CN111115471A - Vision system, front crane and automatic box grabbing control method thereof - Google Patents
Vision system, front crane and automatic box grabbing control method thereof Download PDFInfo
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- CN111115471A CN111115471A CN202010094938.XA CN202010094938A CN111115471A CN 111115471 A CN111115471 A CN 111115471A CN 202010094938 A CN202010094938 A CN 202010094938A CN 111115471 A CN111115471 A CN 111115471A
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000006073 displacement reaction Methods 0.000 claims abstract description 106
- 230000007246 mechanism Effects 0.000 claims description 17
- 230000009471 action Effects 0.000 claims description 12
- 238000010586 diagram Methods 0.000 claims description 4
- 230000008901 benefit Effects 0.000 abstract description 7
- 238000005299 abrasion Methods 0.000 abstract description 3
- 230000004048 modification Effects 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
- B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
- B66C23/705—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic telescoped by hydraulic jacks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/84—Slewing gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/06—Cranes in which the lifting movement is done with a hydraulically controlled plunger
- B66C2700/062—Cranes in which the lifting movement is done with a hydraulically controlled plunger mounted on motor vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a vision system, a front crane and an automatic box grabbing control method thereof, wherein the front crane comprises a vision system and a control system, wherein the vision system is used for identifying a lock hole position of a target container and acquiring a current hanger position and a target hanger position of the front crane; constructing a space geometric relation graph of the current state and the target state according to the acquired current hanger position and the target hanger position of the front crane, and determining the displacement value of the target hanger; and the control system is connected with the vision system and used for receiving the displacement value, controlling the front crane to act according to the displacement value, adjusting the front crane from the current hanger position to the target hanger position, and enabling the rotary lock of the hanger to be correspondingly inserted into the lock hole of the container. The vision system, the front crane and the automatic box grabbing control method thereof improve the automation level of front crane hoisting and reduce the labor intensity of operators; the oil consumption and the abrasion of the front crane can be reduced while the operation efficiency of the front crane can be improved, and the economic benefit of equipment is increased.
Description
Technical Field
The invention relates to the technical field of mechanical product control, and particularly discloses a vision system, a front crane and an automatic box grabbing control method thereof.
Background
The container reach stacker is called reach stacker or reach stacker for short. The container front crane is one crane for loading and unloading container and belongs to one kind of crane apparatus. The container front crane is specially designed for 20-foot and 40-foot international containers, is mainly used for stacking containers and horizontally transporting in wharfs and stacking plants, and compared with a forklift, the container front crane has the advantages of flexibility, convenience in operation, good stability, lower wheel pressure, high stacking layer number, high stacking plant utilization rate and the like. The operation of crossing boxes can be carried out. The container loading and unloading device is particularly used for loading and unloading containers in medium and small ports, railway special stations and highway special stations, and can also be used as auxiliary equipment in large container terminals.
As shown in fig. 1 and 2, at the present stage, when the reach stacker carries out the container 7 hoisting operation, a cab operator manually controls the boom luffing cylinder 3 to extend and retract so as to realize the up-and-down movement of the spreader 4, and controls the boom 2 to extend and retract so as to realize the forward-and-backward movement of the spreader; the rotary motion of the lifting appliance is realized by controlling the swing mechanism 5 of the lifting appliance, and the left-right motion of the lifting appliance is realized by controlling the stretching of the transverse moving oil cylinder 9 of the lifting appliance. When the container is hoisted, the rotary lock of the container sling is aligned with the lock hole at the top of the container by controlling the actions of the mechanisms, and then the container is grabbed. However, in the prior art, all actions of the reach stacker require an operator in the cab to grab and lift the container according to own visual conditions and own operation experiences, so that not only is the working efficiency low, but also the loss of equipment is increased.
Therefore, the invention provides the front-lift spreader which can automatically identify the lock hole on the container, and the one-key automatic container grabbing operation of the container is very necessary.
