CN115432574A - Cabin entering and exiting hoisting equipment based on 5G, and docking method and system - Google Patents

Abstract

The invention provides cabin entering and exiting lifting equipment based on 5G, a butt joint method and a butt joint system, wherein the cabin entering and exiting lifting equipment based on 5G comprises: a locking device mounted on the cabin cleaning machine; the device comprises a device to be locked, a control unit and a control unit, wherein the device to be locked is arranged on a crane; the locking device is matched with the device to be locked to hoist the cabin cleaning machine; a guide device mounted on the locking device, the guide device configured to provide a docking beacon; an identification device mounted on the crane and/or the cabin clearing machine, the identification device being configured to identify the position of the guiding device and/or the device to be locked; and a control device connected with the recognition device and the to-be-locked device, the control device being configured to adjust a position of the to-be-locked device according to a position of the guide device. The invention can improve the butt joint efficiency when the cabin enters and exits for lifting.

Description

Cabin entering and exiting hoisting equipment based on 5G, and docking method and system

Technical Field

The invention relates to the technical field of cabin cleaning machines, in particular to cabin entering and exiting lifting equipment based on 5G, a butt joint method and a butt joint system.

Background

The cabin cleaning machine is a special machine which concentrates residual cargos which cannot be grabbed by the grab bucket and are left at the bottom of a cabin and dead corners of the cabin to the bottom of a hatch for further ship unloading operation when the ship unloading operation is carried out on dry bulk cargos by the grab bucket and other tools. In the process of hoisting, entering and exiting the cabin cleaning machine, a crane driver usually controls a crane hook to align to the cabin cleaning machine, and two or more workers pick up the hook to realize the butt joint of the crane and the cabin cleaning machine. However, the hook is manually picked, so that the time consumption is long when the hook is lifted, more manpower needs to be wasted, the lifting time is too long, and the working efficiency is low.

Disclosure of Invention

In view of this, embodiments of the present invention provide a 5G-based cabin entering and exiting lifting device, a docking method, and a docking system, which can improve docking efficiency during cabin entering and exiting lifting.

According to an aspect of the present invention, a 5G-based in-and-out-of-cabin hoisting apparatus provided by an embodiment of the present invention includes: a locking device mounted on the cabin cleaning machine; the device comprises a device to be locked, a control unit and a control unit, wherein the device to be locked is arranged on a crane; the locking device is matched with the device to be locked to hoist the cabin cleaning machine; a guide device mounted on the locking device, the guide device configured to provide a docking beacon; an identification device mounted on the crane and/or the cabin clearing machine, the identification device being configured to identify the position of the guiding device and/or the device to be locked; and a control device connected with the recognition device and the to-be-locked device, the control device being configured to adjust a position of the to-be-locked device according to a position of the guide device.

In one embodiment, the identification means comprises: a collecting mechanism installed on the crane, the collecting mechanism configured to collect position information of the docking beacon to obtain a horizontal distance between the device to be locked and the guiding device; and/or a scanning mechanism mounted on the locking device, the scanning mechanism configured to scan the position of the device to be locked to obtain the vertical distance between the device to be locked and the guiding device.

In one embodiment, the guiding device comprises an indicator light, and the locking device comprises a housing, the indicator light is mounted on the housing, and the housing is connected with the cabin cleaning machine; wherein the indicator light emits the docking beacon.

According to another aspect of the invention, an embodiment of the invention provides a docking method for a 5G-based cabin entering and exiting lifting device, which is applied to a control device of the 5G-based cabin entering and exiting lifting device, and the docking method for the 5G-based cabin entering and exiting lifting device comprises the following steps: identifying a location of a docking beacon; regulating and controlling the position of the device to be locked according to the position of the docking beacon; and when the distance between the to-be-locked device and the docking beacon is less than a preset distance, descending the to-be-locked device to dock.

In an embodiment, the adjusting and controlling the position of the device to be locked according to the position of the docking beacon includes: determining the horizontal relative position of the docking beacon and the device to be locked according to the position of the docking beacon; and regulating and controlling the distance between the device to be locked and the docking beacon to be smaller than the preset distance according to the horizontal relative position.

In an embodiment, the descending the to-be-locked device for docking when the distance between the to-be-locked device and the docking beacon is less than a preset distance includes: when the horizontal distance between the center point of the device to be locked and the center point of the docking beacon is smaller than the preset distance, descending the device to be locked; the device to be locked is in matched butt joint with the locking device.

