CN116239025A - Alignment calibration method and system for shore crane - Google Patents

Abstract

The invention discloses a contraposition calibration method and a contraposition calibration system of a shore crane, wherein the contraposition calibration method comprises the following steps: controlling the lifting appliance to move to a calibration position, so that the lifting appliance hovers at the calibration position; starting a laser scanner to scan the lifting appliance to obtain scanning data; calculating the scanning data to obtain new alignment reference information of the lifting appliance; and replacing the original alignment reference information with the new alignment reference information. The alignment calibration method and the alignment calibration system can automatically complete calibration without manual measurement, and are good in safety and high in accuracy.

Description

Alignment calibration method and system for shore crane

Technical Field

The invention relates to the field of shore cranes, in particular to a counterpoint calibration method and a counterpoint calibration system of a shore crane.

Background

In order to improve the working efficiency of the shore crane, a positioning guide system of the shore crane has been widely used, and a manual measurement method is generally adopted for correcting a positioning reference position, and field measurement is periodically performed by system maintenance personnel and manually set in the system.

Because the shore crane is busy in operation, the operation site environment is complex, a large amount of site coordination work is required to be completed by the manual measurement method, the requirements on safety, real-time performance and accuracy cannot be met, and a feasible alignment calibration method is needed.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides a contraposition calibration method of a shore crane, which can automatically complete calibration without manual measurement and has better safety.

The invention relates to a method for aligning and calibrating a shore crane, which comprises the following steps: controlling the lifting appliance to move to a calibration position and hover at the calibration position; starting a laser scanner to scan the lifting appliance to obtain scanning data; calculating the scanning data to obtain new alignment reference information of the lifting appliance; and replacing the original alignment reference information with the new alignment reference information.

According to the alignment calibration method of the shore crane, the laser scanner is adopted, so that alignment reference information of the lifting appliance can be automatically obtained, manual measurement is not needed, the labor cost is saved, the safety is good, the accuracy is high, and the operation efficiency of the shore crane can be further improved.

Further, the lifting appliance is an empty lifting appliance, and the height of the calibration position from the ground is 4.3 meters to 4.6 meters.

Further, the lifting appliance swings back and forth when hovering at the calibration position, and the total scanning time length of the laser scanner is greater than or equal to two swinging periods of the lifting appliance.

Further, the scanning data is calculated to obtain new alignment reference information of the lifting appliance, which specifically comprises the following steps:

A. acquiring measurement data of one measurement of the laser scanner, and extracting section profile data of the lifting appliance from the measurement data of one measurement;

B. calculating the position information of one side elevation of the lifting appliance according to the section profile data;

C. calculating the central axial surface position information of the one-time measured lifting appliance according to the one-side elevation position information;

D. repeating the steps A, B and C within one scanning total time length of the laser scanner to obtain a plurality of medium axis surface position information;

E. and calculating new alignment reference information of the lifting appliance according to all the center axial position information in one scanning total time length.

Further, the one side elevation is a left side elevation.

Further, the left side elevation position information of the lifting appliance is calculated by adopting the following formula:

LXhst(k)＝minX(ΩZX(LD,k))

wherein Ω ZX (LD, k) is the cross-sectional profile data obtained by the kth measurement by the laser scanner, and k is a natural number.

Further, the center axial position information of the one-time measured lifting appliance is calculated by adopting the following formula:

Xhst*(k)＝LXhst(k)+CL20/2

wherein LXhst (k) is the position of the left side elevation of the lifting appliance calculated at the kth time, CL20 is the distance from the left side elevation to the right side elevation of the lifting appliance, and k is a natural number.

Further, the alignment reference position information of the lifting appliance is calculated by adopting the following formula:

Xhst*＝(min(Xhst*(k))+max(Xhst*(k)))/2

k is a natural number.

Further, the laser scanner is a two-dimensional laser scanner.

The alignment calibration system of the shore crane comprises a lifting appliance, a laser scanner, a memory and a processor, wherein a computer program is stored in the memory, and the alignment calibration method is realized when the computer program is executed by the processor.

Drawings

FIG. 1 is a schematic diagram of various operational elements involved in a shoreside handling operation in an embodiment of the present invention;

fig. 2 is a schematic view of a spreader in an embodiment of the invention.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.

