the hoisting control method of the embodiment, when a target container is hoisted, a first point cloud characteristic signal of the target container is obtained through a first detection module of container hoisting equipment, so that a point cloud picture is obtained, the position of an angular point of the target container is determined, and the edge contour position of the target container is calculated. Then, by controlling a lifting appliance of container lifting equipment, lifting operation is carried out on a target container, including operations of grabbing the container, lifting, moving and the like, when the target container moves to the position above the target position (namely, the position above a bottom container to be subjected to box stacking operation), second point cloud characteristic signals of the target container and the bottom container are obtained through the first detection module, the position where the target container is to be placed during the box stacking operation is analyzed according to the second point cloud characteristic signals, then the box stacking operation is carried out, and finally deviation adjustment is carried out on the position of the target container, so that the target container is stacked on the bottom container more accurately.
It can be understood that if the deviation is large after the containers are stacked, the containers may topple or collide with other containers, and the safe production operation is affected. The hoisting control method in the embodiment can realize automatic hoisting and stacking operation of the container, can adjust deviation, can greatly improve the accuracy of the hoisting and stacking operation, and reduces potential safety hazards.
In addition, the hoisting control method in this embodiment also has all the beneficial effects of the container hoisting device in any of the above embodiments, and details are not repeated herein.
In one embodiment of the invention, a hoisting control method is provided for the container hoisting device in any one of the above embodiments. As shown in fig. 8, the hoisting control method includes the following steps:
step S100: a first detection module acquires a first point cloud characteristic signal of a target container;
step S200: determining the corner position of the target container according to the first point cloud characteristic signal;
step S310: adjusting the lifting appliance to be above the target container, controlling the lifting appliance to descend and lifting the target container;
step S320: the first detection module acquires a third point cloud characteristic signal of the area around the target container;
step S330: judging whether an adjacent container enters a target position according to the third point cloud characteristic signal to generate a first judgment result;
if the first determination result is yes, step S340 is executed: controlling the lifting appliance to stop operating, switching to a manual mode until the manual lifting operation is finished, and then executing the step S400;
if the first determination result is negative, directly executing step S400;
step S400: when the target container is positioned above the target position, second point cloud characteristic signals of the target container and the bottom container are obtained;
step S500: and performing box stacking operation on the target container according to the second point cloud characteristic signal, and performing deviation adjustment.
In the hoisting control method of this embodiment, step 300 in the above embodiment is further improved. When the target container is hoisted, the overall position of the sling is adjusted firstly, the sling is moved to the position above the target container, the sling is controlled to descend and hoist the target container, meanwhile, the first detection module acquires third point cloud characteristic signals around the target container in real time, the controller 4 forms a point cloud picture according to the third point cloud characteristic signals, whether other adjacent containers enter the target position in the area around the target container is judged, when the other containers enter the target position through the point cloud picture, the collision risk in the hoisting operation is shown, the sling is controlled to stop operating at the moment, the sling is switched to a manual mode, the manual hoisting operation is judged and completed by an operator, and therefore the safety in the operation process is improved. Thereafter, the spreader switches back to the automatic mode, and the subsequent steps continue.
In addition, the hoisting control method in this embodiment also has all the beneficial effects of the container hoisting device in any of the above embodiments, and details are not repeated herein.
In one embodiment of the invention, a hoisting control method is provided for the container hoisting device in any one of the above embodiments. As shown in fig. 9, the hoisting control method includes the following steps:
step S100: a first detection module acquires a first point cloud characteristic signal of a target container;
step S200: determining the corner position of the target container according to the first point cloud characteristic signal;
step S300: controlling a lifting appliance of container lifting equipment to lift a target container;
step S400: when the target container is positioned above the target position, second point cloud characteristic signals of the target container and the bottom container are obtained;
step S510: generating a point cloud picture according to the second point cloud characteristic signal;
step S520: deleting the characteristic points of the target container from the point cloud picture, and determining the corner position of the bottom container according to the deleted residual characteristic points;
step S530: controlling a lifting appliance to stack the target container on the top of the bottom container according to the position of the angular point of the bottom container;
step S540: and carrying out deviation detection and adjustment operation on the target container.
In the hoisting control method of the present embodiment, step 500 is further improved on the basis of the above-mentioned embodiments. Specifically, before the container stacking operation is performed, after a point cloud image is generated according to the second point cloud characteristic signal, the characteristic points corresponding to the target container in the point cloud image are deleted, the characteristic points corresponding to the bottom container are remained, the focal position of the container is determined according to the remained characteristic points corresponding to the bottom container, and then the position of the edge contour of the bottom container is identified. And then, taking the position of the bottom container as a target position, controlling the lifting appliance to carry out stacking operation on the target container, and stacking the target container on the top of the bottom container. And finally, carrying out deviation detection and adjustment operation on the box stacking operation result so as to improve the accuracy of the box stacking operation and reduce potential safety hazards.
