CN116443733A - Crane control method and system and intelligent terminal - Google Patents
Crane control method and system and intelligent terminal Download PDFInfo
- Publication number
- CN116443733A CN116443733A CN202310704520.XA CN202310704520A CN116443733A CN 116443733 A CN116443733 A CN 116443733A CN 202310704520 A CN202310704520 A CN 202310704520A CN 116443733 A CN116443733 A CN 116443733A
- Authority
- CN
- China
- Prior art keywords
- information
- distance
- position information
- container
- crane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 85
- 238000012545 processing Methods 0.000 claims abstract description 37
- 230000033001 locomotion Effects 0.000 claims abstract description 26
- 238000004364 calculation method Methods 0.000 claims description 11
- 230000011664 signaling Effects 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 5
- 230000002159 abnormal effect Effects 0.000 claims description 4
- 238000004590 computer program Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 230000007547 defect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012163 sequencing technique Methods 0.000 description 2
- 239000000654 additive Substances 0.000 description 1
- 230000000996 additive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005587 bubbling Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000009965 odorless effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The application relates to a crane control method, a crane control system and an intelligent terminal, and relates to the field of wharf operation equipment; calculating according to the first position information and a preset first goods placing position to determine first distance information; judging whether the first distance information is larger than a reference distance value or not; if the position information is not greater than the first position information, controlling the tire crane to move to the first position information for operation; if the first movement path is larger than the first movement path, determining the first movement path according to the initial position information and the first position information; judging whether the second position information is on the first moving path; if not, controlling the tire crane to carry out lifting movement on the current task container; and if the container is in the second position, controlling the tire crane to move to the position corresponding to the second position information for operation, and then processing the container of the current task. The tire crane has the effect of improving the overall operation efficiency of the tire crane.
Description
Technical Field
The application relates to the field of wharf operation equipment, in particular to a crane control method, a crane control system and an intelligent terminal.
Background
Port cranes are the essential operating equipment for port operations and are commonly used for lifting and transporting containers. The crane can be divided into a portal crane, a bridge crane and the like according to the operation condition of the crane, wherein the portal crane is also called a portal crane, and is widely used in port cargo yards due to the characteristics of high field utilization rate, large operation range, wide application range, high universality and the like. The gantry crane is also provided with a tire crane, and the whole movement of the gantry crane can be realized without paving corresponding guide rails, so that the tire crane is widely used by port operation. When the container truck works in a storage yard, the container truck and the tire crane simultaneously receive information of the container to be transported, at the moment, the container truck moves to a goods placing area of the storage yard where the container is located, the tire crane controls the tire crane to travel on the ground integrally according to the position of the container, and controls the lifting appliance on the tire crane to synchronously move so that the tire crane can grab the container to be transported, and after the container is grabbed, the container is moved to the position above the goods placing area to carry out loading treatment, so that the effective transportation of the container is realized.
In the related art, when a storage yard is large, goods placing areas can be respectively arranged at the head opening and the tail opening of the storage yard, at the moment, one tire crane needs to receive tasks of the two goods placing areas, the tasks are respectively executed according to the sequence of task receiving, and therefore the time for waiting for collecting cards to be in place is shortened, and the overall operation efficiency is improved.
In view of the above related art, the inventor considers that when the tire crane performs the current task to move to the direction of another goods placing area to grasp the container, if the container of the next task is exactly at the current position, the situation that the tire crane performs two tasks to need to move back and forth for multiple times will occur, so that the overall efficiency is lower, and there is still room for improvement.
Disclosure of Invention
In order to improve the overall operation efficiency of the tire crane, the application provides a crane control method, a crane control system and an intelligent terminal.
In a first aspect, the present application provides a crane control method, which adopts the following technical scheme:
a crane control method comprising:
acquiring initial position information of a current tire crane, first position information of a current task container and second position information of a next task container;
calculating according to the first position information and a preset first goods placing position to determine first distance information;
judging whether the distance value corresponding to the first distance information is larger than a preset reference distance value or not;
if the distance value corresponding to the first distance information is not greater than the reference distance value, controlling the tire crane to move to the position corresponding to the first position information, controlling the lifting appliance to lift the container, controlling the tire crane to move to the first goods placing position after lifting, and updating the current task container;
If the distance value corresponding to the first distance information is larger than the reference distance value, determining a first moving path according to the initial position information and the first position information;
judging whether the position corresponding to the second position information is on the first moving path or not;
if the position corresponding to the second position information is not located on the first moving path, controlling the tire crane to hoist and move the current task container;
and if the position corresponding to the second position information is on the first moving path, controlling the tire crane to move to the position corresponding to the second position information, controlling the lifting appliance to lift the container, controlling the tire crane to move to a preset second goods placing position after lifting, and processing the container of the current task.
Through adopting above-mentioned technical scheme, acquire tire crane, present task container and next task container's position earlier to can confirm whether satisfy the first condition of executing next task earlier, when first condition satisfied, judge again whether the tire crane has passed through the container position, with judging whether the tire crane needs to turn around in order to handle next task container, thereby can control the tire crane efficient and handle two tasks, thereby reduced the condition emergence of tire crane reciprocating motion, improved the whole operating efficiency of tire crane.
Optionally, if the position corresponding to the second position information is located on the first moving path, the crane control method further includes:
acquiring current time information and in-place time information of a second put position set card;
calculating according to the initial position information and the second goods placing position to determine second distance information;
calculating according to the second distance information and a preset operation moving speed to determine moving duration;
determining a required time length according to the moving time length and a preset grabbing time length, and determining alignment time information according to the current time information and the required time length;
calculating according to the in-place time information and the alignment time information to determine a difference time length;
judging whether the difference time length is greater than a preset upper limit time length or not;
if the difference time is not greater than the upper limit time, controlling the tire crane to move to a position corresponding to the second position information for container lifting, controlling the tire crane to move to a second goods placing position after lifting, and then processing the container of the current task;
and if the difference time length is longer than the upper limit time length, controlling the tire crane to lift the current task container.