In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the structures or units referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more. In the description of the present specification, the terms "mounted," "configured to," "connected," and the like are to be construed broadly and may be mounted, configured to, or connected directly or indirectly, wherein "connected" may be a mechanical connection, an electrical connection, or a transmission connection for transmitting power.

The alignment calibration method and alignment calibration system of the shore crane according to the embodiment of the present invention are described below with reference to fig. 1 to 2.

The application of the invention is the shoreside loading and unloading operation of the container terminal, and aims at the shoreside portal crane which adopts a through multi-lane operation mode and is most common at present. The respective working elements are described as follows:

1. and (3) a container: the rectangular metal box body is provided with different box shapes, and the four corner upright posts on the upper bottom surface and the lower bottom surface are provided with lock holes for hoisting and fixing on the carriage of the container trailer. The main box comprises a 20 feet box, a 40 feet box and a 45 feet box, the length, width and height of each box and the distances between lock holes are the international standard, the box widths are identical, and the length and the height are different.

2. Shore crane (also called shore portal crane): as shown in fig. 1, the crane with a frame structure includes:

1) And (3) a cart: consists of two sets of door legs and a pair of cross beams erected at the tops of the door legs, and is called a large vehicle. When the container is loaded and unloaded, the door leg close to one side (sea side) of the wharf is called as a front door leg, the door leg far away from one side (land side) of the wharf is called as a rear door leg, each set of door legs comprises a left door post and a right door post, a wheel pair is arranged below the door posts, and the container runs along a ground steel rail parallel to the direction of the wharf during operation.

2) Contact beam: the left side door column and the right side door column of the front door leg and the rear door leg are connected through a connecting beam, and the two connecting beam main bodies are parallel and perpendicular to the travelling direction of the cart; the height of the contact beam from the ground is about 12-20 meters.

3) And (3) a trolley: the other group of cross beams perpendicular to the travelling direction of the cart at the top of the door leg are paved with steel rails, a set of wheel rail mechanisms are erected, and the cart walks along the cross beam direction; a lifting appliance is hung on the trolley through a steel wire rope. When the land side is used for loading and unloading, the trolley drives the lifting appliance to walk above the target lane, lifting of the lifting appliance is realized by winding and unwinding the steel wire rope, and the lifting appliance is lowered to above the inner trailer in the lane, so that the operation is completed.

3. Lifting appliance: as shown in fig. 2, for a container lifting device with a twist lock below, the working mode and the structural characteristics include:

1) The working mode is as follows: two pairs of horizontal suspension arms which can stretch left and right are arranged below the main girder of the lifting appliance, two ends of the bottom surface of the suspension arm and the middle position of the bottom surface of the suspension arm are provided with rotatable lock pins, the two pairs of lock pins at the two ends are called external locks, and the two pairs of lock pins at the middle position are called middle locks. The lifting appliance can be used for loading and unloading the container according to the requirement, so that the locking pin is aligned with the locking hole on the top surface of the container, and can be fixedly connected with the container after being inserted into the locking hole and rotated, and the container is lifted. The lifting appliance can lift a single 20 feet/40 feet/45 feet box at a time, and can lift two 20 feet boxes at a time. When lifting a single 40 feet, 45 feet box and 20 feet box, the middle lock is retracted; when two 20 feet boxes are lifted, the middle lock is lowered. The lifting appliance and the steel wire rope are required to be replaced and maintained regularly so as to ensure the reliability and safety of the loading and unloading operation.

2) Bilateral symmetry of the sling structure: the girder structure of the lifting appliance has bilateral symmetry, the side elevation at the left end and the right end is bilateral symmetry by taking the middle axial plane of the lifting appliance in the left-right direction as the symmetrical axial plane, and is parallel to the symmetrical axial plane, and the mass center of the lifting appliance is positioned on the symmetrical axial plane. When lifting 20 feet and 40 feet of containers, the distance (arm span) between the left and right side vertical surfaces of the suspension arm is the same as that of the container, namely, the distance between the left and right side vertical surfaces of the suspension arm and the symmetrical axis surface is half of the length of the container.