In an embodiment, the descending the to-be-locked device when the distance between the to-be-locked device and the docking beacon is less than a preset distance includes: and when the distance between the to-be-locked device and the docking beacon is less than a preset horizontal distance and the vertical distance between the to-be-locked device and the docking beacon is greater than a preset vertical distance, vertically descending the to-be-locked device at a first speed.

In an embodiment, the descending the to-be-locked device when the distance between the to-be-locked device and the docking beacon is less than a preset distance includes: and when the distance between the to-be-locked device and the docking beacon is less than a preset horizontal distance and the vertical distance between the to-be-locked device and the docking beacon is less than or equal to a preset vertical distance, vertically descending the to-be-locked device at a second speed.

In an embodiment, the docking method of the 5G-based in-out cabin lifting equipment further comprises: when the device to be locked is completely butted with the locking device, a butting completion instruction is sent out; and stopping descending the to-be-locked device and lifting the cabin cleaning machine according to the butt joint completion instruction.

According to another aspect of the present invention, an embodiment of the present invention provides a 5G-based in-out cabin hoisting system, including: a crane, said crane comprising a bridge like mechanism; clearing the cabin; the cabin entering and exiting lifting equipment comprises a locking device, a device to be locked, a guiding device and an identification device, wherein the guiding device is installed on the locking device, the identification device is installed on the trunk mechanism and/or the locking device, and the device to be locked is installed at the bottom of the trunk mechanism during lifting; the in-and-out cabin lifting equipment further comprises a control device, the control device is in communication connection with the crane and the cabin cleaning machine, and the control device is configured to execute the butt joint method of the in-and-out cabin lifting equipment in any one embodiment.

According to the 5G-based cabin entering and exiting lifting equipment, the docking method and the docking system, the action of the crane does not need to be adjusted manually, the guiding device is automatically identified through the identification device, the device to be locked is automatically adjusted to be aligned with the locking device through the control device, automatic docking of the crane and the cabin cleaning machine is achieved, the docking control difficulty of a crane driver is reduced, the docking time is shortened, and the docking efficiency is improved.

Drawings

Fig. 1 is a schematic structural diagram of a 5G-based in-out cabin hoisting system according to an exemplary embodiment of the present application.

Fig. 2 is a schematic structural diagram of a 5G-based in-out cabin hoisting system according to another exemplary embodiment of the present application.

Fig. 3 is a schematic structural diagram of a 5G-based in-out cabin hoisting device according to an exemplary embodiment of the present application.

Fig. 4 is a schematic structural diagram of a 5G-based in-and-out cabin hoisting device according to another exemplary embodiment of the present application.

Fig. 5 is a schematic flow chart of a docking method of a 5G-based in-out capsule handling apparatus according to an exemplary embodiment of the present application.

Fig. 6 is a schematic engineering flow diagram of a 5G-based cabin entering and exiting lifting device according to an exemplary embodiment of the present application.

Fig. 7 is a block diagram of an electronic device provided in an exemplary embodiment of the present application.

Description of reference numerals: 2. the cabin entering and exiting lifting system is based on 5G; 21. a crane; 22. clearing the cabin; 23. cabin entering and exiting lifting equipment; 231. a guide device; 2311. an indicator light; 2312. a clamping mechanism; 2313. a locking mechanism; 2314. a controller; 2315. a housing; 232. an identification device; 2321. a collection mechanism; 2322. a scanning mechanism; 233. a device to be locked; 2331. a T-shaped lifting hook; 234. a control device; 2340. a central control room; 2341. a cloud AI server; 2342. a remote control console; 235. a locking device; 3. a bulk carrier; 31. a hold.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.

Further, in the exemplary embodiments, since the same reference numerals denote the same components having the same structure or the same steps of the same method, if an embodiment is exemplarily described, only a structure or a method different from the already described embodiment is described in other exemplary embodiments.

Throughout the specification and claims, when one element is described as being "connected" to another element, the one element may be "directly connected" to the other element or "electrically connected" to the other element through a third element. Furthermore, unless explicitly described to the contrary, the term "comprising" and its corresponding terms should only be taken as including the stated features, but should not be taken as excluding any other features.

Exemplary System

Fig. 1 is a schematic structural diagram of a 5G-based in-out cabin hoisting system according to an exemplary embodiment of the present application, and as shown in fig. 1, the 5G-based in-out cabin hoisting system 2 includes: the crane 21, the crane 21 includes like the nose bridge organization; a cabin cleaning machine 22; the in-out cabin lifting equipment 23 comprises a guiding device 231, an identification device 232, a device to be locked 233 and a locking device 235, wherein the guiding device 231 is installed on the locking device 235, the identification device 232 is installed on the trunk mechanism and/or the locking device 235, and the device to be locked 233 is installed at the bottom of the trunk mechanism during lifting; the in-out cabin lifting equipment 23 further comprises a control device 234, the control device 234 is in communication connection with the crane 21 and the cabin cleaning machine 22, and the control device 234 is configured to execute the docking method of the 5G-based in-out cabin lifting equipment provided by the application.