By adopting the technical scheme, whether the container truck at the second goods placing position is in place or not can be determined when the lifting appliance executes the next task and lifts the container to the second goods placing position, so that the situation that the tire crane needs to wait for the container truck to be in place for a long time is reduced, and the situation that the operation efficiency is lower is reduced.
Optionally, if the position corresponding to the second position information is located on the first moving path, the crane control method further includes:
judging whether the position corresponding to the second position information is below the position corresponding to the first position information;
if the position corresponding to the second position information is not below the position corresponding to the first position information, controlling the lifting appliance to lift the container according to the second position information after the tire crane moves;
if the position corresponding to the second position information is below the position corresponding to the first position information, defining the area where the first position information is located as an operation area, defining the area adjacent to the operation area as an adjacent area, and simultaneously acquiring the operation quantity information of the containers in the operation area and the adjacent quantity information of the containers in the adjacent area;
determining adjacent quantity information with the minimum corresponding value according to a preset ordering rule, and defining an adjacent area corresponding to the adjacent quantity information as a temporary playing area;
and controlling the lifting appliance to lift the container of the current task to the temporary storage area, updating the first position information, and continuously controlling the lifting appliance to lift the container according to the second position information.
Through adopting above-mentioned technical scheme, can confirm whether two containers are in the state of stacking, when being in the state of stacking, move the current task container to the region department that highly is minimum around and put temporarily to make the container of next task can be handled, so that the container hoist operation is comparatively stable.
Optionally, the method further comprises a method for determining the grabbing time length, and the method comprises the following steps:
judging whether the position corresponding to the second position information is below the position corresponding to the first position information;
if the position corresponding to the second position information is not below the position corresponding to the first position information, determining a preset fixed time length as a grabbing time length;
if the position corresponding to the second position information is below the position corresponding to the first position information, defining the adjacent quantity information of the temporary storage area as temporary storage quantity information;
performing difference calculation according to the temporary placement quantity information and the operation quantity information to determine difference quantity information;
determining the adjustment time length corresponding to the difference value quantity information according to a preset time length matching relation;
and carrying out summation calculation according to the fixed time length and the adjustment time length to determine the grabbing time length.
By adopting the technical scheme, the corresponding adjustment time length is determined according to the lifting or descending height required by the current task container to be lifted to the temporary storage area, so that the determined grabbing time length is accurate, and the tire crane control is facilitated.
Optionally, the method further comprises a method for determining the temporary placement area, and the method comprises the following steps:
counting according to the defined temporary playing area to determine temporary playing number information;
judging whether the value corresponding to the temporary storage number information is one or not;
if the corresponding value of the temporary playing number information is one, maintaining the definition of the temporary playing area;
if the corresponding value of the temporary storage number information is not one, determining the distance information according to the temporary storage area and the first goods storage position;
and determining the interval distance information with the minimum corresponding value according to the ordering rule, maintaining the temporary playing area corresponding to the interval distance information, and canceling the definition identification of the rest temporary playing areas.
By adopting the technical scheme, when a plurality of temporary placement areas appear, the temporary placement areas can be selected according to the path of movement required by the container, so that the path of movement required by the subsequent container is reduced, and the container can be moved conveniently.
Optionally, the method further comprises a method for moving the tyre crane, and the method comprises the following steps:
acquiring moving direction information of a tire crane;
determining the operation of a ranging device preset on the tire crane according to the moving direction information, and acquiring ranging distance information, wherein the ranging device is arranged downwards;
Performing difference calculation according to the distance measurement distance information and the preset height distance to determine difference distance information;
judging whether a distance value corresponding to the difference distance information is larger than a preset allowable distance value or not;
if the distance value corresponding to the difference value distance information is not greater than the allowable distance value, outputting a normal signal and controlling the tire crane to continue to move along the direction corresponding to the movement direction information;
if the distance value corresponding to the difference value distance information is larger than the allowable distance value, controlling the tire crane to move along a preset adjusting direction and acquiring the adjusting distance information;
judging whether the distance value corresponding to the adjustment distance information is smaller than a preset upper limit distance value or not;
if the distance value corresponding to the adjustment distance information is smaller than the upper limit distance value, continuing to move in the adjustment direction until a normal signal is output, correcting each position according to the adjustment distance information after the normal signal is output, and controlling the tire crane to move in the movement direction;
if the distance value corresponding to the adjustment distance information is not smaller than the upper limit distance value, outputting an abnormal signal and controlling the tire crane to stop moving.
Through adopting above-mentioned technical scheme, when the tire hangs when appearing protruding or sunken in the road surface when removing, can carry out the processing of detouring to the great position of deviation to make the tire hang remove comparatively stably, can carry out the position correction according to the distance condition of adjustment simultaneously, so that follow-up hoist can hang the container under the condition that the tire hangs and need not to reset comparatively accurate.
Optionally, the method further comprises a method for determining the adjustment direction, and the method comprises the following steps:
summing all the adjustment distance information to determine sum distance information;
determining an offset point according to the sum distance information and a preset initial origin;
the initial origin is pointed by the offset point to determine the direction of adjustment.
By adopting the technical scheme, the offset control can be performed according to the distance numerical condition of the tire crane from the storage yard, so that the tire crane has a larger adjustment space.