In addition, the hoisting control method in this embodiment also has all the beneficial effects of the container hoisting device in any of the above embodiments, and details are not repeated herein.
In an embodiment of the present invention, there is provided a hoisting control method for a container hoisting apparatus in any one of the above embodiments, wherein the first detection module includes a first single line radar. As shown in fig. 10, the hoisting control method includes the following steps:
step S100: a first detection module acquires a first point cloud characteristic signal of a target container;
step S200: determining the corner position of the target container according to the first point cloud characteristic signal;
step S300: controlling a lifting appliance of container lifting equipment to lift a target container;
step S400: when the target container is positioned above the target position, second point cloud characteristic signals of the target container and the bottom container are obtained;
step S510: generating a point cloud picture according to the second point cloud characteristic signal;
step S520: deleting the characteristic points of the target container from the point cloud picture, and determining the corner position of the bottom container according to the deleted residual characteristic points;
step S530: controlling a lifting appliance to stack the target container on the top of the bottom container according to the position of the angular point of the bottom container;
step S541: a first single-line radar acquires fourth cloud characteristic signals of a target container and a bottom container;
step S542: judging whether the edge deviation value of the target container and the bottom container is greater than a first threshold value or not according to the fourth cloud characteristic signal, and generating a second judgment result;
if the second determination result is yes, the step S300 is repeatedly executed;
if the second determination result is negative, go to step S543;
step S543: and controlling the lifting appliance to loosen the target container to complete the box stacking operation.
In the hoisting control method of the present embodiment, step 540 is further improved on the basis of the above-mentioned embodiment. Specifically, after a target container is stacked on a bottom layer container, a fourth point cloud characteristic signal of the target container and the bottom layer container is obtained through first single-line radar scanning, the focus positions of the target container and the bottom layer container are identified, and then the edge positions of the target container and the bottom layer container are determined; calculating an edge deviation value, comparing the edge deviation value with a first threshold value, determining whether the edge deviation value is within a normal range, indicating that the stacking operation meets the requirement when the edge deviation value is within the normal range, and controlling a lifting appliance to loosen a target container to finish the stacking operation; and when the edge deviation value exceeds the normal range, controlling a lifting appliance of the container lifting equipment to lift the target container again so as to reduce the edge deviation value until the edge deviation value is reduced to the normal range, thereby improving the accuracy of stacking. The first threshold and the second threshold may be set according to actual conditions, for example, the first threshold may be set to 2cm to 5 cm.
In addition, the hoisting control method in this embodiment also has all the beneficial effects of the container hoisting device in any of the above embodiments, and details are not repeated herein.
In an embodiment of the present invention, a hoisting control method is provided, which is used for the container hoisting equipment in any one of the above embodiments, wherein the first detection module includes a first single line radar and a single point laser radar. As shown in fig. 7, the hoisting control method includes the following steps:
step S100: a first detection module acquires a first point cloud characteristic signal of a target container;
step S200: determining the corner position of the target container according to the first point cloud characteristic signal;
step S300: controlling a lifting appliance of container lifting equipment to lift a target container;
step S400: when the target container is positioned above the target position, second point cloud characteristic signals of the target container and the bottom container are obtained;
step S510: generating a point cloud picture according to the second point cloud characteristic signal;
step S520: deleting the characteristic points of the target container from the point cloud picture, and determining the corner position of the bottom container according to the deleted residual characteristic points;
step S530: controlling a lifting appliance to stack the target container on the top of the bottom container according to the position of the angular point of the bottom container;
step S544: a first single-line radar acquires fourth cloud characteristic signals of a target container and a bottom container;
step S545: judging whether the edge deviation value of the target container and the bottom container is greater than a first threshold value or not according to the fourth cloud characteristic signal, and generating a second judgment result;
if the second determination result is yes, the step S300 is repeatedly executed;
if the second determination result is negative, go to step S546;
step S546: the single-point laser radar acquires a distance value from a lower reflector to the single-point laser radar;
step S547: judging whether the distance value is smaller than a second threshold value or not, and generating a third judgment result;
if the third determination result is yes, the step S300 is repeatedly executed;
if the third determination result is no, step S548 is executed;
step S548: and controlling the lifting appliance to loosen the target container to complete the box stacking operation.