Disclosure of Invention
The invention provides a vision system, a front crane and an automatic box grabbing control method thereof, and aims to solve the technical problems of low working efficiency and high equipment loss of the conventional front crane.
According to an aspect of the present invention, there is provided a vision system comprising an acquisition device and a control device, wherein,
the acquisition device is used for identifying the position of a target container lock hole and acquiring the current hanger position and the target hanger position of the front crane;
and the control device is connected with the acquisition device and used for constructing a space geometric relation graph of the current state and the target state according to the acquired current hanger position and the target hanger position of the front crane and determining the displacement value of the target hanger.
Furthermore, the acquisition device adopts a camera which is arranged at the left end and the right end of the top of the lifting appliance and is used for automatically identifying the left lock hole position and the right lock hole position of the target container;
the control device adopts a controller, the controller is connected with the camera and is used for constructing a space geometric relational graph of a current state and a target state according to the left keyhole position and the right keyhole position of a target container automatically identified by the camera, and determining a displacement value of a target lifting appliance through a geometric coordinate trigonometric function relation, wherein the displacement value comprises a deflection included angle theta between the current lifting appliance position and the target lifting appliance position, a longitudinal displacement x3 between the current lifting appliance position and the target lifting appliance position, a transverse displacement y3 between the current lifting appliance position and the target lifting appliance position, and a vertical displacement between the current lifting appliance position and the target lifting appliance position.
The invention also provides a head-mounted crane, which comprises a vision system and a control system, wherein,
the vision system is used for identifying the position of a target container lock hole and acquiring the current hanger position and the target hanger position of the front crane; constructing a space geometric relation graph of the current state and the target state according to the acquired current hanger position and the target hanger position of the front crane, and determining the displacement value of the target hanger;
and the control system is connected with the vision system and used for receiving the displacement value, controlling the front crane to act according to the displacement value, adjusting the front crane from the current hanger position to the target hanger position, and enabling the rotary lock of the hanger to be correspondingly inserted into the lock hole of the container.
Further, the vision system comprises a camera and a controller,
the cameras are arranged at the left end and the right end of the top of the lifting appliance and are used for automatically identifying the left lock hole position and the right lock hole position of a target container;
the controller is connected with the camera and used for constructing a space geometric relational graph of the current state and the target state according to the left keyhole position and the right keyhole position of the target container automatically identified by the camera, and determining the displacement value of the target lifting appliance through the trigonometric function relationship of the geometric coordinates, wherein the displacement value comprises a deflection included angle theta between the current lifting appliance position and the target lifting appliance position and a longitudinal displacement x between the current lifting appliance position and the target lifting appliance position3The transverse displacement y between the current spreader position and the target spreader position3And a vertical displacement between the current spreader position and the target spreader position.
Further, the head-on crane also comprises a lifting appliance swing mechanism, a lifting arm amplitude-variable oil cylinder, an arm support and a lifting appliance, the control system comprises a first control module, a second control module, a third control module and a fourth control module,
the first control module is used for controlling the clockwise rotation theta value of the swing mechanism of the lifting appliance;
a second control module for controlling the front crane to move longitudinallyTo the longitudinal displacement x3>When 0, the telescopic oil cylinder of the arm support is controlled to extend out; if the longitudinal displacement x is recognized3<When 0, controlling the telescopic oil cylinder of the arm support to retract; if the longitudinal displacement x is recognized3When the arm support is 0, controlling a telescopic oil cylinder of the arm support to stop doing telescopic action;
a third control module for controlling the front crane to move transversely, if the transverse displacement y is recognized3>When 0, controlling a transverse moving oil cylinder of the lifting appliance to move transversely upwards; if the transverse displacement y is recognized3<When 0, controlling a transverse moving oil cylinder of the lifting appliance to move transversely downwards; if the transverse displacement y is recognized3When the height is equal to 0, controlling a transverse moving oil cylinder of the lifting appliance to stop transverse moving;
and the fourth control module is used for controlling the front crane to vertically move, so that the boom luffing cylinder retracts, and the second control module controls the boom telescoping cylinder to retract, so that the lifting appliance vertically moves downwards in a straight line.