In a second aspect, the present application provides a crane control system, which adopts the following technical scheme:
a crane control system comprising:
the acquisition module is used for acquiring initial position information of the current tire crane, first position information of a current task container and second position information of a next task container;
the processing module is connected with the acquisition module and the judging module and is used for storing and processing information;
the judging module is connected with the acquisition module and the processing module and is used for judging information;
the processing module calculates according to the first position information and a preset first goods placing position to determine first distance information;
the judging module judges whether the distance value corresponding to the first distance information is larger than a preset reference distance value or not;
If the judging module judges that the distance value corresponding to the first distance information is not greater than the reference distance value, the processing module controls the tire crane to move to the position corresponding to the first position information and controls the lifting appliance to lift the container, controls the tire crane to move to the first goods placing position after lifting, and updates the current task container;
if the judging module judges that the distance value corresponding to the first distance information is larger than the reference distance value, the processing module determines a first moving path according to the initial position information and the first position information;
the judging module judges whether the position corresponding to the second position information is located on the first moving path or not;
if the judging module judges that the position corresponding to the second position information is not located on the first moving path, the processing module controls the tire crane to hoist and move the current task container;
if the judging module judges that the position corresponding to the second position information is located on the first moving path, the processing module controls the tire crane to move to the position corresponding to the second position information, controls the lifting appliance to lift the container, controls the tire crane to move to a preset second goods placing position after lifting, and then processes the container of the current task.
Through adopting above-mentioned technical scheme, acquire the position of tire crane, present task container and next task container earlier to make judging module can confirm whether to satisfy the first condition of executing next task earlier, when judging that the first condition is satisfied, judging module judges again whether the tire crane has passed through the container position, with judging whether the tire crane need turn around in order to handle next task container, thereby make processing module can control the tire crane and handle two tasks with high efficiency, thereby the condition emergence of tire crane reciprocating motion has been reduced, the whole operating efficiency of tire crane has been improved.
In a third aspect, the present application provides an intelligent terminal, which adopts the following technical scheme:
an intelligent terminal comprising a memory and a processor, the memory storing a computer program capable of being loaded by the processor and executing any one of the crane control methods described above.
Through adopting above-mentioned technical scheme, through intelligent terminal's use, acquire tire crane, present task container and next task container's position earlier to can confirm whether satisfy the first condition of executing next task earlier, when first condition satisfied, judge again whether the tire crane has passed through the container position, with judging whether the tire crane needs to turn around in order to handle next task container, thereby can control the tire crane efficient and handle two tasks, thereby reduced the condition emergence of tire crane reciprocating motion, improved the whole operating efficiency of tire crane.
In summary, the present application includes at least one of the following beneficial technical effects:
determining the sequence of executing tasks according to the positions of the tire cranes and the task conditions of the required operation, so that the reciprocating movement condition of the tire cranes is reduced, and the overall operation efficiency of the tire cranes is improved;
the condition of whether the containers are stacked or not can be analyzed, so that the container lifting task is stable to execute;
the condition of the moving road surface of the tire crane can be determined, so that the tire crane can detour in time when the ground is defective, the condition that the tire crane moves to deviate from a track is reduced, and a subsequent lifting appliance can accurately lift a container.
Drawings
Fig. 1 is a flow chart of a crane control method.
FIG. 2 is a schematic diagram of various locations of a yard.
Fig. 3 is a flowchart of a tire crane waiting condition determination method.
Fig. 4 is a flow chart of a container stacking process.
FIG. 5 is a schematic view of a yard and a tire crane.
Fig. 6 is a flowchart of a grasping time period determination method.
Fig. 7 is a flowchart of a method of determining a temporary placement area.
Fig. 8 is a flowchart of a tire crane movement control method.
Fig. 9 is a flowchart of the adjustment direction determination method.
Fig. 10 is a block flow diagram of a crane control method.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to fig. 1 to 10 and the embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
Embodiments of the present application are described in further detail below with reference to the drawings attached hereto.
The embodiment of the application discloses a crane control method, when a tire crane executes a current task, the operation condition of the next task is received, and the container lifting sequence is determined according to the container position condition and the tire crane condition, so that the tire crane does not need to repeatedly move in two goods placing areas, and the overall operation efficiency of the tire crane is improved.
Referring to fig. 1, the method flow of the crane control method includes the steps of:
step S100: and acquiring initial position information of the current tire crane, first position information of the current task container and second position information of the next task container.
The position corresponding to the initial position information is the position of the tire crane in the length direction of the storage yard, referring to fig. 2, the position corresponding to the first position information is the position of the container of the task executed by the current tire crane, the position corresponding to the second position information is the position of the container of the new task received in the process of executing the task by the tire crane, and the positions are two-dimensional coordinate points of the plane of the storage yard and are not space coordinate points.
Step S101: and calculating according to the first position information and a preset first goods placing position to determine first distance information.
The first goods placing position is a position for the container of the current task to carry out the container card parking and boxing in the storage yard, the position is determined according to the received task, and the distance value corresponding to the first distance information is a distance value of the container from the first goods placing position in the length direction of the storage yard.
Step S102: and judging whether the distance value corresponding to the first distance information is larger than a preset reference distance value.
The distance value corresponding to the reference distance information is half of the distance between the two goods placing areas, and the purpose of judgment is to know whether the current task needs to be executed first at present.
Step S1021: and if the distance value corresponding to the first distance information is not greater than the reference distance value, controlling the tire crane to move to the position corresponding to the first position information, controlling the lifting appliance to lift the container, controlling the tire crane to move to the first goods placing position after lifting, and updating the current task container.
When the distance value corresponding to the first distance information is not larger than the reference distance value, the path which the tire crane moves to firstly execute the current task and then execute the next task is necessarily shorter, and the tire crane is normally controlled to move and the lifting appliance is normally controlled to move and lift.
Step S1022: and if the distance value corresponding to the first distance information is larger than the reference distance value, determining a first moving path according to the initial position information and the first position information.
When the distance value corresponding to the first distance information is larger than the reference distance value, the fact that the distance required to move after the next task is executed is short is indicated, but the condition that the tire crane passes through the container of the next task in the length direction of the storage yard exists at the moment, and further analysis is needed; the first moving path is a path from the position corresponding to the initial position information to the position corresponding to the first position information, and the path is required to move along the length direction of the storage yard.
Step S103: and judging whether the position corresponding to the second position information is on the first moving path.
The purpose of the judgment is to know whether the tire crane can pass through the next task container in the remaining moving process.
Step S1031: and if the position corresponding to the second position information is not located on the first moving path, controlling the tire crane to hoist and move the current task container.