3) Bilateral symmetry of swing of lifting appliance: the steel wire rope of the lifting appliance is flexibly suspended, and can swing left and right and front and back directions during hovering. The wire rope hanging positions on the left side and the right side of the lifting appliance are also bilaterally symmetrical by taking the axial surface in the left-right direction of the lifting appliance as a symmetrical axial surface so as to ensure the bearing balance during lifting, therefore, when the lifting appliance is empty, the swinging in the left-right direction basically follows the simple pendulum principle, and the swinging limit position of the axial surface in the left-right direction is bilaterally symmetrical relative to the static position in a static state.

4. Inner trailer: as shown in fig. 1, in the container carrying truck with a carriage, the container is placed on the carriage, and the loading and unloading operation is realized through a lifting appliance.

5. Lanes: as shown in fig. 1, the inner trailer is positioned between the front door leg and the rear door leg of the shore crane and is a driving channel of the inner trailer. A plurality of lanes are arranged below each shore crane and are parallel to the travelling direction of the cart, and the width and the distance are standard values. The inner trailer enters from the left side and the right side of the crane along the lanes and is stopped below the lifting appliance, and is matched with a crane driver, and the loading and unloading operation of the container is realized through lifting of the lifting appliance.

The basic content of the operation of the shore crane on the land side by adopting the operation mode is as follows: the typical process of using a spreader to place a container lifted from a container ship onto an inner trailer carriage (launch box) or to lift a container carried on an inner trailer carriage onto a container ship (receive box) is:

1. hair box: the inner trailer driver drives to a designated operation lane of the shore crane according to the operation instruction and parks, so that the placement area of the target box on the carriage is aligned to the left and right of the vertical projection area range of the target box lifted by the lifting appliance; a crane driver operates the trolley to park above the operation lane, so that the lifting appliance is aligned with the carriage front and back, the lifting appliance is lowered, and the lifted container is placed on the carriage; operating the lifting appliance to unlock; lifting the lifting appliance; after the lifting appliance is lifted to the safe height, the driver of the inner trailer drives away from the field.

2. And (3) box collection: the inner trailer driver drives the car to a designated operation lane of the shore crane according to the operation instruction and parks the crane, so that the top of a target box on the carriage, which needs to be lifted, is aligned to the left and the right of the vertical projection area range of the lifting appliance boom; a crane driver operates the trolley to park above the operation lane, aligns the lifting appliance with the target box, lowers the lifting appliance to the operation box supporting box, inserts the lock pin into the lock hole on the top of the operation box, and operates the lifting appliance to lock; lifting the lifting appliance; after the lifting appliance is lifted to the safe height, the driver of the inner trailer drives away from the field.

Because the shore crane needs to be aligned with the shipborne container columns left and right and can not move after being in place, the inner trailer needs to be aligned with the position of the lifting appliance of the shore crane, namely, the inner trailer is stopped at the correct position in the operation lane, so that the operation of receiving and dispatching the containers can be completed.

The length of the carriage of the inner trailer is generally longer, and larger alignment errors can be tolerated when the hair box is aligned, so that the influence on the operation efficiency is not great; when the box is aligned, the left and right alignment of the box and the lifting appliance needs to be ensured, namely: the axial surface in the left-right direction of the carrying box needs to be aligned with the axial surface in the left-right direction of the lifting appliance as much as possible, the error cannot exceed the width of the spin lock of the lifting appliance, the error is called as the basic alignment error, and the alignment error is generally 8-10 cm; otherwise, the lifting appliance needs to be braked when being lowered to the height close to the top of the box, an inner trailer driver needs to continuously move the vehicle to finish alignment, and the lifting appliance can be lowered finally, so that the operation process is prolonged, and the influence on the operation efficiency is large.

The shore crane alignment guide system should take the current position of the shaft surface in the left-right direction of the stationary spreader as a reference position, which is called an alignment reference position. If the error of the alignment reference position actually used by the system is too large, after the inner trailer finishes alignment according to the indication of the alignment guide system, the box receiving operation cannot be finished smoothly, and the aim of improving the operation efficiency cannot be achieved.