According to another aspect of the invention, there is also provided a front-lift automatic box grabbing control method, comprising the following steps:
identifying the position of a lock hole of a target container, and acquiring the current hanger position and the target hanger position of the front crane;
constructing a space geometric relation graph of a current state and a target state according to the obtained current hanger position and the target hanger position of the front crane, and determining a displacement value of the target hanger;
and receiving the displacement value, controlling the front crane to act according to the displacement value, and adjusting the front crane from the current hanger position to the target hanger position to enable the rotary lock of the hanger to be correspondingly inserted into the lock hole of the container.
Further, target container lockhole position includes target container left lockhole position and target container right lockhole position, discerns target container lockhole position, and the step of obtaining the current hoist position of front crane and target hoist position includes:
the left lock hole position of the target container and the right lock hole position of the target container are automatically identified through cameras arranged at the left end and the right end of the top of the lifting appliance.
Further, the displacement value comprises a deflection included angle theta between the current hanger position and the target hanger position, and a longitudinal displacement x between the current hanger position and the target hanger position3The transverse displacement y between the current spreader position and the target spreader position3And a vertical displacement between the current spreader position and the target spreader position.
Further, the deflection included angle θ between the current spreader position and the target spreader position is obtained by the following formula:
θ＝arcsin(y2/b)
wherein, y2The distance from the intersection point of the deflection included angle to the right lock hole of the target container is shown, and b is the distance from the intersection point of the deflection included angle to the right lock hole of the current container.
Further, the front crane comprises a crane swing mechanism, a crane arm amplitude variation oil cylinder, a crane arm frame and a crane, the displacement value is received, the front crane is controlled to move according to the displacement value, the front crane is adjusted to a target crane position from the current crane position, and the step of inserting the crane rotary lock into the container lock hole correspondingly comprises the following steps:
controlling the swing mechanism of the lifting appliance to rotate clockwise by a value theta;
controlling the front crane to move longitudinally, and if the longitudinal displacement x is recognized3>When 0, the telescopic oil cylinder of the arm support is controlled to extend out; if the longitudinal displacement x is recognized3<When 0, controlling the telescopic oil cylinder of the arm support to retract; if the longitudinal displacement x is recognized3When the arm support is 0, controlling a telescopic oil cylinder of the arm support to stop doing telescopic action;
controlling the front crane to move transversely, and if the transverse displacement y is recognized3>When 0, controlling a transverse moving oil cylinder of the lifting appliance to move transversely upwards; if the transverse displacement y is recognized3<When 0, controlling a transverse moving oil cylinder of the lifting appliance to move transversely downwards; if the transverse displacement y is recognized3When the height is equal to 0, controlling a transverse moving oil cylinder of the lifting appliance to stop transverse moving;
and controlling the front crane to vertically move, and controlling the boom telescopic oil cylinder to retract while enabling the boom luffing oil cylinder to retract so as to enable the lifting appliance to vertically move downwards in a straight line.
The beneficial effects obtained by the invention are as follows:
according to the vision system, the front crane and the automatic box grabbing control method thereof, when the front crane carries out box hoisting operation, the alignment box grabbing work of a container lifting appliance is automatically completed through one-key operation, the automation level of front crane hoisting is improved, and the labor intensity of operators is reduced; after the technology of the invention is adopted, the oil consumption and the abrasion of the front crane can be reduced and the economic benefit of equipment can be increased while the operation efficiency of the front crane is improved.