When the position corresponding to the second position information is not located on the first moving path, the follow-up movement of the tire crane is indicated not to pass through the next task container, and the tire crane is normally controlled to process the current task.
Step S1032: and if the position corresponding to the second position information is on the first moving path, controlling the tire crane to move to the position corresponding to the second position information, controlling the lifting appliance to lift the container, controlling the tire crane to move to a preset second goods placing position after lifting, and processing the container of the current task.
When the position corresponding to the second position information is on the first moving path, the tire crane is controlled to move to the next task container, and then the tire crane is controlled to firstly process the next task container so as to hoist the container to the second goods placing position for loading, and then the current task container is processed, so that the tire crane does not need to repeatedly move in the length direction of a storage yard when executing two tasks, and the overall efficiency is improved; the second goods placing position is a position for placing the collecting card at a different end of the storage yard from the first goods placing position.
Referring to fig. 3, if the position corresponding to the second position information is located on the first moving path, the crane control method further includes:
step S200: and acquiring current time information and in-place time information of the second put position set card.
When the position corresponding to the second position information is located on the first moving path, the operation of the next task container can be executed at first, but the situation that the truck is not in place so that the tire crane needs to wait exists, and further analysis is needed; the time corresponding to the current time information is the time when the next task is received and the next task meets the condition that the position corresponding to the second position information is located on the first moving path, the time corresponding to the in-place time information is the time required by the collection card used for transporting the next task container to reach the second goods placing position, the time can be manually input by a driver, and the time can also be obtained through distance speed calculation, so that the method is in the prior art and is not an innovation point of the application and is not repeated.
Step S201: and calculating according to the initial position information and the second goods placing position to determine second distance information.
The distance value corresponding to the second distance information is the distance value required by the tire crane to move from the position corresponding to the initial position information to the second goods placing position in the length direction of the storage yard.
Step S202: and calculating according to the second distance information and the preset operation moving speed to determine the moving duration.
The operation moving speed is the average speed when the tire crane moves in the length direction of the storage yard, the moving time is the time required by the distance value corresponding to the second distance information of the tire crane, and the time is determined by dividing the distance value corresponding to the second distance information by the operation moving speed.
Step S203: the method comprises the steps of determining a required time length according to a moving time length and a preset grabbing time length, and determining alignment time information according to current time information and the required time length.
The grabbing time length is the time length required by the staff to grab the container, the time length can be a fixed value time length, the specific setting can be carried out according to the container condition, and the setting is carried out by the staff according to the actual condition; the required time length is a total time length value required by the lifting appliance to grab the container and move to the second goods placing area, and is determined by the moving time length plus the grabbing time length; the time corresponding to the alignment time information is the distance time when the lifting appliance grabs the container and moves to the position above the second goods placing position, and the time corresponding to the current time information plus the required time is determined.
Step S204: and calculating according to the in-place time information and the alignment time information to determine the difference time length.
The difference time length is the time difference between the arrival of the lifting appliance above the second goods placing position and the arrival of the collecting card at the second goods placing position, the time corresponding to the time information in place is subtracted from the time corresponding to the alignment time information, and the arrival of the collecting card in advance is indicated when the value is a negative value, otherwise, the arrival of the lifting appliance in advance is indicated.
Step S205: and judging whether the difference time length is greater than a preset upper limit time length.
The upper limit time length is the maximum time length which is set by the staff and can enable the tire crane to wait, and the purpose of judgment is to know whether the condition that the overall processing period is too long and the working efficiency is affected if the next task is executed first.
Step S2051: and if the difference time is not greater than the upper limit time, controlling the tire crane to move to the position corresponding to the second position information for container lifting, controlling the tire crane to move to the second goods placing position after lifting, and processing the container of the current task.
When the difference time is not greater than the upper limit time, the waiting time is not long, and the next task container is processed normally.
Step S2052: and if the difference time length is longer than the upper limit time length, controlling the tire crane to lift the current task container.
When the difference time length is longer than the upper limit time length, the tire crane is required to wait for a longer time, and the executed task is low in efficiency, so that the current task is executed first.
Referring to fig. 4, if the position corresponding to the second position information is located on the first moving path, the crane control method further includes:
step S300: and judging whether the position corresponding to the second position information is below the position corresponding to the first position information.
Since the container of the task received first is necessarily at the uppermost part of the container stack, the next task received may be the case that the container is below the container currently required to be transported, and further analysis is required; the purpose of the judgment is to know whether the next task container to be transported forms a stacking process with the current task container, so as to judge whether the next task container can be transported directly.
Step S3001: and if the position corresponding to the second position information is not below the position corresponding to the first position information, controlling the lifting appliance to lift the container according to the second position information after the tire crane moves.
When the position corresponding to the second position information is not below the position corresponding to the first position information, the condition that two containers are stacked is not shown, and then the tire crane is normally controlled to perform priority processing on the next task container.
Step S3002: if the position corresponding to the second position information is below the position corresponding to the first position information, defining the area where the first position information is located as an operation area, defining the area adjacent to the operation area as an adjacent area, and simultaneously acquiring the operation quantity information of the containers in the operation area and the adjacent quantity information of the containers in the adjacent area.
When the position corresponding to the second position information is below the position corresponding to the first position information, the condition that the containers are stacked is described, and further analysis is needed at the moment; the operation area is a container area where the current task container is located, referring to fig. 5, the adjacent areas are container areas of adjacent containers on the sides of the current task container, the number value corresponding to the operation number information is the number of stacked containers in the operation area, the number value corresponding to the adjacent number information is the number of stacked containers in the adjacent areas, and the determination can be made through the container lifting condition of each area.
Step S301: and determining adjacent quantity information with the minimum corresponding value according to a preset ordering rule, and defining an adjacent area corresponding to the adjacent quantity information as a temporary playing area.
The sequencing rule is a method which is set by staff and can sequence the numerical values, such as an bubbling method, and can determine the adjacent area with the minimum stacking of containers through the sequencing rule, so as to determine the adjacent area with the minimum height, and define the adjacent area into a temporary placement area for identification, so that the distinction between different adjacent areas is realized.
