CN115659121A - Method, system and device for correcting accurate positioning coordinates of container yard gantry crane and storage medium - Google Patents
Method, system and device for correcting accurate positioning coordinates of container yard gantry crane and storage medium Download PDFInfo
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Abstract
The invention discloses a method, a system, a device and a storage medium for correcting accurate positioning coordinates of a gantry crane of a container yard, wherein the method comprises the following steps: acquiring yesterday successful positioning coordinates and current-day successful positioning coordinates of the same operation box position of at least one container yard portal crane, wherein the positioning coordinates comprise: the moving distance x of the container yard gantry crane cart relative to the initial position of the track, the moving distance y of the container yard gantry crane trolley relative to the central line of the track, and the height z of the container yard gantry crane sling relative to the ground; correcting the yesterday successful positioning coordinate and the day successful positioning coordinate through a weight coefficient to obtain an accurate positioning coordinate; feeding back the accurate positioning coordinates to the corresponding container yard gantry crane, and taking the accurate positioning coordinates as the positioning coordinates of the operation; and recording the positioning coordinate and the operation time of the operation success. Through carrying out the dynamic correction of continuation to the coordinate, reduce accumulative nature error, realize giving the individualized accurate coordinate of different equipment, avoid container yard gantry crane's the adjustment of rectifying, promote the operating efficiency.
Description
Technical Field
The invention relates to the field of coordinate positioning of container yard portal cranes, in particular to a method, a system and a device for correcting accurate positioning coordinates of a container yard portal crane and a storage medium.
Background
The container yard coordinate system of the traditional container yard gantry crane (comprising a rail crane and a gantry crane) adopts the central line data of manually calibrating the stocking positions of each container to establish the coordinate system and keeps unchanged for a long period of time. However, due to disturbance factors such as equipment performance deviation, positioning identification camera installation deviation, positioning code deviation caused by infrastructure settlement, code reading deviation caused by machine tire pressure change and the like, equipment code reading has certain deviation, so that the position reached by the container yard portal crane according to code reading information has deviation from the actual container stacking position, and further the operations such as triggering, deviation correction and secondary stacking of the container yard portal crane are caused, and the operation efficiency is seriously influenced.
Disclosure of Invention
In view of this, the present invention provides a method, a system, a device and a storage medium for correcting an accurate positioning coordinate of a gantry crane in a container yard, which reduce performance errors of equipment, installation and identification errors of positioning equipment, accumulative errors caused by changes in field and wheel pressure, and the like by continuously and dynamically correcting an original coordinate system, thereby realizing an accurate coordinate system which is personalized for different equipment, avoiding deviation rectification adjustment of a cart, a trolley and a hanger of the gantry crane in the container yard, and improving operation efficiency.
The invention provides a method for correcting the accurate positioning coordinate of a container yard gantry crane, which comprises the following steps:
acquiring yesterday successful positioning coordinates and current-day successful positioning coordinates of the same operation box position of at least one container yard portal crane, wherein the positioning coordinates comprise: the moving distance x of the container yard gantry crane cart relative to the initial position of the track, the moving distance y of the container yard gantry crane trolley relative to the central line of the track, and the height z of the container yard gantry crane sling relative to the ground;
correcting the yesterday successful positioning coordinate and the current day successful positioning coordinate through a weight coefficient to obtain an accurate positioning coordinate;
feeding back the accurate positioning coordinates to the corresponding container yard gantry crane, and taking the accurate positioning coordinates as the positioning coordinates of the operation;
and recording the successful positioning coordinate and the operation time of the operation.
The specific steps of obtaining yesterday successful positioning coordinates and current-day successful positioning coordinates of the same operation box position of at least one container yard gantry crane comprise:
if the accurate positioning coordinate works successfully for several times yesterday, the yesterday successful positioning coordinate takes the arithmetic mean of the accurate positioning coordinates which work successfully for several times;
and if the accurate positioning coordinate works successfully for a plurality of times on the same day, the successful positioning coordinate on the same day takes the arithmetic mean of the accurate positioning coordinate which works successfully for a plurality of times.