Drawings
FIG. 1 is a schematic front view of a conventional front crane;
FIG. 2 is a schematic top view of a conventional front crane;
FIG. 3 is a functional block diagram of an embodiment of a reach stacker provided in the present invention;
FIG. 4 is a schematic view of a working state of the front crane according to an embodiment of the present invention;
FIG. 5 is an enlarged view of a portion of FIG. 4;
FIG. 6 is a schematic view of a spatial geometric relationship between a current state and a target state of the reach stacker provided in the present invention;
FIG. 7 is a partial view of the current state and the target state of the front-lift crane provided by the present invention after rotating by an angle θ;
FIG. 8 is an enlarged view of a portion of FIG. 7;
FIG. 9 is a partial view of the front crane in its current state and target state after longitudinal movement;
FIG. 10 is a partial view of the front crane in its current and target states after lateral movement in accordance with the present invention;
fig. 11 is a schematic flow chart illustrating an embodiment of a front-lift automatic box grabbing control method according to the present invention;
fig. 12 is a schematic detailed flowchart of the step S300 in fig. 11.
The reference numbers illustrate:
1. front crane of the container; 2. a suspension arm; 3. a boom luffing cylinder; 4. a spreader; 5. a hanger slewing mechanism; 6. the lifting appliance is locked by screwing; 7. a container; 8. a container lock hole; 9. transversely moving the oil cylinder; 10. a vision system; 20. a control system; 11. a camera; 12. a controller; 21. a first control module; 22. a second control module; 23. a third control module; 24. and a fourth control module.
Detailed Description
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
As shown in fig. 3 to 6, the present invention provides a reach stacker, including a vision system 10 and a control system 20, where the vision system 10 is configured to identify a target container keyhole position, and obtain a current spreader position and a target spreader position of the reach stacker; and according to the obtained current hanger position and the target hanger position of the front crane, constructing a space geometric relationship diagram (shown in figure 6) of the current state (shown by a solid line part in figure 3) and the target state (shown by a dashed line part in figure 3), and determining the displacement value of the target hanger. And the control system 20 is connected with the vision system 10 and is used for receiving the displacement value, controlling the front crane to act according to the displacement value, adjusting the front crane from the current crane position to the target crane position, and enabling the crane rotary lock to be correspondingly inserted into the container lock hole.
In the structure, the vision system comprises an acquisition device and a control device, wherein the acquisition device is used for identifying the position of a lock hole of a target container and acquiring the current hanger position and the target hanger position of the front crane; and the control device is connected with the acquisition device and used for constructing a space geometric relation graph of the current state and the target state according to the acquired current hanger position and the target hanger position of the front crane and determining the displacement value of the target hanger. Specifically, the acquisition device adopts the camera 11, and both ends about the hoist top are located to camera 11 for automatic identification target container left lockhole position and target container right lockhole position. The control device adopts a controller 12, the controller 12 is connected with the camera 11 and is used for constructing a space geometric relation graph of a current state and a target state according to the left keyhole position and the right keyhole position of a target container automatically identified by the camera 11, and determining a displacement value of a target lifting appliance through a geometric coordinate trigonometric function relation, wherein the displacement value comprises a deflection included angle theta between the current lifting appliance position and the target lifting appliance position, a longitudinal displacement x3 between the current lifting appliance position and the target lifting appliance position, a transverse displacement y3 between the current lifting appliance position and the target lifting appliance position, and a vertical displacement between the current lifting appliance position and the target lifting appliance position. In this embodiment, the coordinate values of the target position and the current position are automatically recognized by two cameras 11 in the vision recognition system, and then the deflection included angle θ between the current spreader position and the target spreader position is determined by the geometric coordinate trigonometric function relationship.
Further, referring to fig. 6, in the space geometry diagram of the current state and the target state, according to the trigonometric function relationship, the equation set of the sizes a and b can be obtained:
(x2+a)^2+y2^2＝b^2………………………(1)
(x1+L+x2+a)^2+y1^2＝(L+b)………………(2)
wherein (x)1，y1) The coordinates (x) of the left lock hole of the container are identified for the left camera of the spreader2，y2)Identifying the coordinates of the right lock hole of the container for the right camera of the lifting appliance; l is the fixed length of the lifting appliance, and theta is the deflection included angle between the current lifting appliance position and the target lifting appliance position.
The numerical values of a and b can be obtained by equations (1 and 2).