Ideally, the axial surface in the left-right direction of the lifting appliance coincides with the axial surface in the left-right direction of the main body structure of the crane, and the alignment reference position can be obtained through a structural drawing of the crane. Because the crane has larger size, errors exist in the frame structure, the trolley, the hanger and the like, so that the alignment reference position needs to be actually measured. In addition, in the long-term use process, the structure of the crane can slightly deform, and the lifting appliance and the steel wire rope are required to be replaced for periodic maintenance, so that the alignment reference position can be changed due to the factors, and the alignment reference position needs to be continuously corrected.

In the embodiment of the invention, the traveling direction of the shore crane is taken as the left-right direction, and the direction perpendicular to the traveling direction of the shore crane is taken as the front-back direction.

The invention relates to a method for aligning and calibrating a shore crane, which comprises the following steps:

controlling the lifting appliance 12 to move to a calibration position, so that the lifting appliance 12 hovers at the calibration position; starting a laser scanner 10 to scan the lifting appliance 12 to obtain scanning data; calculating the scanning data to obtain new alignment reference information of the lifting appliance 12; the original alignment reference information is replaced with the new alignment reference information.

The spreader 12 is scanned by using the laser scanner 10 and the scanned data is calculated to obtain alignment reference position information of the spreader 12. For example, the scanning data of the laser scanner 10 may be input into a control system of the shore crane, and the control system of the shore crane calculates the scanning data to obtain new alignment reference information of the lifting appliance 12, and replaces the original alignment reference information in the control system with the new alignment reference information, so as to complete alignment calibration of the shore crane. The alignment calibration method has the advantages of high automation degree, high accuracy and good safety. Specifically, the laser scanner 10 may be a two-dimensional laser scanner, the scanning plane 11 of which is shown in fig. 1, and the scanning plane 11 passes through the spreader 12, so that the laser scanner 10 can scan the spreader 12, and the scanning plane 11 is a vertical plane extending in the left-right direction.

In one embodiment, the spreader 12 is an empty spreader, which may obtain more accurate calculations. In addition, the height from the ground of the calibration position is 4.3 m to 4.6 m, for example, the lifting appliance 12 is controlled to move from top to bottom to the height from the ground of 4.3 m to 4.6 m, and hovers at the position, and it is noted that the lifting appliance 12 hovers not completely stationary but swings back and forth at the calibration position, and the period of the back and forth swing is between 20 seconds and 40 seconds.

In one embodiment, the calculation of the scan data and the obtaining of the alignment reference position of the spreader 12 specifically includes the following steps:

A. measurement data of one measurement by the laser scanner 10 is acquired, and cross-sectional profile data of the spreader 12 is extracted from the measurement data of one measurement. One measurement refers to one scanning period of the laser scanner 10, and the measurement data of one measurement is the scanning data of the laser scanner 10 in one scanning period, which may also be referred to as one scanning of the laser scanner 10, where one scanning period is between about 10 ms and 100 ms, and one complete scanning of the lifting appliance 12 by the laser scanner 10 in one scanning period may be performed by the laser scanner 10, and one scanning period may be one rotation of the laser scanner 10.

B. Position information of one side elevation (left side elevation 121 or right side elevation 122) of the spreader 12 in one measurement is calculated from the section profile data. Wherein the left side elevation 121 position information (LX _hst (k) The calculation method of (a) is as follows: taking the minimum value in the section profile data as the position information of the left side elevation 121, the calculation formula is as follows:

LX _hst (k)＝min _X (Ω _ZX (LD,k))

wherein Ω _ZX (LD, k) is the cross-sectional profile data obtained by the kth measurement of the laser scanner (i.e., the cross-sectional profile data of one measurement), and k is a natural number.

C. Calculating center axial position information (X) of the one-time measured spreader 12 from the left side elevation position information of the one-time measured spreader 12 _hst ^* (k) A kind of electronic device. Wherein the axial position information (X _hst ^* (k) The calculation method of (a) is as follows: the calculated formula is as follows, adding the left elevation position information of the spreader 12 measured this time to half the distance from the left elevation 121 to the right elevation 122 of the spreader 12:

X _hst ^* (k)＝LX _hst (k)+C _L20 /2

wherein LX _hst (k) Is the k-th measured left elevation position information data of the lifting appliance 12, C _L20 Is the distance from the left side elevation 121 to the right side elevation 122 of the spreader 12, k is a natural number.

D. The above steps A, B and C are repeated for one total scanning period of the laser scanner to obtain positional information of the plurality of intermediate axial surfaces 123.