Fig. 2 is a schematic structural diagram of a 5G-based in-out lifting system according to another exemplary embodiment of the present application, and as shown in fig. 1 and fig. 2, the 5G-based in-out lifting system 2 includes a crane 21 (e.g., a gantry crane) and a cabin cleaner 22, the crane 21 is used for lifting the cabin cleaner 22, lifting the cabin cleaner 22 from a land side into the cabin 3 of the bulk cargo ship 3 at a sea side, enabling the cabin cleaner 22 to perform a cabin cleaning operation into the cabin 3, or lifting the cabin cleaner 22 from the cabin 3 at the sea side to the land side.

The in-out cabin lifting equipment 23 is used for realizing butt joint between the crane 21 and the cabin cleaning machine 22, and when the cabin cleaning machine 22 needs to be lifted, the in-out cabin lifting equipment 23 is used for butt joint, so that the crane 21 can lift the cabin cleaning machine 22. For example, the recognition device 232 may be a collecting mechanism 2321, the collecting mechanism 2321 may be a camera, the device 233 (e.g., a T-shaped hook 2331) to be locked is mounted at the bottom end of the nose bridge mechanism, and the T-shaped hook 2331 is used for connecting with a locking device 235 mounted on the cabin cleaner 22 to lift the cabin cleaner 22.

The control device 234 is in communication with the crane 21 and the cabin cleaning machine 22 respectively, for example, using a 5G network. Control device 234 can be central control room 2340, central control room 2340 can include high in the clouds AI server 2341 and remote control station 2342, high in the clouds AI server 2341 carries out TCP Communication with remote control station 2342, wherein, high in the clouds AI server 2341 carries out 5G Communication (5 th Generation Mobile Communication Technology, fifth Generation Mobile Communication Technology) with hoist 21 and connects, remote control station 2342 carries out 5G Communication connection with clear cabin machine 22, construct the handling system of getting in and out of cabin based on 5G Communication, 5G Communication Technology has high rate, low time delay and big connection characteristics, consequently, this application utilizes the characteristics of 5G Communication high rate, low delay to accomplish data transmission and control command transmission, realize the function of automatic butt joint automatic handling.

The control device 234 (i.e., the central control room 2340) may be configured to perform remote data analysis, for example, after the real-time image is collected by the recognition device 232 of the cabin cleaning machine 22, the real-time image is transmitted to the cloud AI server 2341, and is recognized and resolved by the cloud AI server 2341, and after a control command is calculated, the crane 21 is controlled to move, so that the to-be-locked device 233 on the crane 21 is aligned with the locking device 235, and finally falls into the locking device 235. When the recognition device 232 recognizes the docking beacon sent by the guidance device 231 of the cabin cleaning machine 22, the cloud AI server calculates the horizontal distance between the locking device 233 and the guidance device 231, and sends a command to the remote console 2342, and the remote console 2342 controls the locking device 233 to be aligned with the guidance device 231.

The frame body of the cabin cleaning machine 22 can be provided with a locking device 235, the locking device 235 is provided with a guiding device 231, the to-be-locked device 233 is clamped and matched with the locking device 235 during lifting, when the cabin cleaning machine 22 does not need lifting, the to-be-locked device 233 can be clamped and stored on the locking device 235, when the to-be-locked device 233 needs lifting, the to-be-locked device 233 is taken out and connected to the bottom end of a trunk mechanism of the crane 21 through a steel rope, the position of the to-be-locked device 233 is adjusted by controlling the trunk mechanism of the crane 21, and butt joint of the to-be-locked device 233 and the locking device 235 is achieved. The recognition device 232 is installed on the bridge mechanism of the crane 21, and is used for recognizing the position distance between the to-be-locked device 233 at the bottom of the bridge mechanism of the crane 21 and the guide device 231 during lifting, and providing data basis for subsequent position adjustment.