And then according to the inverse trigonometric function, obtaining a deflection included angle theta between the current hanger position and the target hanger position:
θ＝arcsin(y2/b)………………(3)
wherein, y2The distance from the intersection point of the deflection included angle to the right lock hole of the target container is shown, and b is the distance from the intersection point of the deflection included angle to the right lock hole of the current container.
Preferably, referring to fig. 3 to 10, the reach stacker provided in this embodiment further includes a spreader rotating mechanism, a boom luffing cylinder, a boom frame and a spreader, and the control system 20 includes a first control module 21, a second control module 22, a third control module 23 and a fourth control module24, wherein the first control module 21 is configured to control the spreader rotation mechanism to rotate clockwise by the value θ, as shown in fig. 7 and 8, when the spreader is parallel to the target spreader state in the horizontal direction and the vertical direction. A second control module 22 for controlling the front crane to move longitudinally, if the longitudinal displacement x is recognized3>When 0, the telescopic oil cylinder of the arm support is controlled to extend out; if the longitudinal displacement x is recognized3<When 0, controlling the telescopic oil cylinder of the arm support to retract; if the longitudinal displacement x is recognized3When the value is equal to 0, the telescopic cylinder of the boom is controlled to stop doing telescopic action, and the effect graph is shown in fig. 9. A third control module 23 for controlling the reach stacker to move laterally, if the lateral displacement y is recognized3>When 0, controlling a transverse moving oil cylinder of the lifting appliance to move transversely upwards; if the transverse displacement y is recognized3<When 0, controlling a transverse moving oil cylinder of the lifting appliance to move transversely downwards; if the transverse displacement y is recognized3When the horizontal movement oil cylinder of the lifting appliance stops horizontal movement, the current position and the target position of the lifting appliance are completely overlapped from the angle of the top view at the moment, and the horizontal movement oil cylinder of the lifting appliance is controlled to stop horizontal movement, and the angle is shown in fig. 10. And the fourth control module 24 is used for controlling the front crane to vertically move, so that the luffing cylinder of the suspension arm retracts, and the lifting appliance vertically moves downwards in a straight line. By controlling the linear motion of the lifting appliance, namely, automatically controlling the retraction action of the lifting arm while the lifting arm of the front lifting arm is in amplitude descending, the amplitude value of the lifting arm is ensured to be unchanged all the time, and the motion track of the lifting appliance moves vertically downwards at the moment. The rotary lock of the lifting appliance can be automatically inserted into the container lock hole, so that the lifting appliance can automatically grab the container. In this embodiment, the front-lift control system controls the current actions of the mechanisms of the front-lift according to the target position information identified by the visual identification system, where the current coordinate displacement value of the target point relative to the lifting appliance is equal to 0, so as to achieve the purpose that the current lifting appliance automatically moves to the target lifting appliance position, improve the operation efficiency of the front-lift, reduce the oil consumption and wear of the front-lift, and increase the economic benefit of the equipment.
As shown in fig. 7 to 12, the present invention further provides a front-lift automatic box grabbing control method, which includes the following steps:
and S100, identifying the position of a lock hole of the target container, and acquiring the current hanger position and the target hanger position of the front crane.
The left lock hole position of the target container and the right lock hole position of the target container are automatically identified through cameras arranged at the left end and the right end of the top of the lifting appliance.
And S200, constructing a space geometric relation graph of the current state and the target state according to the acquired current hanger position and the target hanger position of the front crane, and determining the displacement value of the target hanger.
According to the left keyhole position and the right keyhole position of the target container automatically identified by the camera 11, a space geometric relation graph of the current state and the target state is constructed, and the displacement value of the target hanger is determined through a geometric coordinate trigonometric function relation, wherein the displacement value comprises a deflection included angle theta between the current hanger position and the target hanger position, and a longitudinal displacement x between the current hanger position and the target hanger position3The transverse displacement y between the current spreader position and the target spreader position3And a vertical displacement between the current spreader position and the target spreader position. In this embodiment, the coordinate values of the target position and the current position are automatically recognized by two cameras 11 in the vision recognition system, and then the deflection included angle θ between the current spreader position and the target spreader position is determined by the geometric coordinate trigonometric function relationship.