In the hoisting control method of the present embodiment, step 540 is further improved on the basis of the foregoing embodiment. After the target container is stacked on the bottom layer container, the fourth point cloud characteristic signals of the target container and the bottom layer container are obtained through first single-line radar scanning, the focus positions of the target container and the bottom layer container are identified, and then the edge positions of the target container and the bottom layer container are determined; calculating an edge deviation value, comparing the edge deviation value with a first threshold value, determining whether the edge deviation value is within a normal range, and controlling a lifting appliance of container lifting equipment to perform lifting operation and stacking operation on a target container again when the edge deviation value exceeds the normal range so as to reduce the edge deviation value; when the edge deviation value is within the normal range, further detecting through a single-point laser radar, obtaining a distance value between a reflector below and the single-point laser radar, further judging whether the edge deviation value between the target container and the bottom container exceeds the normal range or not by comparing the distance value with a second threshold value, if the distance value is smaller than the second threshold value, indicating that a light spot signal of the single-point laser radar is reflected by the bottom container and the edge deviation value exceeds the normal range, and controlling a lifting appliance to carry out lifting operation and box stacking operation on the target container again to reduce the edge deviation value; if the distance value is not smaller than the second threshold value, the single-point laser radar does not detect the bottom container, the light spot signal is transmitted by the ground, the container stacking operation meets the requirement, and at the moment, the lifting appliance is controlled to release the target container, so that the container stacking operation is completed. In this embodiment, the accuracy of the detection result can be further improved by detecting the deviation of the two sides.
It can be understood that the height of the container is fixed, the single-point laser radar is arranged on the side wall of the lifting appliance, the distance value difference obtained when the single-point laser radar detects the bottom container and does not detect the bottom container is close to the height of one box body, and whether the edge deviation value of the target container and the bottom container exceeds a normal value or not can be identified. The first threshold and the second threshold may be set according to actual conditions, for example, the first threshold may be set to 2cm to 5cm, and the second threshold may be set to a difference between a height of the single-point lidar and a height of one tank.
It should be noted that, the order of the two times of deviation detection in this embodiment may also be interchanged, that is, the detection is performed by the single-point laser radar first, and then the detection is performed by the first single-line radar, and also the two kinds of detection may be performed simultaneously, and the purpose of deviation detection may also be achieved.
In addition, the hoisting control method in this embodiment also has all the beneficial effects of the container hoisting device in any of the above embodiments, and details are not repeated herein.
In one embodiment of the present invention, there is provided a computer apparatus including: the hoisting control method comprises a processor and a memory, wherein the memory is electrically connected with the processor, the memory stores a computer program which is feasible by the processor, and the computer program executes the steps of any one of the hoisting control methods when the computer program is executed by the processor. The computer device in this embodiment should have all the beneficial effects of the hoisting control method in any of the above embodiments, and details are not described herein.
In an embodiment of the present invention, a readable storage medium is provided, in which a computer program is stored, and the computer program is executed by a processor to perform the steps of the hoisting control method in any one of the above. The readable storage medium in this embodiment should also have all the beneficial effects of the hoisting control method in any of the above embodiments, and details are not described here.
In addition, the engineering vehicle in this embodiment also has all the beneficial effects of the support assembly in any of the above embodiments, and details are not repeated herein.
The basic principles of the present invention have been described above with reference to specific embodiments, but it should be noted that the advantages, effects, etc. mentioned in the present invention are only examples and are not limiting, and the advantages, effects, etc. must not be considered to be possessed by various embodiments of the present invention. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the invention is not limited to the specific details described above.
The block diagrams of devices, apparatuses, systems involved in the present invention are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It is further noted that in the apparatus and device of the present invention, the components may be disassembled and/or reassembled. These decompositions and/or recombinations are to be regarded as equivalents of the present invention.
The computer program product of the present invention may be written 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 readable storage medium of the present invention 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.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the invention. Thus, the present invention is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalents and the like within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. A container handling apparatus, comprising:
a spreader;
the multiple groups of first detection modules are respectively arranged on different side walls of the lifting appliance and are configured to acquire point cloud characteristic signals of an area where a target container is located;
and the controller is electrically connected with the first detection module and is configured to determine the corner position of the target container according to the point cloud characteristic signal and control the lifting appliance to carry out lifting, stacking and deviation adjustment operations on the target container.
2. Container lifting device according to claim 1,
the number of the first detection modules is at least four, the first detection modules are respectively arranged on four side walls of the lifting appliance, and each first detection module is positioned on the corresponding side wall and close to a vertex angle;
the first detection module comprises a first single-line radar, the scanning direction of the first single-line radar is perpendicular to the corresponding side wall, and the first single-line radar is configured to acquire a point cloud characteristic signal of the side edge of the target container in the corresponding area.
3. The container handling apparatus of claim 2, further comprising:
at least two groups of second detection modules are respectively arranged on two side walls of the lifting appliance corresponding to the longitudinal direction of the target container, and the second detection modules are electrically connected with the controller;
the second detection module comprises a second single-line radar, the scanning direction of the second single-line radar is parallel to the corresponding side wall, and the second single-line radar is configured to acquire a point cloud characteristic signal of a door of the target container.