Exemplary device

Fig. 3 is a schematic structural diagram of a 5G-based in-and-out cabin lifting apparatus according to an exemplary embodiment of the present application, and as shown in fig. 3, the 5G-based in-and-out cabin lifting apparatus 23 includes: a locking device 235, wherein the locking device 235 is arranged on the cabin cleaning machine 22; a to-be-locked device 233, the to-be-locked device 233 being mounted on the crane 21; wherein the locking device 235 and the device to be locked 233 are matched for lifting the cabin cleaning machine 22; a guide 231, the guide 231 being mounted on the locking device 235, the guide 231 being configured to provide a docking beacon; an identification device 232, the identification device 232 being mounted on the crane 21 and/or the cabin cleaning machine 22, the identification device 232 being configured to identify the position of the guiding device 231 and/or the to-be-locked device 233; and a control device (not shown in the drawings) connected to the recognition device 232 and the to-be-locked device 233, the control device being configured to adjust the position of the to-be-locked device 233 according to the position of the guide device 231.

The guiding device 231 is mounted on the locking device 235 for providing guidance for the docking during handling, for example, providing a docking beacon to facilitate docking identification of the crane 21. The recognition device 232 is installed at the position like the bridge of the nose of the crane 21 for recognizing the position of the guide 231 for the crane 21 when the crane 21 is performing the lifting. The device to be locked 233 is matched with the locking device 235, the device to be locked 233 is installed on the crane 21 when being lifted and transported and is used for connecting the crane 21 and the cabin cleaning machine 22, and the device to be locked 233 is clamped in the locking device 235 and is stored on the cabin cleaning machine 22 when not being lifted and transported. When the cabin cleaning machine 22 needs to be lifted, the device to be locked 233 is fixed on the crane 21 through a rope for lifting work. The control device is used for instructing the crane 21 to move according to the position of the guide device 231, so that the butt joint is efficiently completed.

The control device (not shown) can be communicatively connected to the identification device 232, the device to be locked 233, and the locking device 235.

The recognition device 232 may be a camera mounted on one side of the nose bridge mechanism for real-time recognition of the docking beacon of the guide device 231 on the body of the cabin cleaning machine 22. For example, the docking beacon in the real-time screen is recognized through an image recognition algorithm, and the horizontal distance between the camera and the docking beacon is calculated according to the image algorithm, so that the horizontal distance between the to-be-locked device 233 installed on the crane 21 and the guiding device 231 is obtained, and the horizontal position of the to-be-locked device 233 can be adjusted according to the horizontal distance, so that the center points of the to-be-locked device 233 and the guiding device 231 can coincide with each other, or the distance between the center points is smaller than the preset center point distance. Besides adopting a camera to identify the docking beacon, the docking beacon can also be identified by adopting modes such as laser positioning and the like. The identification means 232 may also employ a laser radar mounted on the locking means 235 for identifying the vertical distance between the device to be locked 233 and the guiding means 231. Due to the fact that the to-be-locked device 233 is connected with the crane 21 through the steel rope, the to-be-locked device 233 swings when descending, positioning errors are caused, and therefore the to-be-locked device 233 can be further positioned through the laser radar, and finally the to-be-locked device 233 is enabled to be matched with the locking device 235 accurately.

The application provides a business turn over cabin handling equipment 23 need not the action of artificial regulation hoist 21, through recognition device 232 autonomous recognition guiding device 231, combines controlling means 234 automatic adjustment to treat that locking device 233 aims at locking device 235, realizes hoist 21 and clear cabin machine 22's automatic butt joint, has reduced crane driver's the butt joint and has controlled the degree of difficulty, has reduced the butt joint time, has improved butt joint efficiency.

Fig. 4 is a schematic structural diagram of a 5G-based in-and-out cabin hoisting device according to another exemplary embodiment of the present application, and as shown in fig. 4, the identification device 232 may include: the acquisition mechanism 2321, the acquisition mechanism 2321 is installed on the crane 21, and the acquisition mechanism 2321 is configured to acquire the position information of the docking beacon to obtain the horizontal distance between the device to be locked 233 and the guiding device 231; and/or a scanning mechanism 2322, the scanning mechanism 2322 being mounted on the locking device 235, the scanning mechanism 2322 being configured to scan the position of the to-be-locked device 233 to obtain the vertical distance between the to-be-locked device 233 and the guide device 231.

The capturing mechanism 2321 may employ a camera mounted on one side of the nose bridge mechanism for real-time identification of the docking beacon of the guide 231 on the fuselage of the cabin cleaning machine 22. For example, by using an image recognition algorithm, a docking beacon in a real-time picture is collected in real time, and the picture is sent back to the central control room, and the cloud AI server calculates the horizontal distance between the camera and the docking beacon according to the image algorithm, so as to obtain the horizontal distance between the to-be-locked device 233 mounted on the crane 21 and the guiding device 231, and the horizontal position of the to-be-locked device 233 can be adjusted according to the horizontal distance, so that the center points of the to-be-locked device 233 and the guiding device 231 can be overlapped or the distance between the center points is smaller than the preset center point distance.