In the space geometric relational graph of the current state and the target state, according to the trigonometric function relationship, an equation set of the sizes a and b can be obtained:
(x2+a)^2+y2^2＝b^2……………………(4)
(x1+L+x2+a)^2+y1^2＝(L+b)………………(5)
wherein (x)1，y1) The coordinates (x) of the left lock hole of the container are identified for the left camera of the spreader2，y2)Identifying the coordinates of the right lock hole of the container for the right camera of the lifting appliance; l is the fixed length of the lifting appliance, and theta is the deflection included angle between the current lifting appliance position and the target lifting appliance position.
The numerical values of a and b can be obtained by equations (4 and 5).
And then according to the inverse trigonometric function, obtaining a deflection included angle theta between the current hanger position and the target hanger position:
θ＝arcsin(y2/b)………………(6)
wherein, y2The distance from the intersection point of the deflection included angle to the right lock hole of the target container is shown, and b is the distance from the intersection point of the deflection included angle to the right lock hole of the current container.
And S300, receiving the displacement value, controlling the front crane to act according to the displacement value, and adjusting the front crane from the current hanger position to the target hanger position to enable the rotary lock of the hanger to be correspondingly inserted into the lock hole of the container.
Further, the reach stacker comprises a spreader rotating mechanism, a boom luffing cylinder, a boom and a spreader, and receives the displacement value, wherein the step S300 comprises:
and S310, controlling the hanger slewing mechanism to rotate clockwise by a value theta.
Referring to fig. 7 and 8, the spreader is now parallel to the target spreader state in both the horizontal and vertical directions.
Step S320, controlling the front crane to move longitudinally, and if the longitudinal displacement x is identified3>When 0, the telescopic oil cylinder of the arm support is controlled to extend out; if the longitudinal displacement x is recognized3<When 0, controlling the telescopic oil cylinder of the arm support to retract; if the longitudinal displacement x is recognized3When the value is equal to 0, the telescopic cylinder of the boom is controlled to stop doing telescopic action, and the effect graph is shown in fig. 9.
Step S330, controlling the front crane to move transversely, and if the transverse displacement y is recognized3>When 0, controlling a transverse moving oil cylinder of the lifting appliance to move transversely upwards; if the transverse displacement y is recognized3<When 0, controlling a transverse moving oil cylinder of the lifting appliance to move transversely downwards; if the transverse displacement y is recognized3And when the height is equal to 0, controlling the transverse moving oil cylinder of the lifting appliance to stop transverse moving.
As shown in fig. 10, the amount of lateral displacement y3When the position is 0, the current position and the target position of the lifting appliance are completely coincident from the angle of the top view.
And S340, controlling the front crane to vertically move, and controlling the boom stretching oil cylinder to retract while enabling the boom amplitude changing oil cylinder to retract so as to enable the lifting appliance to vertically and downwards perform linear motion.
By controlling the linear motion of the lifting appliance, namely, automatically controlling the retraction action of the lifting arm while the lifting arm of the front lifting arm is in amplitude descending, the amplitude value of the lifting arm is ensured to be unchanged all the time, and the motion track of the lifting appliance moves vertically downwards at the moment. The rotary lock of the lifting appliance can be automatically inserted into the container lock hole, so that the lifting appliance can automatically grab the container.
In this embodiment, the front-lift control system controls the current actions of the mechanisms of the front-lift according to the target position information identified by the visual identification system, where the current coordinate displacement value of the target point relative to the lifting appliance is equal to 0, so as to achieve the purpose that the current lifting appliance automatically moves to the target lifting appliance position, improve the operation efficiency of the front-lift, reduce the oil consumption and wear of the front-lift, and increase the economic benefit of the equipment.