E. And calculating new alignment reference information of the lifting appliance according to the position information of all the middle shaft surfaces 123 in one scanning total time length.

Specifically, in order to obtain accurate calculation results, the total one scanning duration of the laser scanner 10 is not less than one swing period of the spreader 12, and the total one scanning duration of the laser scanner 10 is generally set to two swing periods of the spreader 12. Since one scanning period of the laser scanner 10 is very short, the laser scanner 10 performs multiple scans (i.e., multiple measurements) within one total scanning period, multiple pieces of center axis position information can be obtained through calculation, and then the alignment reference position of the lifting appliance 12 is calculated according to all pieces of obtained center axis position information.

Wherein the alignment reference position (X of one of the spreaders 12 _hst ^* ) The calculation method comprises the following steps: minimum and maximum values are selected from all the axial position information data, the average value of the minimum and maximum values is calculated, and the formula is calculated as follows:

X _hst ^* ＝(min(X _hst ^* (k))+max(X _hst ^* (k)))/2

through the measuring and calculating steps, the control system of the shore crane can obtain the latest alignment reference information of the lifting appliance 12, and the latest alignment reference information is used for replacing the original alignment reference information, so that the alignment calibration of the shore crane is completed.

The alignment calibration system of the shore crane according to one embodiment of the present invention comprises a lifting appliance 12, a laser scanner 10, a memory and a processor, wherein the memory stores a computer program which realizes the alignment calibration method when being executed by the processor. The memory and the processor can be used for the control system of the shore crane or can be independently arranged.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.

Claims (10)

1. The alignment calibration method of the shore crane is characterized by comprising the following steps of:

controlling the lifting appliance to move to a calibration position and hover at the calibration position;

starting a laser scanner to scan the lifting appliance to obtain scanning data;

calculating the scanning data to obtain new alignment reference information of the lifting appliance;

and replacing the original alignment reference information with the new alignment reference information.

2. The alignment calibration method of claim 1, wherein the spreader is an empty spreader and the height above ground of the calibration location is 4.3 meters to 4.6 meters.

3. The alignment calibration method of claim 1, wherein the spreader swings back and forth while hovering in the calibration position, the total scan time of the laser scanner being greater than or equal to two swing periods of the spreader.

4. The alignment calibration method according to claim 1, wherein the calculating the scan data to obtain new alignment reference information of the spreader specifically includes:

A. acquiring measurement data of one measurement of the laser scanner, and extracting section profile data of the lifting appliance from the measurement data of one measurement;

B. calculating the position information of one side elevation of the lifting appliance according to the section profile data;

C. calculating the central axial surface position information of the one-time measured lifting appliance according to the one-side elevation position information;

D. repeating the steps A, B and C within one scanning total time length of the laser scanner to obtain a plurality of medium axis surface position information;

E. and calculating new alignment reference information of the lifting appliance according to all the center axial position information in one scanning total time length.

5. The alignment method of claim 4 wherein said one side elevation is a left side elevation.

6. The alignment calibration method of claim 5, wherein the left side elevation position information of the spreader is calculated using the formula:

LX _hst (k)＝min _X (Ω _ZX (LD,k))

wherein Ω _ZX (LD, k) is the cross-sectional profile data obtained by the kth measurement of the laser scanner, and k is a natural number.

7. The alignment calibration method according to claim 5, wherein the one-time measured position information of the central axis of the spreader is calculated using the following formula:

X _hst ^* (k)＝LX _hst (k)+C _L20 /2

wherein LX _hst (k) Is the calculated position of the left side elevation of the lifting appliance at the kth time, C _L20 The distance from the left vertical face to the right vertical face of the lifting appliance is the natural number k.

8. The alignment calibration method of claim 5, wherein the alignment reference position information of the spreader is calculated using the following formula:

X _hst ^* ＝(min(X _hst ^* (k))+max(X _hst ^* (k)))/2

k is a natural number.

9. The alignment calibration method of claim 1, wherein the laser scanner is a two-dimensional laser scanner.

10. A contraposition calibration system for a shore crane, comprising a spreader, a laser scanner, a memory and a processor, wherein the memory stores a computer program which when executed by the processor implements the contraposition calibration method of any of claims 1-9.

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