Step S302: and controlling the lifting appliance to lift the container of the current task to the temporary storage area, updating the first position information, and continuously controlling the lifting appliance to lift the container according to the second position information.
Controlling the lifting appliance to firstly lift the container positioned above to a temporary storage area so that the container positioned below can be sequentially lifted, and updating the first position information at the moment to facilitate the processing of the subsequent containers; meanwhile, the container with lower height is selected, so that the lifting time of the lifting appliance in the height direction after lifting the container is shortened, and the whole operation is convenient.
Referring to fig. 6, the method further includes a method for determining a grabbing time period, the method includes:
step S400: and judging whether the position corresponding to the second position information is below the position corresponding to the first position information.
The purpose of the judgment is to know whether the container stacking occurs or not so as to judge whether the container above needs to be moved or not.
Step S4001: and if the position corresponding to the second position information is not below the position corresponding to the first position information, determining the preset fixed time length as the grabbing time length.
When the position corresponding to the second position information is not located below the position corresponding to the first position information, the condition that the upper container needs to be moved is not described, the grabbing time is determined according to the set fixed time length, the fixed time length is the fixed time length which is set by a worker and is required to be spent when only one container is lifted, and the fixed time length is set by the worker according to actual conditions.
Step S4002: and if the position corresponding to the second position information is below the position corresponding to the first position information, defining the adjacent quantity information of the temporary storage area as temporary storage quantity information.
When the position corresponding to the second position information is below the position corresponding to the first position information, the upper container is required to be moved, and the number of the positions required to be moved is defined at the moment so as to facilitate subsequent analysis.
Step S401: and carrying out difference calculation according to the temporary storage quantity information and the operation quantity information to determine difference quantity information.
The number value corresponding to the difference number information is the difference value between the number of the stacked containers in the temporary storage area and the number of the containers butted in the current operation area, and the number value corresponding to the temporary storage number information minus the number value corresponding to the operation number information is used for determining.
Step S402: and determining the adjustment time length corresponding to the difference value quantity information according to a preset time length matching relation.
The different difference quantity information represents that the height difference between the two is inconsistent, at the moment, the time length required by the tire crane for processing the container above is inconsistent, and the time length matching relationship between the two is determined by a staff through multiple experiments in advance, and is not repeated here.
Step S403: and carrying out summation calculation according to the fixed time length and the adjustment time length to determine the grabbing time length.
The accurate grabbing time length is determined by adding the fixed time length and the adjusting time length, so that the execution sequence of the tire crane tasks is determined accurately.
Referring to fig. 7, the method further includes a method for determining a temporary placement area, the method including:
step S500: counting according to the defined temporary playing area to determine temporary playing number information.
The number corresponding to the temporary playing number information is the total number of the determined temporary playing areas, and can be determined by counting the temporary playing areas one by one.
Step S501: judging whether the value corresponding to the temporary storage number information is one.
The purpose of the judgment is to know whether there is only a single landing area for the container above to be placed.
Step S5011: if the corresponding value of the temporary storage number information is one, the temporary storage area definition is maintained.
When the corresponding value of the temporary storage number information is one, only one temporary storage area is indicated to be available for placement, and the definition of the temporary storage area is maintained at the moment to place the container moved above.
Step S5012: if the corresponding value of the temporary storage number information is not one, determining the distance information according to the temporary storage area and the first goods storage position.
When the corresponding value of the temporary placement number information is not one, at least two alternative placement areas are indicated, and further selection is needed at the moment; the distance value corresponding to the distance information is the distance value between the center point of the temporary storage area and the first storage position on the storage yard plane.
Step S502: and determining the interval distance information with the minimum corresponding value according to the ordering rule, maintaining the temporary playing area corresponding to the interval distance information, and canceling the definition identification of the rest temporary playing areas.
The temporary storage area closest to the first goods placing position can be determined according to the ordering rule, the temporary storage area is maintained at the moment, other temporary storage areas are canceled, and therefore the position where the container is placed is closest to the first goods placing position, and subsequent container transportation is facilitated.
Referring to fig. 8, further comprising a method of moving the tire crane, the method comprising:
step S600: and acquiring the moving direction information of the tire crane.
The direction corresponding to the moving direction information is the moving direction of the tyre crane in the length direction of the storage yard, and comprises the direction from the direction of the first goods placing position to the direction of the second goods placing position and the opposite direction.
Step S601: and determining the operation of the ranging equipment preset on the tire crane according to the moving direction information, and acquiring the ranging distance information, wherein the ranging equipment is arranged downwards.
The ranging equipment is arranged on the tire crane and passes over the corresponding area before the tire passes over the corresponding area, namely the ranging equipment is arranged on the side wall of the tire crane and extends out, and the ranging equipment is arranged downwards to acquire the road condition; the distance value corresponding to the distance measurement distance information is the distance height value between the distance measurement equipment and the ground.
Step S602: and carrying out difference calculation according to the distance measurement distance information and the preset height distance to determine difference distance information.
The height distance is the standard distance between the distance measuring equipment and the ground when the ground is flat and odorless, the distance value corresponding to the difference value distance information is the difference value between the distance value corresponding to the distance measuring distance information and the height distance, and the difference value is an absolute value.
Step S603: and judging whether the distance value corresponding to the difference distance information is larger than a preset allowable distance value.
The allowable distance value is the maximum difference distance set by a worker and used for judging whether the tire of the tire crane can normally run or not when the tire of the tire crane is not deviated after the tire passes through the defect.
Step S6031: if the distance value corresponding to the difference distance information is not greater than the allowable distance value, outputting a normal signal and controlling the tire crane to continue to move along the direction corresponding to the moving direction information.
When the distance value corresponding to the difference distance information is not greater than the allowable distance value, the tire crane is controlled to normally move, and the tire crane is controlled to normally move.