Compared with the prior art, the vision system, the front crane and the automatic box grabbing control method thereof provided by the embodiment have the advantages that when the front crane carries out box hoisting operation, the alignment box grabbing work of the container spreader is automatically completed through one-key operation, the automation level of front crane hoisting is improved, and the labor intensity of operators is reduced; after the technology of the invention is adopted, the oil consumption and the abrasion of the front crane can be reduced and the economic benefit of equipment can be increased while the operation efficiency of the front crane is improved.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention. It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A vision system, comprising acquisition means and control means, wherein,
the acquisition device is used for identifying the position of a lock hole of the target container and acquiring the current hanger position and the target hanger position of the front crane;
and the control device is connected with the acquisition device and used for constructing a space geometric relation graph of the current state and the target state according to the acquired current hanger position and the target hanger position of the front crane and determining the displacement value of the target hanger.
2. The vision system of claim 1,
the acquisition device adopts a camera (11), and the camera (11) is arranged at the left end and the right end of the top of the lifting appliance and is used for automatically identifying the left lock hole position and the right lock hole position of a target container;
the control device adopts a controller (12), the controller (12) is connected with the camera (11) and is used for constructing a space geometric relationship diagram of a current state and a target state according to the left keyhole position and the right keyhole position of a target container automatically identified by the camera (11), and determining a displacement value of a target lifting appliance through a geometric coordinate trigonometric function relationship, wherein the displacement value comprises a deflection included angle theta between the current lifting appliance position and the target lifting appliance position, a longitudinal displacement x3 between the current lifting appliance position and the target lifting appliance position, a transverse displacement y3 between the current lifting appliance position and the target lifting appliance position, and a vertical displacement between the current lifting appliance position and the target lifting appliance position.
3. A reach stacker, comprising a vision system (10) and a control system (20), wherein,
the vision system (10) is used for identifying the position of a lock hole of the target container and acquiring the current hanger position and the target hanger position of the front crane; constructing a space geometric relation graph of a current state and a target state according to the obtained current hanger position and the target hanger position of the front crane, and determining a displacement value of the target hanger;
and the control system (20) is connected with the vision system (10) and is used for receiving the displacement value, controlling the front crane to act according to the displacement value, adjusting the front crane from the current hanger position to the target hanger position, and enabling the rotary lock of the hanger to be correspondingly inserted into the lock hole of the container.
4. A reach stacker as in claim 3,
the vision system (10) comprises a camera (11) and a controller (12),
the cameras (11) are arranged at the left end and the right end of the top of the lifting appliance and are used for automatically identifying the left lock hole position and the right lock hole position of a target container;
the controller (12) is connected with the camera (11) and is used for constructing a space geometric relation graph of a current state and a target state according to the left keyhole position and the right keyhole position of the target container, which are automatically identified by the camera (11), and determining a displacement value of the target lifting appliance through a geometric coordinate trigonometric function relation, wherein the displacement value comprises a deflection included angle theta between the current lifting appliance position and the target lifting appliance position, a longitudinal displacement x3 between the current lifting appliance position and the target lifting appliance position, a transverse displacement y3 between the current lifting appliance position and the target lifting appliance position, and a vertical displacement between the current lifting appliance position and the target lifting appliance position.