The weight coefficient correction formula in the accurate positioning coordinate obtained by correcting the successful positioning coordinate of yesterday and the successful positioning coordinate of the day through the weight coefficient is as follows:
the above-mentioned
Namely:
the specific step of using the accurate positioning coordinate as the positioning coordinate of the current operation includes:
if the container yard portal crane has the accurate positioning coordinate of the same operation box position, taking the accurate positioning coordinate as the current positioning coordinate;
if the container yard portal crane does not have the accurate positioning coordinates of the same operation box position, taking the total accurate positioning coordinates of all container yard portal cranes of the same operation box position as the current positioning coordinates;
and if the container yard portal crane does not have the accurate positioning coordinate of the same operation box position and the same operation box position does not have the accurate positioning coordinate of other container yard portal cranes, taking the initial positioning coordinate calibrated by manual measurement as the current positioning coordinate.
The specific calculation steps of the general accurate positioning coordinates of all the container yard gantry cranes in the same operation box space comprise:
calculating the arithmetic mean of the yesterday successful positioning coordinates of all container yard portal cranes in the same operation box space and the arithmetic mean of the day successful positioning coordinates, and calculating the total accurate positioning coordinates of all container yard portal cranes in the same operation box space through the weight coefficient correction formula.
The specific steps of recording the positioning coordinate and the operation time of the current operation success comprise:
if the positioning coordinate of the operation can be successfully adjusted, the system marks the positioning coordinate of the operation as a successful positioning coordinate of the current day;
if the positioning coordinate of the operation needs manual background adjustment, the system marks the positioning coordinate adjusted by the manual background as a successful positioning coordinate in the day;
and recording the working year, month, day and time of successfully positioning the coordinates on the same day.
Another aspect of the present invention provides a system for correcting a coordinate of a container yard gantry crane in a precise location, including:
the acquisition module is used for acquiring yesterday successful positioning coordinates and current-day successful positioning coordinates of the same operation box position of at least one container yard portal crane;
the correction module is used for correcting the yesterday successful positioning coordinate and the current day successful positioning coordinate through a weight coefficient to obtain an accurate positioning coordinate;
the feedback module is used for feeding back the accurate positioning coordinate to the corresponding container yard gantry crane and taking the accurate positioning coordinate as the positioning coordinate of the operation;
and the recording module is used for recording the successful positioning coordinate and the operation time of the operation.
The invention also provides a container yard gantry crane precise positioning coordinate correction device, which comprises a memory and a processor;
the memory for storing a computer program;
the processor, when executing the computer program, is configured to perform the method as described above.
Yet another aspect of the present invention provides a storage medium for correcting the precise positioning coordinates of a container yard gantry crane, comprising a computer program stored on the storage medium, wherein when the computer program is executed by a processor, the method as described above is performed.
The invention has the beneficial effects that:
through carrying out the dynamic correction of continuation to original coordinate system, reduce equipment performance error, positioning device installation identification error, the accumulative error that place and equipment tire pressure change etc. arouse etc. realize giving different equipment individualized accurate coordinate system, avoid container yard gantry crane cart, dolly and the adjustment of rectifying of hoist, promote operating efficiency. The original positioning coordinates of the same box position are dynamically corrected through the positioning coordinates which are successfully operated every time, the equipment is guided to reach a real-time accurate operation place, the operation adjusting frequency is reduced, and the operation efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of the steps of the method for correcting the precise positioning coordinates of the gantry crane of the container yard;
FIG. 2 is a schematic view of the location coordinates of the container yard gantry crane cart and the trolley of the present invention;
FIG. 3 is a schematic view of the location coordinates of the container yard gantry crane trolley and spreader of the present invention;
FIG. 4 is a schematic view of a system for correcting the precise positioning coordinates of a gantry crane for a container yard according to the present invention;
FIG. 5 is a schematic view of the device for correcting the precise positioning coordinates of the gantry crane for container yard;
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
As shown in fig. 1, an embodiment of the present invention provides a method for correcting a precise positioning coordinate of a container yard gantry crane, which specifically includes:
s1, acquiring yesterday successful positioning coordinates and current-day successful positioning coordinates of the same operation box position of at least one container yard gantry crane, wherein the positioning coordinates comprise: the moving distance x of the container yard gantry crane cart relative to the initial position of the track, the moving distance y of the container yard gantry crane trolley relative to the central line of the track, and the height z of the container yard gantry crane sling relative to the ground;
further, the specific steps of obtaining yesterday successful positioning coordinates and the current day successful positioning coordinates of the same operation box position of at least one container yard gantry crane include:
s101, if the accurate positioning coordinate works for several times yesterday successfully, the yesterday successful positioning coordinate takes the arithmetic mean of the accurate positioning coordinate which works for several times successfully;
s102, if the accurate positioning coordinate works for a plurality of times successfully on the same day, the successful positioning coordinate on the same day takes the arithmetic mean of the accurate positioning coordinate of the successful work for a plurality of times.