The scanning mechanism 2322 is installed on the locking device 235 and is used for identifying the vertical distance between the guiding device 231 and the locking device 235, that is, the scanning mechanism 2322 can be used for determining the vertical distance between the crane 21 and the cabin cleaning machine 22, and according to the vertical distance, the descending speed of the to-be-locked device 233 on the crane 21 can be regulated and controlled, so that the aim of accurate docking is achieved while the docking efficiency is improved. Because treat between lock device 233 and hoist 21 through steel cable connection, treat that lock device 233 can produce the swing when descending, lead to the location to produce the error, therefore, can adopt laser radar, whether the vertical distance of installing a plurality of laser radar detection between lock device 233 and the guider 231 is constantly reducing, through a plurality of laser radar discernment vertical distance, whether real-time detection treats lock device 233 and guider 231 and aims at, only when a plurality of laser radar all detected that vertical distance constantly reduces, just can confirm treat that lock device 233 and guider 231 aim at, satisfy the handling requirement, further improve the positioning accuracy who treats lock device 233.

In one embodiment, as shown in fig. 4, the guiding device 231 comprises an indicator light 2311, the locking device 235 comprises a housing 2315, the indicator light 2311 is mounted on the housing 2315, and the housing 2315 is connected with the cabin cleaning machine 22; among them, the indicator lamp 2311 emits a docking beacon.

The guiding device 231 may use an indicator light 2311 as a guide, the indicator light 2311 emits a docking beacon for the identification device 232 to identify, and the locking device 235 may include a clamping mechanism 2312, a locking mechanism 2313, a controller 2314 and a housing 2315. The clamping mechanism 2312 has a clamping area; the locking mechanism 2313 is linked with the gripping mechanism 2312, the locking mechanism 2313 being configured to: the controller 2314 is in communication connection with the locking mechanism 2313 and the control device 234, and the controller 2314 is configured to control the locking mechanism 2313 to be switched into the first state or the second state according to different control signals.

For example, the clamping mechanism 2312 may include a first hook and a second hook forming a clamping area therebetween, and the to-be-locked device 233 may include a T-shaped hook. The T-shaped lifting hook falls between the first hook and the second hook, the first hook and the second hook are switched to a second state from a first state after receiving signals, the T-shaped lifting hook is locked, the T-shaped lifting hook is prevented from being separated from a clamping area, and therefore the crane 2121 can lift the cabin cleaning machine 22. Specifically, the locking device 235 may further include a sensing mechanism, the sensing mechanism may detect whether the device 233 enters the clamping area, and when the device 233 enters the clamping area, the locking mechanism 2313 may be operated to close the clamping area. The sensing mechanism can be selected from various sensors such as a limit switch, an angle sensor, a proximity switch and a photoelectric sensor, for example, when the sensing mechanism adopts the proximity switch, the detection end of the proximity switch is aligned with the clamping area to detect whether an object enters the clamping area.

Exemplary method

Fig. 5 is a schematic flow chart of a docking method of a 5G-based in-and-out-of-cabin hoisting device according to an exemplary embodiment of the present application. As shown in fig. 5, the docking method for the cabin entering and exiting lifting equipment based on 5G is applied to the control device of the cabin entering and exiting lifting equipment, and comprises the following steps:

step 100: the location of the docking beacon is identified.

For example, the identification device adopts a camera which is vertically installed downwards and used for collecting a picture which can be seen by the vertical downwards of the device to be locked, the camera collects a real-time picture, the picture information is transmitted to a cloud terminal AI server in the control device, the cloud terminal AI server identifies the docking beacon in the picture, and the relative position of the docking beacon in the real-time picture is calculated in real time.

Step 200: and regulating and controlling the position of the device to be locked according to the position of the docking beacon.

And after the cloud AI server calculates the relative position of the docking beacon relative to the camera, calculating a horizontal plane motion control instruction of the device to be locked in real time, sending the horizontal plane motion control instruction to the crane, and adjusting the horizontal position of the device to be locked by the crane according to the instruction.

Step 300: and when the distance between the to-be-locked device and the docking beacon is less than the preset distance, descending the to-be-locked device to perform docking.

When the horizontal distance between the camera optical center and the docking beacon center is smaller than the preset distance or the camera optical center is coincident with the docking beacon center, the cloud AI server calculates the motion control instruction of the vertical descending to-be-locked device in real time, sends the vertical motion control instruction to the crane, and the crane descends to-be-locked device for docking.