4. The container handling device of claim 2 or 3, wherein the first detection module further comprises:
the single-point laser radar is positioned close to the corresponding position, close to the vertical edge, on the side wall, the signal transmitting direction of the single-point laser radar is vertical and downward, and the single-point laser radar is configured to detect a container outside the edge of the target position area;
and in the horizontal direction, the distance between the signal emission path of the single-point laser radar and the edge of the target position is 2 cm-5 cm.
5. The container lifting device according to claim 1, wherein the number of the first detection modules is at least two, each of the first detection modules comprises at least one three-dimensional radar, and the two first detection modules are respectively disposed on two opposite side walls of the spreader and located at two opposite corners of the spreader.
6. A hoisting control method for a container hoisting apparatus according to any one of claims 1 to 5, comprising:
a first detection module acquires a first point cloud characteristic signal of a target container;
determining the corner position of the target container according to the first point cloud characteristic signal;
controlling a lifting appliance of the container lifting equipment to lift the target container;
when the target container is positioned above a target position, second point cloud characteristic signals of the target container and a bottom container are obtained;
and performing box stacking operation on the target container according to the second point cloud characteristic signal, and performing deviation adjustment.
7. The hoisting control method according to claim 6, wherein the controlling the spreader of the container hoisting device to perform the hoisting operation on the target container comprises:
adjusting a lifting appliance to be above the target container, controlling the lifting appliance to descend and lifting the target container;
the first detection module acquires a third point cloud characteristic signal of the area around the target container;
judging whether an adjacent container enters the target position or not according to the third point cloud characteristic signal, and generating a first judgment result;
if the first judgment result is yes, controlling the lifting appliance to stop operating, and switching to a manual mode until manual lifting operation is completed;
and if the first judgment result is negative, executing the next step.
8. The hoisting control method according to claim 6, wherein the stacking operation of the target container according to the second point cloud characteristic signal and the deviation adjustment comprise:
generating a point cloud picture according to the second point cloud characteristic signal;
deleting the feature points of the target container from the point cloud picture, and determining the corner position of the bottom layer container according to the deleted residual feature points;
controlling the spreader to stack the target container on the top of the bottom layer container according to the position of the corner point of the bottom layer container;
and carrying out deviation detection and adjustment operation on the target container.
9. The hoist control method of claim 8, wherein the first detection module includes a first single line radar, and the performing a deviation detection and adjustment operation on the target container includes:
the first single-wire radar acquires fourth point cloud characteristic signals of the target container and the bottom layer container;
judging whether the edge deviation value of the target container and the bottom container is greater than a first threshold value or not according to the fourth point cloud characteristic signal, and generating a second judgment result;
if the second judgment result is yes, re-executing the steps of: controlling a lifting appliance of the container lifting equipment to lift the target container;
and if the second judgment result is negative, controlling the lifting appliance to loosen the target container to finish the container stacking operation.
10. The hoist control method of claim 8, wherein the first detection module includes a first single line radar and a single point laser radar, and the performing the deviation detection and adjustment operation on the target container includes:
the first single-wire radar acquires fourth point cloud characteristic signals of the target container and the bottom layer container;
judging whether the edge deviation value of the target container and the bottom container is greater than a first threshold value or not according to the fourth point cloud characteristic signal, and generating a second judgment result;
if the second judgment result is yes, re-executing the steps of: controlling a lifting appliance of the container lifting equipment to lift the target container;
if the second judgment result is negative, the single-point laser radar acquires a distance value from a lower reflector to the single-point laser radar;
judging whether the distance value is smaller than a second threshold value or not, and generating a third judgment result;
if the third judgment result is yes, the following steps are executed again: controlling a lifting appliance of the container lifting equipment to lift the target container;
and if the third judgment result is negative, controlling the lifting appliance to loosen the target container to finish the container stacking operation.
11. A computer device, comprising:
a processor and a memory, the memory being electrically connected to the processor, the memory storing a computer program operable with the processor, the computer program when executed by the processor performing the steps of the hoist control method according to any one of claims 6 to 10.
12. A readable storage medium, in which a computer program is stored which, when being executed by a processor, performs the steps of the hoist control method according to any one of claims 6 to 10.
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Effective date of registration: 20220804 Address after: 519050 west side of Liandao dike, Gaolan Port Economic Zone, Zhuhai City, Guangdong Province Applicant after: ZHUHAI SANYI HARBOR MACHINERY Co.,Ltd. Address before: 519000 1st floor, office building, No. 631, Sanhu Avenue, Pingsha Town, Zhuhai City, Guangdong Province Applicant before: SANY MARINE HEAVY INDUSTRY Co.,Ltd. |