In the present embodiment, since the dynamic correction method of the present invention performs cumulative correction on a daily basis, the successful positioning coordinates on yesterday and the successful positioning coordinates on the day are both arithmetically averaged on a daily basis.
S2, correcting the yesterday successful positioning coordinate and the current day successful positioning coordinate through a weight coefficient to obtain an accurate positioning coordinate;
further, the weight coefficient correction formula in the accurate positioning coordinate obtained by correcting the successful positioning coordinate of yesterday and the successful positioning coordinate of that day through the weight coefficient is as follows:
the above-mentioned
Namely:
in the embodiment, because the successful locating coordinates of yesterday are formed by gradually correcting every day, the successful locating coordinates of yesterday are equivalent to the data before accumulation, so that the proportion of the successful locating coordinates of yesterday is larger than that of the successful locating coordinates of yesterday, and the proportion of the successful locating coordinates of the day is smaller. Specifically, the average successful positioning coordinate of 30 days is taken as a base number according to 30 days a month, the successful positioning coordinate of the day accounts for 2 parts, and the successful positioning coordinate of the day accounts for 28 parts.
S3, feeding back the accurate positioning coordinate to the corresponding container yard gantry crane, and taking the accurate positioning coordinate as the positioning coordinate of the operation;
further, the specific step of using the accurate positioning coordinate as the positioning coordinate of the operation includes:
s301, if the container yard gantry crane has the accurate positioning coordinate of the same operation box position, taking the accurate positioning coordinate as the current positioning coordinate;
s302, if the container yard portal crane does not have the accurate positioning coordinates of the same operation box position, taking the total accurate positioning coordinates of all the container yard portal cranes of the same operation box position as the current positioning coordinates;
further, the specific calculation steps of the total accurate positioning coordinates of all the container yard gantry cranes in the same operation box space comprise:
and calculating the arithmetic mean of the yesterday successful positioning coordinates of all container yard portal cranes in the same operation box space and the arithmetic mean of the current day successful positioning coordinates, and calculating the total accurate positioning coordinates of all container yard portal cranes in the same operation box space through the weight coefficient correction formula.
In this embodiment, the accurate positioning coordinates of the container yard can be obtained by using the arithmetic mean of the yesterday successful positioning coordinates and the arithmetic mean of the day successful positioning coordinates of other container yard gantry cranes in the same operation container yard and calculating through the weight coefficient correction formula, so that the accuracy of positioning coordinate correction is ensured, and the error caused by manual measurement is avoided.
S303, if the container yard gantry crane does not have the accurate positioning coordinate of the same operation box position and the same operation box position does not have the accurate positioning coordinate of other container yard gantry cranes, taking the initial positioning coordinate calibrated by manual measurement as the current positioning coordinate.
In this embodiment, the initial positioning coordinates of the manual measurement calibration are already manually measured and calibrated during the building of the yard, and there is no case where the initial positioning coordinates of the manual measurement calibration are not available in the bin, so that at least the initial positioning coordinates of the manual measurement calibration are available in each bin.
And S4, recording the positioning coordinate and the operation time of the operation success.