In an embodiment, the step 200 may include: determining the horizontal relative position of the docking beacon and the device to be locked according to the position of the docking beacon; and regulating the distance between the device to be locked and the docking beacon to be smaller than a preset distance according to the horizontal relative position.

The identification device is used for collecting a picture which can be seen vertically downwards by the lock device, the camera collects a real-time picture, the picture information is transmitted to the cloud AI server in the control device, the docking beacon in the picture is identified by the cloud AI server, the position of the docking beacon in the real-time picture is calculated in real time, the horizontal relative distance between the docking beacon and the lock device is calculated, the horizontal plane motion direction and the horizontal plane motion distance of the lock device are calculated in real time according to the horizontal relative distance, a horizontal plane motion control instruction is generated, the horizontal plane motion control instruction is sent to the crane, and the horizontal position of the lock device is adjusted by the crane according to the instruction.

In one embodiment, the step 300 may include: when the horizontal distance between the center point of the device to be locked and the center point of the docking beacon is smaller than the preset distance, descending the device to be locked; the device to be locked is matched and butted with the locking device.

The preset distance may also be set to 0, that is, when the central point of the to-be-locked device coincides with the central point of the docking beacon, the to-be-locked device may also be lowered. The preset distance can also be set to other numerical values, and when the central point of the to-be-locked device is close to the central point of the docking beacon, the to-be-locked device descends to enable the to-be-locked device to be clamped in the locking device, so that docking is achieved. The setting is less than this condition of distance of predetermineeing when the horizontal distance of the central point of treating the lock device and the central point of butt joint beacon, can ensure to treat that lock device and guiding device can remote alignment, makes and treats that the lock device can fall into locking device's joint scope after descending, realizes automatic joint. For example, the locking device may include a clamping mechanism, a locking mechanism, a controller, and a housing. The clamping mechanism is provided with a clamping area; the locking mechanism is linked with the clamping mechanism, and the locking mechanism is structured as follows: the controller is in communication connection with the locking mechanism and the control device, and the controller is configured to control the locking mechanism to be switched into the first state or the second state according to different control signals. The clamping mechanism can comprise a first hook and a second hook, a clamping area is formed between the first hook and the second hook, and the device to be locked can comprise a T-shaped hook. The descending T-shaped lifting hook falls into the space between the first hook and the second hook, the first hook and the second hook are switched into a second state from the first state after receiving signals, the T-shaped lifting hook is locked, the T-shaped lifting hook is prevented from being separated from a clamping area, and therefore the crane can lift the cabin cleaning machine.

In an embodiment, the step 300 may include: and when the distance between the to-be-locked device and the docking beacon is smaller than the preset horizontal distance and the vertical distance between the to-be-locked device and the docking beacon is larger than the preset vertical distance, vertically descending the to-be-locked device at a first speed.

When the distance between the to-be-locked device and the docking beacon is smaller than the preset horizontal distance, the to-be-locked device can be determined to be aligned with the guiding device, and the to-be-locked device can be clamped with the guiding device when descending at the position. And when the vertical distance between the to-be-locked device and the docking beacon is larger than the preset vertical distance, the crane can be controlled to descend at the first speed. Treat that the vertical distance of lock device and butt joint beacon can be scanned by scanning mechanism, for example, scanning mechanism can adopt laser radar to two laser radar of installation, two laser radar are located guider's both sides respectively, and when two laser radar all scan treat that the vertical distance of lock device and butt joint beacon is when reducing, can the secondary confirm treat that lock device and locking device align. When the vertical distance between the device to be locked and the docking beacon is far, the device can be descended at a higher speed, and the descending speed is higher without generating collision danger because the distance is far.

In an embodiment, the step 300 may include: and when the distance between the to-be-locked device and the docking beacon is smaller than the preset horizontal distance and the vertical distance between the to-be-locked device and the docking beacon is smaller than or equal to the preset vertical distance, vertically descending the to-be-locked device at a second speed.

The second speed is smaller than the first speed, the preset vertical distance can be a safe distance, when the vertical distance between the to-be-locked device and the docking beacon is larger than the preset vertical distance, the to-be-locked device can descend at the faster first speed to improve the docking efficiency, when the vertical distance between the to-be-locked device and the docking beacon is smaller than or equal to the preset vertical distance, the descending speed is switched to be the second speed, the to-be-locked device vertically descends at the slower second speed compared with the first speed, it is ensured that the to-be-locked device and the locking device cannot generate violent collision, the device is damaged, safe and stable docking between the to-be-locked device and the locking device is ensured, and the docking safety is improved.

In one embodiment, the docking method for the 5G-based in-out cabin lifting equipment further comprises the following steps: when the to-be-locked device is in butt joint with the cabin cleaning machine, a butt joint completion instruction is sent; and stopping descending the to-be-locked device and lifting the cabin cleaning machine according to the butt joint completion instruction.

For example, the locking device may further comprise a sensing mechanism, the sensing mechanism may detect whether the device to be locked enters the clamping area, and the locking mechanism may be operated to close the clamping area after detecting that the device to be locked enters the clamping area. The sensing mechanism can be selected from various sensors such as a limit switch, an angle sensor, a proximity switch and a photoelectric sensor, for example, when the sensing mechanism adopts the proximity switch, the detection end of the proximity switch is aligned with the clamping area to detect whether an object enters the clamping area. When the proximity switch detects that the device to be locked is already in butt joint with the locking device, the remote console sends information for completing the butt joint to the cloud AI server, the cloud AI server stops sending an instruction for controlling the movement of the crane, stops descending the device to be locked, determines that automatic butt joint is completed, and then can execute lifting.

Exemplary workflow

Fig. 6 is a schematic engineering flow diagram of a 5G-based in-and-out cabin lifting apparatus according to an exemplary embodiment of the present application, and as shown in fig. 6, the exemplary workflow may be combined with the exemplary system or the exemplary apparatus mentioned in the above embodiments, and the workflow is exemplified by lifting a cabin cleaning machine from a cabin to land, and the workflow may include: the device to be locked is fixed at the bottom of the trunk bridge mechanism of the crane, the driver of the crane first controls the crane to reach near above the hatch of the cabin (step 81), and the driver of the crane controls the device to be locked to be approximately aligned with the locking device. After confirming that the position is feasible, the crane driver sends an automatic docking instruction to the control device (step 82), and the cloud AI server in the control device identifies the picture acquired by the identification device and determines the position of the docking beacon in the picture (step 83). And identifying whether a docking beacon is detected or not (step 84), calculating the relative position of the docking beacon in a picture in real time by the cloud AI server after the docking beacon is detected (step 85), calculating a horizontal plane motion control command in real time by the cloud AI server, and sending the horizontal plane motion control command to the crane (step 86). The crane automatically adjusts the horizontal position of the device to be locked (step 87).

And the cloud AI server identifies the coincidence degree of the camera optical center and the docking beacon center (step 88), and when the camera optical center coincides with the docking beacon center or the distance between the camera optical center and the docking beacon center is smaller than a preset distance, the cloud AI server calculates a vertical hook falling motion control instruction in real time and sends the vertical hook falling motion control instruction to the crane (step 89). The crane now automatically adjusts the vertical lowering of the device to be locked at a first speed (step 90). And (5) sending the detection result of the laser radar on the cabin cleaning machine to a cloud AI server in real time (step 91), and adjusting to be descending at a second speed when the two laser radars detect that the distance between the device to be locked is continuously reduced (step 92) and the distance between the device to be locked and the guiding device is less than a preset vertical distance (step 93).

When the proximity switch in the locking device detects that the T-shaped hook has fallen into the clamping mechanism in the locking device (step 94), the remote console sends a docking completion message to the cloud AI server (step 95), the cloud AI server stops sending an instruction for controlling the crane movement (step 96), and the automatic docking process is completed (step 97).

Exemplary electronic device

Next, an electronic apparatus according to an embodiment of the present application is described with reference to fig. 7. The electronic device may be either or both of the first device and the second device, or a stand-alone device separate from them, which stand-alone device may communicate with the first device and the second device to receive the acquired input signals therefrom.

FIG. 7 illustrates a block diagram of an electronic device in accordance with an embodiment of the present application.

As shown in fig. 7, the electronic device 10 includes one or more processors 11 and memory 12.

The processor 11 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

Memory 12 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer readable storage medium and executed by the processor 11 to implement the docking method for the 5G-based in-and-out capsule handling apparatus of the various embodiments of the present application described above and/or other desired functions. Various contents such as an input signal, a signal component, a noise component, etc. may also be stored in the computer-readable storage medium.

In one example, the electronic device 10 may further include: an input device 13 and an output device 14, which are interconnected by a bus system and/or other form of connection mechanism (not shown).

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

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

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

Of course, for simplicity, only some of the components of the electronic device 10 relevant to the present application are shown in fig. 7, and components such as buses, input/output interfaces, and the like are omitted. In addition, the electronic device 10 may include any other suitable components depending on the particular application.

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

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

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

Claims (10)

1. The utility model provides an business turn over cabin handling equipment based on 5G, is applied to clear cabin machine, its characterized in that includes:

a locking device mounted on the cabin cleaning machine;

the device comprises a device to be locked, a control unit and a control unit, wherein the device to be locked is arranged on a crane; the locking device is matched with the device to be locked to hoist the cabin cleaning machine;

a guide device mounted on the locking device, the guide device configured to provide a docking beacon;

an identification device mounted on the crane and/or the cabin clearing machine, the identification device being configured to identify the position of the guiding device and/or the device to be locked; and

a control device connected with the recognition device and the to-be-locked device, the control device being configured to adjust a position of the to-be-locked device according to a position of the guide device.

2. The 5G-based in-and-out handling apparatus of claim 1, wherein the identification means comprises:

a collecting mechanism installed on the crane, the collecting mechanism configured to collect position information of the docking beacon to obtain a horizontal distance between the device to be locked and the guiding device; and/or

A scanning mechanism mounted on the locking device, the scanning mechanism configured to scan a position of the device to be locked to obtain a vertical distance between the device to be locked and the guide device.

3. The 5G-based in-and-out-of-cabin lifting equipment as claimed in claim 1, wherein the guiding device comprises an indicator light, the locking device comprises a machine shell, the indicator light is mounted on the machine shell, and the machine shell is connected with the cabin cleaning machine; wherein the indicator light emits the docking beacon.

4. A docking method of cabin access hoisting equipment based on 5G is applied to a control device of the cabin access hoisting equipment based on 5G, and is characterized in that the docking method of the cabin access hoisting equipment based on 5G comprises the following steps:

identifying a location of a docking beacon;

regulating and controlling the position of the device to be locked according to the position of the docking beacon;

and when the distance between the to-be-locked device and the docking beacon is less than a preset distance, descending the to-be-locked device to dock.

5. The docking method for a 5G-based in-and-out trolley according to claim 4, wherein the adjusting the position of the device to be locked according to the position of the docking beacon comprises:

determining the horizontal relative position of the docking beacon and the device to be locked according to the position of the docking beacon;

and regulating and controlling the distance between the device to be locked and the docking beacon to be smaller than the preset distance according to the horizontal relative position.

6. The docking method for the 5G-based in-and-out handling equipment as claimed in claim 4, wherein the lowering the to-be-locked device for docking when the distance between the to-be-locked device and the docking beacon is less than a preset distance comprises:

when the horizontal distance between the center point of the device to be locked and the center point of the docking beacon is smaller than the preset distance, descending the device to be locked;

the device to be locked is in matched butt joint with the locking device.

7. The docking method for a 5G-based in-and-out handling apparatus according to claim 4, wherein the descending the to-be-locked device when the distance between the to-be-locked device and the docking beacon is less than a preset distance comprises:

and when the distance between the to-be-locked device and the docking beacon is less than a preset horizontal distance and the vertical distance between the to-be-locked device and the docking beacon is greater than a preset vertical distance, vertically descending the to-be-locked device at a first speed.

8. The docking method for the 5G-based in-and-out handling equipment as claimed in claim 4, wherein the lowering the to-be-locked device when the distance between the to-be-locked device and the docking beacon is less than a preset distance comprises:

and when the distance between the to-be-locked device and the docking beacon is less than a preset horizontal distance and the vertical distance between the to-be-locked device and the docking beacon is less than or equal to a preset vertical distance, vertically descending the to-be-locked device at a second speed.

9. The docking method for a 5G based in-out capsule handling apparatus as claimed in claim 4, further comprising:

when the device to be locked is completely butted with the locking device, a butting completion instruction is sent out;

and stopping descending the to-be-locked device and lifting the cabin cleaning machine according to the butt joint completion instruction.

10. The utility model provides an access cabin handling system based on 5G which characterized in that includes:

a crane, said crane comprising a bridge like mechanism;

clearing the cabin;

the cabin entering and exiting lifting equipment comprises a locking device, a device to be locked, a guiding device and an identification device, wherein the guiding device is installed on the locking device, the identification device is installed on the trunk mechanism and/or the locking device, and the device to be locked is installed at the bottom of the trunk mechanism during lifting;

the in-out cabin handling apparatus further comprises a control device in communication with the crane and the cabin cleaning machine, the control device being configured to perform the method of docking the in-out cabin handling apparatus as claimed in any one of claims 4 to 9.

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