Step S6032: and if the distance value corresponding to the difference distance information is larger than the allowable distance value, controlling the tire crane to move along a preset adjusting direction and acquiring the adjusting distance information.
When the distance value corresponding to the difference distance information is larger than the allowable distance value, the defect that the tire crane is deviated when the tire crane moves in the current direction is shown, and the position of the tire crane needs to be adjusted at the moment; the adjusting direction is a direction set by a worker and is perpendicular to the moving direction of the tire crane, the specific direction can be set according to the conditions of the tire crane and a storage yard, and the distance value corresponding to the adjusting distance information is a distance value of the tire crane moving in the adjusting direction.
Step S604: and judging whether the distance value corresponding to the adjustment distance information is smaller than a preset upper limit distance value.
The upper limit distance value is a distance value which is set by a worker and allowed to move in the current adjusting direction, namely, a minimum distance value in the process of keeping safety between the tire crane and the storage yard is correspondingly set according to the movement condition of the tire crane in the adjusting direction, and the purpose of judgment is to know whether the current tire crane moves to the limit in the adjusting direction.
Step S6041: if the distance value corresponding to the adjustment distance information is smaller than the upper limit distance value, continuing to move in the adjustment direction until a normal signal is output, correcting each position according to the adjustment distance information after the normal signal is output, and controlling the tire crane to move in the movement direction.
When the distance value corresponding to the adjustment distance information is smaller than the upper limit distance value, the position of the tire crane can be adjusted by continuing to move, the tire crane is normally controlled to shift in the adjustment direction, the position of the lifting appliance relative to the storage yard is changed after the tire crane shifts, and the position of the container and the position of the lifting appliance are required to be corrected at the moment, so that the lifting appliance can accurately lift the container.
Step S6042: if the distance value corresponding to the adjustment distance information is not smaller than the upper limit distance value, outputting an abnormal signal and controlling the tire crane to stop moving.
When the distance value corresponding to the adjustment distance information is not smaller than the upper limit distance value, the adjustment distance information indicates that the adjustment distance information is moved to the maximum value in the adjustment direction, the defect is avoided at the moment, and an abnormal signal is output to identify the situation, so that an external worker can know the situation, and the worker can intervene in time to process.
Referring to fig. 9, the method further includes a method for determining an adjustment direction, the method including:
step S700: all the adjustment distance information is summed to determine summed distance information.
The distance value corresponding to the total distance information is a distance value of the tire crane moving in the adjusting direction, for example, the left movement is additive, the right movement is subtractive, and the actual offset direction of the tire crane can be obtained by carrying out the summation calculation according to all the moving distance conditions of the tire crane in the adjusting direction.
Step S701: and determining an offset point according to the sum distance information and a preset initial origin.
The initial origin is a fixed point location on a storage yard set by a worker, and the offset point is a point location obtained after the initial origin is offset by a distance value corresponding to the sum distance information.
Step S702: the initial origin is pointed by the offset point to determine the direction of adjustment.
The offset point points to the initial origin point to determine the adjustment direction, so that the subsequent tire crane has a larger adjustment space, the success rate of the tire crane on the defect detouring is higher, and the intervention times of staff are reduced.
Referring to fig. 10, based on the same inventive concept, an embodiment of the present invention provides a crane control system including:
the acquisition module is used for acquiring initial position information of the current tire crane, first position information of a current task container and second position information of a next task container;
the processing module is connected with the acquisition module and the judging module and is used for storing and processing information;
the judging module is connected with the acquisition module and the processing module and is used for judging information;
the processing module calculates according to the first position information and a preset first goods placing position to determine first distance information;
the judging module judges whether the distance value corresponding to the first distance information is larger than a preset reference distance value or not;
if the judging module judges that the distance value corresponding to the first distance information is not greater than the reference distance value, the processing module controls the tire crane to move to the position corresponding to the first position information and controls the lifting appliance to lift the container, controls the tire crane to move to the first goods placing position after lifting, and updates the current task container;
If the judging module judges that the distance value corresponding to the first distance information is larger than the reference distance value, the processing module determines a first moving path according to the initial position information and the first position information;
the judging module judges whether the position corresponding to the second position information is located on the first moving path or not;
if the judging module judges that the position corresponding to the second position information is not located on the first moving path, the processing module controls the tire crane to hoist and move the current task container;
if the judging module judges that the position corresponding to the second position information is located on the first moving path, the processing module controls the tire crane to move to the position corresponding to the second position information and controls the lifting appliance to lift the container, controls the tire crane to move to a preset second goods placing position after lifting, and then processes the container of the current task;
the waiting condition determining module is used for determining the waiting condition of the tire crane so as to control the tire crane to execute tasks;
the container lifting control module is used for determining and controlling the stacked containers to correspondingly lift;
the grabbing time length determining module is used for determining more accurate grabbing time length according to the container condition;
The temporary placement area determining module is used for determining the temporary placement area so as to facilitate placement of the current task container;
the tire crane movement control module is used for controlling the movement of the tire crane so that the tire crane is not easy to pass through the ground defect, and the movement of the tire crane is stable;
and the adjusting direction determining module is used for determining a proper adjusting direction so that the tire lifting appliance has a large adjusting space.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above. The specific working processes of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which are not described herein.
Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute a crane control method.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above. The specific working processes of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which are not described herein.
The foregoing description of the preferred embodiments of the present application is not intended to limit the scope of the application, in which any feature disclosed in this specification (including abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. That is, each feature is one example only of a generic series of equivalent or similar features, unless expressly stated otherwise.