5. A reach stacker as in claim 4,
the front crane also comprises a lifting appliance swing mechanism, a lifting arm amplitude-variable oil cylinder, a lifting arm frame and a lifting appliance, the control system (20) comprises a first control module (21), a second control module (22), a third control module (23) and a fourth control module (24),
the first control module (21) is used for controlling the hanger slewing mechanism to rotate clockwise by a value theta;
the second control module (22) is used for controlling the front crane to move longitudinally, and if the longitudinal displacement x is recognized3When the height is more than 0, controlling a telescopic oil cylinder of the arm support to extend out; if the longitudinal displacement x is recognized3When the number is less than 0, controlling the telescopic oil cylinder of the arm support to retract; if it is recognizedLongitudinal displacement x3When the arm support is 0, controlling a telescopic oil cylinder of the arm support to stop doing telescopic action;
the third control module (23) is used for controlling the front crane to move transversely, and if the transverse displacement y is recognized3When the height is more than 0, controlling a transverse moving oil cylinder of the lifting appliance to move transversely upwards; if the transverse displacement y is recognized3When the height is less than 0, controlling a transverse moving oil cylinder of the lifting appliance to move downwards; if the transverse displacement y is recognized3When the lifting force is equal to 0, controlling a transverse moving oil cylinder of the lifting appliance to stop transverse moving;
the fourth control module (24) is used for controlling the front crane to vertically move, so that the boom luffing cylinder retracts, and the second control module (22) controls the boom telescoping cylinder to retract, so that the lifting appliance vertically moves downwards in a straight line.
6. The automatic box grabbing control method for the front crane is characterized by comprising the following steps of:
identifying the position of a lock hole of a target container, and acquiring the current hanger position and the target hanger position of the front crane;
constructing a space geometric relation graph of a current state and a target state according to the obtained current hanger position and the target hanger position of the front crane, and determining a displacement value of the target hanger;
and receiving the displacement value, controlling the front crane to act according to the displacement value, and adjusting the front crane from the current hanger position to the target hanger position to enable the rotary lock of the hanger to be correspondingly inserted into the lock hole of the container.
7. The automatic front-lift box grabbing control method according to claim 6,
the target container lockhole position includes target container left lockhole position and target container right lockhole position, discernment target container lockhole position, the step of obtaining the current hoist position and the target hoist position of openly hanging includes:
and the left lock hole position and the right lock hole position of the target container are automatically identified through cameras arranged at the left end and the right end of the top of the lifting appliance.
8. The automatic front-lift box grabbing control method according to claim 7,
the displacement value comprises a deflection included angle theta between the current hanger position and the target hanger position, and a longitudinal displacement x between the current hanger position and the target hanger position3The transverse displacement y between the current spreader position and the target spreader position3And a vertical displacement between the current spreader position and the target spreader position.
9. The automatic front-lift box grabbing control method according to claim 8,
the deflection included angle theta between the current hanger position and the target hanger position is obtained by the following formula:
θ＝arcsin(y2/b)
wherein, y2The distance from the intersection point of the deflection included angle to the right lock hole of the target container is shown, and b is the distance from the intersection point of the deflection included angle to the right lock hole of the current container.
10. The automatic front-lift box grabbing control method according to claim 9,
the front crane comprises a crane swing mechanism, a crane arm amplitude variation oil cylinder, a crane arm support and a crane, the displacement value is received, the front crane is controlled to move according to the displacement value, the front crane is adjusted to a target crane position from a current crane position, and the step of inserting the crane rotary lock into the container lock hole correspondingly comprises the following steps:
controlling the hanger slewing mechanism to rotate clockwise by a value theta;
controlling the front crane to move longitudinally, and if a longitudinal displacement x is recognized3When the height is more than 0, controlling a telescopic oil cylinder of the arm support to extend out; if the longitudinal displacement x is recognized3When the number is less than 0, controlling the telescopic oil cylinder of the arm support to retract; if the longitudinal displacement x is recognized3When the value is 0, controlling the telescopic oil cylinder of the arm supportStopping doing telescopic action;
controlling the front crane to move transversely, and if the transverse displacement y is recognized3When the height is more than 0, controlling a transverse moving oil cylinder of the lifting appliance to move transversely upwards; if the transverse displacement y is recognized3When the height is less than 0, controlling a transverse moving oil cylinder of the lifting appliance to move downwards; if the transverse displacement y is recognized3When the lifting force is equal to 0, controlling a transverse moving oil cylinder of the lifting appliance to stop transverse moving;
and controlling the front crane to vertically move, so that the boom luffing cylinder is controlled to retract while the boom luffing cylinder retracts, and the lifting appliance vertically moves downwards to make a linear motion.
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