Further, the specific step of recording the positioning coordinate and the operation time of the current operation success includes:
s401, if the positioning coordinate of the current operation can be successfully adjusted, the system marks the positioning coordinate of the current operation as a successful positioning coordinate of the current day;
s402, if the positioning coordinate of the operation needs manual background adjustment, the system marks the positioning coordinate adjusted by the manual background as a successful positioning coordinate in the same day;
in this embodiment, the gantry crane apparatus for container yard moves the cart, the trolley, and the spreader to the designated positions according to the positioning coordinates of this operation given by the system. In the adjusting operation process, cameras are arranged around each container yard portal crane, an operator can monitor the operation condition of the container yard portal crane equipment in real time at the background, when the given positioning coordinate has deviation, the positioning coordinate data can be manually adjusted at the background system to ensure that the container yard portal crane equipment can accurately lift the container, and the manually adjusted positioning coordinate is fed back to the system for recording as the successful positioning coordinate at the day; when the positioning coordinate given by the system has no deviation, the system marks the positioning coordinate as a successful positioning coordinate in the day. Specifically, after the operation of the container yard gantry crane is completed each time, the positioning coordinate which is successfully operated is fed back to the system, the system compares the positioning coordinate which is successfully operated and fed back with the original calculated accurate positioning coordinate, if the two coordinates are the same, the accurate positioning coordinate is directly marked as the successful positioning coordinate on the same day, and if the two coordinates are different, the fed back positioning coordinate is used as the successful positioning coordinate on the same day.
S403, recording the year, month, day and time of the operation of successfully positioning the coordinates on the day.
In this embodiment, the system marks the operation date of the positioning coordinates of the container yard gantry crane equipment in the operation box space, the operation date specifically includes year, month and day time, and the accurate specific time of the operation date can ensure that the system can distinguish that the successful positioning coordinates are operations completed in several minutes of the day, if the operation needs to be performed for many times of the day and no successful positioning coordinates of yesterday exist, the arithmetic mean of several successful positioning coordinates before the day needs to be used as the positioning coordinates of the operation; the accurate operation date to the year, month and day can ensure that the system can distinguish whether the successfully positioned coordinate is yesterday or the current day, thereby facilitating the subsequent dynamic correction according to the day.
In this embodiment, the method for correcting the precise positioning coordinates of the container yard gantry crane is further described with reference to specific working processes and working principles and fig. 2 and 3.
Suppose that the container yard gantry crane equipment A firstly receives the information to go to the T yard i box position to doIn operation, the system feeds back the positioning coordinate of the container yard gantry crane equipment A to an initial coordinate calibrated by manual measurement, namely (x) because the system does not have the accurate positioning coordinate of the container yard gantry crane equipment A at the I box position of the T field and the accurate positioning coordinate of other container yard gantry crane equipment at the I box position of the T field 0 ,y 0 ,z 0 ). The container yard portal crane equipment A moves the cart, the trolley and the lifting appliance to the designated positions according to the positioning coordinates given by the system. After the operation is successfully adjusted, returning a positioning coordinate (x) which is successful on the current day i ,y i ,z i ) A For the system, the system can automatically mark the first successful positioning coordinate of the container yard gantry crane equipment A on the current day of the I container position of the T field as (x) i ,y i ,z i ) A, the work value on the day, 1 。
Assuming that the container yard gantry crane equipment A performs secondary operation on the i-box position of the T field on the same day, the system feeds back the positioning coordinate of the container yard gantry crane equipment A as the first successful positioning coordinate (x) on the same day i ,y i ,z i ) A, the work value on the day, 1 . The container yard gantry crane equipment A moves the cart, the trolley and the lifting appliance to the designated positions according to the positioning coordinates given by the system. After the operation is successfully adjusted, returning a positioning coordinate (x) which is successful on the current day i ,y i ,z i ) A To the system, the system will automatically mark the second successful location coordinate as (x) i ,y i ,z i ) A, the work value on the day, 2 。
Assuming that the container yard gantry crane equipment A works three times at the i-box position of the T field on the same day, the system feeds back the positioning coordinate of the container yard gantry crane equipment A as the successful positioning coordinate (x) of the container yard gantry crane equipment A on the same day on the previous two times i ,y i ,z i ) A, the work value on the day, 1 And (x) i ,y i ,z i ) A, the work value on the day, 2 Is calculated as the average. The container yard portal crane equipment A moves the cart, the trolley and the lifting appliance to the designated positions according to the positioning coordinates given by the system. After the operation is successfully adjusted, one is returnedLocation coordinates (x) successful on the day i ,y i ,z i ) A To the system, the system will automatically mark the third successful fix coordinate as (x) i ,y i ,z i ) A, the work value on the day, 3 。
Assuming that the container yard gantry crane equipment A receives the task of going to the I box position of the T yard again the next day, if yesterday container yard gantry crane equipment A only works successfully once, the system feeds back the positioning coordinates of the container yard gantry crane equipment A as the yesterday successful positioning coordinates of the container yard gantry crane equipment A, namely (x) i ,y i ,z i ) A, yesterday success value, 1 (ii) a If yesterday container yard gantry crane equipment A successfully works twice, and the system has container yard gantry crane equipment A successfully positioning coordinates twice yesterday, the system feeds back the positioning coordinates of the container yard gantry crane equipment A as the container yard gantry crane equipment A successfully positioning coordinates twice yesterday (x) i ,y i ,z i ) A, yesterday success value, 1 And (x) i ,y i ,z i ) A, yesterday success value, 2 Is calculated as the average. The container yard gantry crane equipment A moves the cart, the trolley and the hanger to the specified positions according to the positioning coordinates given by the system, the operation is successful after the adjustment, and a positioning coordinate (x) which is successful on the current day is returned i ,y i ,z i ) A To the system, the system will automatically mark this successful location coordinate as (x) i ,y i ,z i ) A, the work value on the day, 1 。
At the same time, the system will be based on (x) i ,y i ,z i ) A yesterday success value And (x) i ,y i ,z i ) A, the success rate on the day Correcting and calculating the precise positioning coordinate (x) of the I box position of the T field of the container yard gantry crane equipment A i ,y i ,z i ) A, accurate And storing and supplying the container yard gantry crane equipment A for the next operation at the i-box position of the T field.
It should be noted that since the dynamic correction is daily, the dynamic correction is performedIf the container yard gantry crane equipment a successfully operates yesterday a plurality of times, then (x) i ,y i ,z i ) A yesterday success value Taking an arithmetic mean of positioning coordinates which are successful for yesterday for many times; if the container yard gantry crane apparatus A successfully operates for multiple times on the same day, then (x) i ,y i ,z i ) A, the work value on the same day Taking the arithmetic mean of the positioning coordinates which are successful for a plurality of times in the same day.
Assuming that the container yard gantry crane equipment B receives the operation of going to the T field i box position for the first time in the next day, because the system does not have the precise positioning coordinates of the container yard gantry crane equipment B at the T field i box position, but the system only has the yesterday successful coordinates and the current day successful coordinates of the container yard gantry crane equipment A at the T field i box position, the total precise positioning coordinates of all the equipment at the T field i box position are calculated according to a weight coefficient correction formula, and the calculation formula is as follows:
the location coordinate fed back to gantry crane apparatus B of the container yard by the system is therefore (x) i ,y i ,z i ) Total, accurate . The container yard gantry crane equipment B moves the cart, the trolley and the lifting appliance to the specified positions according to the positioning coordinates given by the system, the operation is successful after adjustment, and the positioning coordinates (x) which are successful on the same day are returned i ,y i ,z i ) B To the system, the system will automatically mark this successful location coordinate as (x) i ,y i ,z i ) B, the work value on the day, 1 。
Assuming that the container yard gantry crane equipment C receives the operation of going to the I box position of the T field for the first time in the next day, because the system does not have the precise positioning coordinates of the container yard gantry crane equipment C at the I box position of the T field, but the system has the yesterday successful coordinates and the current day successful coordinates of the container yard gantry crane equipment A at the I box position of the T field and the current day successful positioning coordinates of the container yard gantry crane equipment B at the I box position of the T field, the precise positioning coordinates are calculated according to a weight coefficient correction formula, and the calculation formula is as follows:
wherein, (x, y, z) Total, day success value And the arithmetic mean value of the coordinates successfully positioned by the container yard portal crane equipment A and the coordinates successfully positioned by the container yard portal crane equipment B on the same day is obtained. The location coordinates fed back to the gantry crane apparatus C of the container yard by the system are (x, y, z) Total, accurate . The container yard gantry crane equipment C moves the cart, the trolley and the hanger to the specified positions according to the positioning coordinates given by the system, the operation is successful after the adjustment, and a positioning coordinate (x) which is successful on the current day is returned i ,y i ,z i ) C To the system, the system will automatically mark this successful location coordinate as (x) i ,y i ,z i ) C, the work value on the day, 1 。
As shown in fig. 4, an embodiment of the present invention further provides a system for correcting the precise positioning coordinates of a gantry crane in a container yard, including:
an obtaining module 501, configured to obtain yesterday successful positioning coordinates and current-day successful positioning coordinates of the same operation box position of at least one container yard gantry crane;
a correction module 502, configured to correct the yesterday successful positioning coordinate and the current day successful positioning coordinate by a weight coefficient to obtain an accurate positioning coordinate;
the feedback module 503 is configured to feed back the accurate positioning coordinate to the corresponding container yard gantry crane, and use the accurate positioning coordinate as the positioning coordinate of the current operation;
the recording module 504 records the positioning coordinate and the operation time of the current operation.
As shown in fig. 5, an embodiment of the present invention further provides a device for correcting the precise positioning coordinates of a container yard gantry crane, which includes a memory and a processor;
the memory 601 is used for storing computer programs;
the processor 602 is configured to perform the method as described above when executing the computer program.
The embodiment of the invention further provides a storage medium for correcting the precise positioning coordinates of the container yard gantry crane, which comprises a computer program stored on the storage medium, and the computer program is executed by a processor to execute the method.
It should be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, platform, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a part of the embodiments of the present invention, and not intended to limit the scope of the present invention, and all equivalent devices or equivalent processes performed by the present invention through the contents of the specification and the drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (9)
1. A method for correcting accurate positioning coordinates of a container yard gantry crane is characterized by comprising the following steps:
acquiring yesterday successful positioning coordinates and current-day successful positioning coordinates of the same operation box position of at least one container yard portal crane, wherein the positioning coordinates comprise: the moving distance x of the container yard gantry crane cart relative to the initial position of the track, the moving distance y of the container yard gantry crane trolley relative to the central line of the track, and the height z of the container yard gantry crane sling relative to the ground;
correcting the yesterday successful positioning coordinate and the day successful positioning coordinate through a weight coefficient to obtain an accurate positioning coordinate;
feeding back the accurate positioning coordinates to the corresponding container yard gantry crane, and taking the accurate positioning coordinates as the positioning coordinates of the operation;
and recording the successful positioning coordinate and the operation time of the operation.
2. The method for correcting the precise positioning coordinates of the container yard gantry crane according to claim 1, wherein the specific steps of obtaining the yesterday successful positioning coordinates and the current day successful positioning coordinates of the same operating position of at least one container yard gantry crane include:
if the accurate positioning coordinate works successfully for several times yesterday, the yesterday successful positioning coordinate takes the arithmetic mean of the accurate positioning coordinates which work successfully for several times;
and if the accurate positioning coordinate works successfully for a plurality of times on the same day, the successful positioning coordinate on the same day takes the arithmetic mean of the accurate positioning coordinate which works successfully for a plurality of times.
3. The method for correcting the precise positioning coordinate of the container yard gantry crane according to claim 1, wherein the weight coefficient correction formula in the precise positioning coordinate obtained by correcting the successful positioning coordinate of yesterday and the successful positioning coordinate of the day through the weight coefficient is as follows:
the accuracy is
Said yesterday succeeded
The current day successfully locates the coordinates
Namely:
4. the method for correcting the precise positioning coordinate of the container yard gantry crane according to claim 1, wherein the step of using the precise positioning coordinate as the positioning coordinate of the operation comprises the following steps:
if the container yard portal crane has the accurate positioning coordinate of the same operation box position, taking the accurate positioning coordinate as the positioning coordinate;
if the container yard portal crane does not have the accurate positioning coordinates of the same operation box position, taking the total accurate positioning coordinates of all container yard portal cranes of the same operation box position as the current positioning coordinates;
and if the container yard portal crane does not have the accurate positioning coordinate of the same operation box position and the same operation box position does not have the accurate positioning coordinate of other container yard portal cranes, taking the initial positioning coordinate calibrated by manual measurement as the current positioning coordinate.
5. The method for correcting the precise positioning coordinates of the container yard gantry crane according to claims 3 to 4, wherein the specific calculation steps of the total precise positioning coordinates of all container yard gantry cranes in the same operation bay include:
and calculating the arithmetic mean of the yesterday successful positioning coordinates of all container yard portal cranes in the same operation box space and the arithmetic mean of the current day successful positioning coordinates, and calculating the total accurate positioning coordinates of all container yard portal cranes in the same operation box space through the weight coefficient correction formula.
6. The method for correcting the accurate positioning coordinate of the container yard gantry crane according to claim 1, wherein the specific step of recording the positioning coordinate and the operation time of the current operation includes:
if the positioning coordinate of the current operation can be successfully adjusted, the system marks the positioning coordinate of the current operation as a successful positioning coordinate of the current day;
if the positioning coordinate of the operation needs manual background adjustment, the system marks the positioning coordinate adjusted by the manual background as a successful positioning coordinate in the same day;
and recording the working year, month, day and time of successfully positioning the coordinates on the same day.
7. The utility model provides a container yard gantry crane accurate positioning coordinate correction system which characterized in that includes:
the acquisition module is used for acquiring yesterday successful positioning coordinates and current-day successful positioning coordinates of the same operation box position of at least one container yard portal crane;
the correction module is used for correcting the yesterday successful positioning coordinate and the current day successful positioning coordinate through a weight coefficient to obtain an accurate positioning coordinate;
the feedback module is used for feeding back the accurate positioning coordinate to the corresponding container yard gantry crane and taking the accurate positioning coordinate as the positioning coordinate of the operation;
and the recording module is used for recording the successful positioning coordinate and the operation time of the operation.
8. A correction device for the accurate positioning coordinate of a container yard gantry crane is characterized by comprising a memory and a processor;
the memory for storing a computer program;
the processor, when executing the computer program, for implementing the method of any of claims 1 to 4.
9. A container yard gantry crane fine positioning coordinate correction storage medium, characterized in that the storage medium has stored thereon a computer program which, when being executed by a processor, carries out the method according to any one of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211277891.6A CN115659121A (en) | 2022-10-19 | 2022-10-19 | Method, system and device for correcting accurate positioning coordinates of container yard gantry crane and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211277891.6A CN115659121A (en) | 2022-10-19 | 2022-10-19 | Method, system and device for correcting accurate positioning coordinates of container yard gantry crane and storage medium |
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| CN115659121A true CN115659121A (en) | 2023-01-31 |
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| CN202211277891.6A Pending CN115659121A (en) | 2022-10-19 | 2022-10-19 | Method, system and device for correcting accurate positioning coordinates of container yard gantry crane and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117213502A (en) * | 2023-11-09 | 2023-12-12 | 湖南视觉伟业智能科技有限公司 | Positioning method of port hoisting equipment in digital twin scene |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117213502A (en) * | 2023-11-09 | 2023-12-12 | 湖南视觉伟业智能科技有限公司 | Positioning method of port hoisting equipment in digital twin scene |
| CN117213502B (en) * | 2023-11-09 | 2024-01-30 | 湖南视觉伟业智能科技有限公司 | Positioning method of port hoisting equipment in digital twin scene |
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