Claims (9)
1. A crane control method, comprising:
acquiring initial position information of a current tire crane, first position information of a current task container and second position information of a next task container;
Calculating according to the first position information and a preset first goods placing position to determine first distance information;
judging whether the distance value corresponding to the first distance information is larger than a preset reference distance value or not;
if the distance value corresponding to the first distance information is not greater than the reference distance value, controlling the tire crane to move to the position corresponding to the first position information, controlling the lifting appliance to lift the container, controlling the tire crane to move to the first goods placing position after lifting, and updating the current task container;
if the distance value corresponding to the first distance information is larger than the reference distance value, determining a first moving path according to the initial position information and the first position information;
judging whether the position corresponding to the second position information is on the first moving path or not;
if the position corresponding to the second position information is not located on the first moving path, controlling the tire crane to hoist and move the current task container;
and if the position corresponding to the second position information is on the first moving path, controlling the tire crane to move to the position corresponding to the second position information, controlling the lifting appliance to lift the container, controlling the tire crane to move to a preset second goods placing position after lifting, and processing the container of the current task.
2. The crane control method according to claim 1, wherein if the position corresponding to the second position information is on the first movement path, the crane control method further comprises:
acquiring current time information and in-place time information of a second put position set card;
calculating according to the initial position information and the second goods placing position to determine second distance information;
calculating according to the second distance information and a preset operation moving speed to determine moving duration;
determining a required time length according to the moving time length and a preset grabbing time length, and determining alignment time information according to the current time information and the required time length;
calculating according to the in-place time information and the alignment time information to determine a difference time length;
judging whether the difference time length is greater than a preset upper limit time length or not;
if the difference time is not greater than the upper limit time, controlling the tire crane to move to a position corresponding to the second position information for container lifting, controlling the tire crane to move to a second goods placing position after lifting, and then processing the container of the current task;
and if the difference time length is longer than the upper limit time length, controlling the tire crane to lift the current task container.
3. The crane control method according to claim 2, wherein if the position corresponding to the second position information is on the first movement path, the crane control method further comprises:
judging whether the position corresponding to the second position information is below the position corresponding to the first position information;
if the position corresponding to the second position information is not below the position corresponding to the first position information, controlling the lifting appliance to lift the container according to the second position information after the tire crane moves;
if the position corresponding to the second position information is below the position corresponding to the first position information, defining the area where the first position information is located as an operation area, defining the area adjacent to the operation area as an adjacent area, and simultaneously acquiring the operation quantity information of the containers in the operation area and the adjacent quantity information of the containers in the adjacent area;
determining adjacent quantity information with the minimum corresponding value according to a preset ordering rule, and defining an adjacent area corresponding to the adjacent quantity information as a temporary playing area;
and controlling the lifting appliance to lift the container of the current task to the temporary storage area, updating the first position information, and continuously controlling the lifting appliance to lift the container according to the second position information.
4. A crane control method according to claim 3, further comprising a method of determining a gripping duration, the method comprising:
judging whether the position corresponding to the second position information is below the position corresponding to the first position information;
if the position corresponding to the second position information is not below the position corresponding to the first position information, determining a preset fixed time length as a grabbing time length;
if the position corresponding to the second position information is below the position corresponding to the first position information, defining the adjacent quantity information of the temporary storage area as temporary storage quantity information;
performing difference calculation according to the temporary placement quantity information and the operation quantity information to determine difference quantity information;
determining the adjustment time length corresponding to the difference value quantity information according to a preset time length matching relation;
and carrying out summation calculation according to the fixed time length and the adjustment time length to determine the grabbing time length.
5. A crane control method according to claim 3, further comprising a method of determining a landing area, the method comprising:
counting according to the defined temporary playing area to determine temporary playing number information;
judging whether the value corresponding to the temporary storage number information is one or not;
If the corresponding value of the temporary playing number information is one, maintaining the definition of the temporary playing area;
if the corresponding value of the temporary storage number information is not one, determining the distance information according to the temporary storage area and the first goods storage position;
and determining the interval distance information with the minimum corresponding value according to the ordering rule, maintaining the temporary playing area corresponding to the interval distance information, and canceling the definition identification of the rest temporary playing areas.
6. The crane control method according to claim 1, further comprising a method of moving the tire crane, the method comprising:
acquiring moving direction information of a tire crane;
determining the operation of a ranging device preset on the tire crane according to the moving direction information, and acquiring ranging distance information, wherein the ranging device is arranged downwards;
performing difference calculation according to the distance measurement distance information and the preset height distance to determine difference distance information;
judging whether a distance value corresponding to the difference distance information is larger than a preset allowable distance value or not;
if the distance value corresponding to the difference value distance information is not greater than the allowable distance value, outputting a normal signal and controlling the tire crane to continue to move along the direction corresponding to the movement direction information;
If the distance value corresponding to the difference value distance information is larger than the allowable distance value, controlling the tire crane to move along a preset adjusting direction and acquiring the adjusting distance information;
judging whether the distance value corresponding to the adjustment distance information is smaller than a preset upper limit distance value or not;
if the distance value corresponding to the adjustment distance information is smaller than the upper limit distance value, continuing to move in the adjustment direction until a normal signal is output, correcting each position according to the adjustment distance information after the normal signal is output, and controlling the tire crane to move in the movement direction;
if the distance value corresponding to the adjustment distance information is not smaller than the upper limit distance value, outputting an abnormal signal and controlling the tire crane to stop moving.
7. The crane control method according to claim 6, further comprising a direction adjustment determination method, the method comprising:
summing all the adjustment distance information to determine sum distance information;
determining an offset point according to the sum distance information and a preset initial origin;
the initial origin is pointed by the offset point to determine the direction of adjustment.
8. A crane control system, comprising:
the acquisition module is used for acquiring initial position information of the current tire crane, first position information of a current task container and second position information of a next task container;
The processing module is connected with the acquisition module and the judging module and is used for storing and processing information;
the judging module is connected with the acquisition module and the processing module and is used for judging information;
the processing module calculates according to the first position information and a preset first goods placing position to determine first distance information;
the judging module judges whether the distance value corresponding to the first distance information is larger than a preset reference distance value or not;
if the judging module judges that the distance value corresponding to the first distance information is not greater than the reference distance value, the processing module controls the tire crane to move to the position corresponding to the first position information and controls the lifting appliance to lift the container, controls the tire crane to move to the first goods placing position after lifting, and updates the current task container;
if the judging module judges that the distance value corresponding to the first distance information is larger than the reference distance value, the processing module determines a first moving path according to the initial position information and the first position information;
the judging module judges whether the position corresponding to the second position information is located on the first moving path or not;
if the judging module judges that the position corresponding to the second position information is not located on the first moving path, the processing module controls the tire crane to hoist and move the current task container;
If the judging module judges that the position corresponding to the second position information is located on the first moving path, the processing module controls the tire crane to move to the position corresponding to the second position information, controls the lifting appliance to lift the container, controls the tire crane to move to a preset second goods placing position after lifting, and then processes the container of the current task.
9. An intelligent terminal comprising a memory and a processor, the memory having stored thereon a computer program capable of being loaded by the processor and performing the method according to any of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310704520.XA CN116443733B (en) | 2023-06-14 | 2023-06-14 | Crane control method and system and intelligent terminal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310704520.XA CN116443733B (en) | 2023-06-14 | 2023-06-14 | Crane control method and system and intelligent terminal |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116443733A true CN116443733A (en) | 2023-07-18 |
| CN116443733B CN116443733B (en) | 2023-08-22 |
Family
ID=87135942
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310704520.XA Active CN116443733B (en) | 2023-06-14 | 2023-06-14 | Crane control method and system and intelligent terminal |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116443733B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110329910A (en) * | 2019-04-30 | 2019-10-15 | 上海冠东国际集装箱码头有限公司 | Automatic cabinet gantry crane remote control trolley path planning method |
| CN110733982A (en) * | 2019-12-20 | 2020-01-31 | 广东博智林机器人有限公司 | multi-tower crane transfer scheduling method and system |
| CN113326987A (en) * | 2021-06-02 | 2021-08-31 | 武汉理工大学 | Railway central station track type container crane collaborative optimization scheduling method |
| CN114839971A (en) * | 2022-04-12 | 2022-08-02 | 宁波梅东集装箱码头有限公司 | Unmanned card collection control method, system, storage medium and intelligent terminal |
| CN114873457A (en) * | 2022-05-10 | 2022-08-09 | 上海旷通科技有限公司 | Method and equipment for assisting in running of crane |
| CN115173510A (en) * | 2022-06-29 | 2022-10-11 | 宁波北仑涌和集装箱码头有限公司 | Gantry crane battery charging method and system, storage medium and intelligent terminal |
| CN115676410A (en) * | 2022-11-29 | 2023-02-03 | 深圳市平方科技股份有限公司 | Container slot identification method, device, equipment and medium |
-
2023
- 2023-06-14 CN CN202310704520.XA patent/CN116443733B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110329910A (en) * | 2019-04-30 | 2019-10-15 | 上海冠东国际集装箱码头有限公司 | Automatic cabinet gantry crane remote control trolley path planning method |
| CN110733982A (en) * | 2019-12-20 | 2020-01-31 | 广东博智林机器人有限公司 | multi-tower crane transfer scheduling method and system |
| CN113326987A (en) * | 2021-06-02 | 2021-08-31 | 武汉理工大学 | Railway central station track type container crane collaborative optimization scheduling method |
| CN114839971A (en) * | 2022-04-12 | 2022-08-02 | 宁波梅东集装箱码头有限公司 | Unmanned card collection control method, system, storage medium and intelligent terminal |
| CN114873457A (en) * | 2022-05-10 | 2022-08-09 | 上海旷通科技有限公司 | Method and equipment for assisting in running of crane |
| CN115173510A (en) * | 2022-06-29 | 2022-10-11 | 宁波北仑涌和集装箱码头有限公司 | Gantry crane battery charging method and system, storage medium and intelligent terminal |
| CN115676410A (en) * | 2022-11-29 | 2023-02-03 | 深圳市平方科技股份有限公司 | Container slot identification method, device, equipment and medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116443733B (en) | 2023-08-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP3785061B2 (en) | Container position detection method and apparatus for cargo handling crane, container landing and stacking control method | |
| WO2015022001A1 (en) | Method and system for automatically landing containers on a landing target using a container crane | |
| EP2805904A1 (en) | Method and system for predicting working progress of a gantry crane | |
| CA3146795A1 (en) | A method and system for autonomous controlling of movements of container handling vehicles operating in an automated storage and retrieval system | |
| CN116443733B (en) | Crane control method and system and intelligent terminal | |
| CN108394811B (en) | A kind of intelligent apparatus and its working method for harbour quick despatch | |
| JP7276595B2 (en) | AUTOMATED WAREHOUSE SYSTEM AND AUTOMATED WAREHOUSE SYSTEM CONTROL METHOD | |
| CN114056947A (en) | Intelligent storage system and method for precast concrete segment beams | |
| CN113568402A (en) | Ship unloading method and device and ship-shore cooperative ship unloading system | |
| CN110422526B (en) | Warehousing system and logistics control method | |
| CN114655843B (en) | Small-sized lifting and carrying equipment capable of automatically identifying goods identification and control method thereof | |
| CN114757627B (en) | Relay type lifting path planning and scheduling method | |
| CN116101671A (en) | Method, device, equipment and storage medium for carrying bagged materials | |
| Royset et al. | Optimizing container movements using one and two automated stacking cranes | |
| CN116750507A (en) | Wharf operation control method, wharf operation control system, storage medium and intelligent terminal | |
| JP6096702B2 (en) | Container terminal gate system | |
| JP7408425B2 (en) | crane system | |
| WO2018143894A1 (en) | Freight container storage and retrieval system and method | |
| JPH0912269A (en) | Operating method for container crane | |
| JPS6219963A (en) | Abnormality forecasting system for automatic freight loading device | |
| JP3233676B2 (en) | Coil position detection device on carrier pallet | |
| Vis et al. | Container terminal operations: An overview | |
| KR101398157B1 (en) | System for multi piling management of steel plate using rfid and loadcell | |
| CN114219136A (en) | Container truck management method, system, storage medium and intelligent terminal | |
| JP2024051879A (en) | Crane operation system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |