CN112744728A - Alignment device and method for automatically aligning lock hole of container - Google Patents
Alignment device and method for automatically aligning lock hole of container Download PDFInfo
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- CN112744728A CN112744728A CN202011626283.2A CN202011626283A CN112744728A CN 112744728 A CN112744728 A CN 112744728A CN 202011626283 A CN202011626283 A CN 202011626283A CN 112744728 A CN112744728 A CN 112744728A
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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
- B66C23/62—Constructional features or details
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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
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/101—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means for containers
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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
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
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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
- B66C13/16—Applications of indicating, registering, or weighing devices
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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
-
- 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
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- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The application provides an aligning device and method for automatically aligning container lockholes, and when the aligning device is used, the aligning device is mainly used for hoisting and transferring a container with a higher stacking height. Firstly, the spreader of the reach stacker is lifted above the container by operating the reach stacker. Adopt measuring device to survey the alignment condition of hoist and container, know the alignment condition after, the controller sends the instruction to the front crane and controls the hoist and remove for hoist and container align, this alignment state can make the hoist lock the container, and this embodiment replaces artifical completion alignment work, makes the hoist be in the position of lockable container, and the locking mechanical system of hoist targets in place, can lock the container, has realized the automatic alignment of hoist and container.
Description
Technical Field
The application relates to the technical field of front cranes, in particular to an aligning device and method for automatically aligning a lock hole of a container.
Background
When the front crane grabs and takes a high-rise container, the distance between the lifting appliance and the cockpit is far, a driver needs to look up at the large angle, on one hand, a visual angle blind area exists, the whole lifting appliance and the container cannot be seen, and on the other hand, the alignment condition of the lifting appliance and the container cannot be seen.
The spreader of the front crane is lifting equipment with adjustable three dimensions, and the container can be locked only by properly adjusting the front, back, left and right heights when being aligned with the container. Therefore, when the high-rise high-level container is grabbed and lifted, the requirement on a driver operating the front crane is high, and safety accidents can be caused if the front crane is not aligned accurately in the grabbing process.
Disclosure of Invention
In view of this, the present application provides an aligning apparatus and method for automatically aligning a lock hole of a container, which solves the technical problem that a spreader is difficult to align a high-rise container.
In a first aspect, the present application provides an aligning apparatus for automatically aligning a lock hole of a container, which is applied to a reach stacker, and includes: a spreader mounted on the reach stacker, the reach stacker moving the spreader to align a container; a measurement device configured to: determining an alignment of the spreader with the container; and a controller electrically connected to the front crane and the measuring device, respectively, and configured to: controlling the reach stacker to move the spreader so that the spreader aligns with and can lock the container, in accordance with the alignment condition.
With reference to the first aspect, in a possible implementation manner, the measurement apparatus is further configured to: determining a right side alignment condition between a right edge of the spreader and a right edge of the container, and determining a rear side alignment condition between a rear edge of the spreader and a rear edge of the container; wherein the controller is further configured to: controlling the front crane to move the spreader according to the right and rear edge alignment conditions such that the right edge of the spreader is aligned with the right edge of the container and the rear edge of the spreader is aligned with the rear edge of the container to enable the spreader to lock the container after movement.
With reference to the first aspect, in a possible implementation manner, the measurement apparatus includes: a first range finder configured to: determining a first distance value between a first nominal position of the spreader and a right edge of the container; a second range finder configured to: determining a second distance value between a second nominal position of the spreader and a rear edge of the container; a third range finder configured to: determining a third distance value between a third nominal position of the spreader and a rear edge of the container; wherein the controller is further configured to: receiving and controlling the reach stacker to move the spreader according to the first distance value, the second distance value and the third distance value, so that the first calibration position of the spreader and the right edge of the container mutually reach a first preset distance value, the second calibration position of the spreader and the rear edge of the container mutually reach a second preset distance value, and the third calibration position of the spreader and the rear edge of the container mutually reach a third preset distance value, so that the spreader can lock the container after moving.
With reference to the first aspect, in a possible implementation manner, the first distance meter and the second distance meter are both disposed at a first position of the spreader, and the third distance meter is disposed at a second position of the spreader; wherein the first and second calibration positions are at the first position of the spreader and the third calibration position is at the second position of the spreader.
With reference to the first aspect, in a possible implementation manner, the first distance meter is further configured to: determining a first horizontal distance value in a first direction between the first range finder and a right edge of the container; the second range finder is further configured to: determining a second horizontal distance value in a second direction between the second rangefinder and a rear edge of the container; the third range finder is further configured to: determining a third horizontal distance value in a second direction between the third range finder and a rear edge of the container; the controller is further configured to: receiving and controlling the reach stacker to move the spreader according to the first horizontal distance value, the second horizontal distance value, and the third horizontal distance value such that the first horizontal distance value corresponds to a first edge spacing value, the second horizontal distance value corresponds to a second edge spacing value, and the third horizontal distance value corresponds to a third edge spacing value, such that the spreader can lock the container after moving; wherein the first edge spacing value is a horizontal distance in a first direction between the first rangefinder and a right edge of the spreader; the second edge spacing value is a horizontal distance in a second direction between the second rangefinder and a rear edge of the spreader; the third edge separation value is a horizontal distance in a second direction between the third range finder and a rear edge of the spreader.
With reference to the first aspect, in one possible implementation manner, the front suspension further includes: an arm support configured to be rotatably fitted on the reach stacker, the spreader being provided on a free end of the arm support; the controller is further configured to: the lifting appliance is electrically connected with the arm support, the arm support is controlled to lift or lower the lifting appliance in a rotating mode, and the lifting appliance translation value of the lifting appliance is calculated when the arm support rotates to drive the lifting appliance to reach the height capable of locking the container; and controlling the reach stacker to move the spreader so that the second horizontal distance value corresponds to a difference value obtained by subtracting the spreader translation value from the second edge distance value, and the third horizontal distance value corresponds to a difference value obtained by subtracting the spreader translation value from the third edge distance value, so that the container can be locked after the spreader is lifted or lowered by the boom in a rotating manner.
With reference to the first aspect, in one possible implementation manner, the controller includes: a spreader rotation controller configured to: the front crane is electrically connected with the front crane, and the front crane is controlled to horizontally rotate the lifting appliance, so that the edge of the lifting appliance is parallel to the corresponding edge of the container; and a spreader side-shifting controller configured to: electrically connected to the reach stacker, controlling the reach stacker to translate the spreader such that the spreader is aligned and able to lock the container.
In a second aspect, the present application provides an aligning method for automatically aligning a lock hole of a container, which is applied to a controller, and includes the steps of: receiving a first horizontal distance value in a first direction between the first range finder and a right edge of the container; receiving a second horizontal distance value in a second direction between the second range finder and a rear edge of the container; receiving a third horizontal distance value in a second direction between the third range finder and a rear edge of the container; controlling the head-lift to move the spreader such that the first horizontal distance value corresponds to the first edge-to-edge distance value; controlling the head-lift to move the spreader such that the second horizontal distance value corresponds to the second edge spacing value; and controlling the head crane to move the spreader such that the third horizontal distance value corresponds to the third edge-to-edge distance value.
With reference to the second aspect, in one possible implementation manner, the front suspension further includes: an arm support configured to be rotatably fitted on the reach stacker, the spreader being provided on a free end of the arm support; the aligning method for automatically aligning the lock hole of the container further comprises the following steps: calculating a spreader translation value of the spreader in the process that the boom rotates to drive the spreader to reach the height capable of locking the container; controlling the arm support to lift or lower the lifting appliance in a rotating mode; controlling the front crane to move the lifting appliance so that the second horizontal distance value corresponds to a difference value obtained by subtracting the lifting appliance translation value from the second edge distance value; and controlling the front crane to move the lifting appliance, so that the third horizontal distance value corresponds to a difference value obtained by subtracting the lifting appliance translation value from the third edge distance value.
With reference to the second aspect, in a possible implementation manner, calculating a spreader translation value of the spreader in a process that the boom rotates to drive the spreader to reach a height capable of locking the container includes: receiving a vertical distance of the spreader bottom surface from the container top surface; receiving a rotation angle value of the arm support in the process that the arm support rotates to drive the lifting appliance to reach the height capable of locking the container; and calculating the spreader translation value according to the vertical distance and the boom rotation angle value.
When the container lifting device is used, the container lifting device is mainly used for lifting and transferring the container with higher stacking height. Firstly, the spreader of the reach stacker is lifted above the container by operating the reach stacker. Adopt measuring device to survey the alignment condition of hoist and container, know the alignment condition after, the controller sends the instruction to the front crane and controls the hoist and remove for hoist and container align, this alignment state can make the hoist lock the container, and this embodiment replaces artifical completion alignment work, makes the hoist be in the position of lockable container, and the locking mechanical system of hoist targets in place, can lock the container, has realized the automatic alignment of hoist and container.
Drawings
Fig. 1 is a schematic structural diagram illustrating an alignment device for automatically aligning a lock hole of a container according to an embodiment of the present disclosure.
Fig. 2 is a schematic top view illustrating an alignment device for automatically aligning lock holes of a container according to another embodiment of the present disclosure.
Fig. 3 is a schematic top view illustrating an alignment device for automatically aligning lock holes of a container according to another embodiment of the present disclosure.
Fig. 4 is a schematic top view illustrating an alignment device for automatically aligning lock holes of a container according to another embodiment of the present disclosure.
Fig. 5 is a schematic top view of a part of an aligning apparatus for automatically aligning lock holes of a container according to another embodiment of the present application.
Fig. 6 is a schematic structural diagram illustrating an alignment device for automatically aligning lock holes of a container according to another embodiment of the present application.
Fig. 7 is a schematic diagram illustrating steps of an alignment method for automatically aligning lock holes of a container according to an embodiment of the present application.
Fig. 8 is a schematic diagram illustrating a method for automatically aligning a lock hole of a container according to another embodiment of the present application.
Fig. 9 is a schematic diagram illustrating a method for automatically aligning a lock hole of a container according to another embodiment of the present application.
Fig. 10 is a system schematic diagram of a front crane control apparatus according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The application provides an automatic aim at aligning device of container lockhole, as shown in fig. 1, be applied to the reach stacker 1, include: a lifting appliance 2, a measuring device and a controller; the spreader 2 is assembled on the reach stacker 1, and the reach stacker 1 moves the spreader 2 to align with the container 3; the measurement device is configured to: measuring the alignment of the spreader 2 with the container 3; the controller is electrically connected with the front crane 1 and the measuring device respectively, and the controller is configured to: and controls the reach stacker 1 to move the spreader 2 in accordance with the alignment condition so that the spreader 2 is aligned and can lock the container 3.
When the container lifting device is used, the container lifting device is mainly used for lifting and transferring containers with high stacking heights. Firstly, through controlling the reach stacker 1, the spreader 2 of the reach stacker 1 is lifted above the container, and because the container is high, a worker generally cannot manually judge whether the spreader 2 is aligned with the container and is in a lockable state. The alignment condition of the spreader 2 and the container 3 is measured by adopting a measuring device, after the alignment condition is known, the controller sends an instruction to the reach stacker 1 to control the spreader 2 to move, and the movement control algorithm can be a mechanical control algorithm for controlling the reach stacker and can send an instruction to the reach stacker to enable the reach stacker to automatically execute displacement control of a certain target position; make hoist 2 and container 3 align, this alignment state can make hoist 2 lock container 3, and this embodiment replaces the manual work to accomplish alignment work for hoist 2 is in the position of lockable container 3, and hoist 2's locking mechanical system targets in place, can lock container 3, has realized hoist 2 and container 3's automatic alignment. The operator can then at any time send a command to the head-up crane 1 to cause the spreader 2 to lock the container 3.
In particular, the detection of the alignment of the spreader 2 and the container 3 by the measuring device may be the detection of the alignment of at least two edges of the spreader 2 with two edges of the container 3, and the locking mechanism of the spreader 2 may lock the container 3 when the two edges of the spreader 2 and the two edges of the container 3 are aligned. Or detecting the alignment condition of at least three calibration positions of the spreader 2 and three calibration positions of the container 3, when the calibration positions of the spreader 2 and the corresponding calibration positions of the container 3 reach a preset distance, the spreader 2 aligns with the container 3 at this time; the predetermined distance may be a predetermined distance determined by measuring a distance between a calibration position on the spreader 2 and a corresponding calibration position of the container 3 when the spreader 2 is aligned with the container 3.
In some embodiments, as shown in fig. 2 and 3, the measurement device is further configured to: determining a right side alignment condition between a right edge of the spreader 2 and a right edge of the container 3, and determining a rear side alignment condition between a rear edge of the spreader 2 and a rear edge of the container 3; wherein the controller is further configured to: electrically connected to the head crane 1, and controlling the head crane 1 to move the spreader 2 according to the right side alignment condition and the rear side alignment condition, so that the right edge of the spreader 2 is aligned with the right edge of the container 3, and the rear edge of the spreader 2 is aligned with the rear edge of the container 3, so that the container 3 can be locked after the spreader 2 is moved.
In use, the present embodiment is such that when the right edge of the spreader 2 is aligned with the right edge of the container 3 and the rear edge of the spreader 2 is aligned with the rear edge of the container 3, the spreader 2 is able to lock the container 3 when in this alignment. In the embodiment, the alignment condition of the right edge of the spreader 2 and the right edge of the container 3 is measured by the measuring device, the alignment condition of the rear edge of the spreader 2 and the rear edge of the container 3 is measured, and the controller controls the front crane 1 to move the spreader 2 until the right edge of the spreader 2 is aligned with the right edge of the container 3 and the rear edge of the spreader 2 is aligned with the rear edge of the container 3 according to the right alignment condition and the rear alignment condition, so that the container is in a lockable position state after alignment, and the automatic alignment of the spreader 2 and the container 3 is realized. Where fig. 2 is an embodiment of the spreader 2 not being aligned with a container 3 and fig. 3 is an embodiment of the spreader 2 being aligned with a container 3. The embodiment uses the edge of the container 3 as the alignment detection object, and the edge of the container 3 is easy to identify, so the detection precision and accuracy are high.
The measuring mode of the measuring device can be a laser radar ranging mode, specifically, a plurality of laser radars can be arranged on the lifting appliance 2, the alignment conditions of the right edge of the lifting appliance 2 and the right edge of the container 3 are measured through the laser radars, and then the alignment conditions of the rear edge of the lifting appliance 2 and the rear edge of the container 3 are measured. Or shooting the lifting appliance 2 and the container 3 by a camera in an image acquisition mode, calculating the distance between the right edge of the lifting appliance 2 and the right edge of the container 3, the distance between the rear edge of the lifting appliance 2 and the rear edge of the container 3 in a shot image by using an image processing algorithm to judge the alignment condition, and controlling the front crane 1 to move the lifting appliance 2 to align according to the alignment condition.
Specifically, the state that the spreader 2 is aligned with the container 3 may be that the right edge of the spreader 2 is completely aligned with the right edge of the container 3, and the rear edge of the spreader 2 is completely aligned with the rear edge of the container 3, when the measuring device detects that the right edge of the spreader 2 is not aligned with the right edge of the container 3 and the rear edge of the spreader 2 is not aligned with the rear edge of the container 3, the spreader 2 is controlled to move the spreader 2 so that the right edge of the spreader 2 is completely aligned with the right edge of the container 3 and the rear edge of the spreader 2 is completely aligned with the container 3, and the spreader 2 can lock the container at any time after alignment.
In the embodiment of fig. 2 and 3, the right edge of the spreader 2 refers to the right edge of the outer contour of the spreader 2 in the figures, the right edge of the container 3 refers to the right edge of the outer contour of the container 3 in the figures, the rear edge of the spreader 2 refers to the lower edge of the outer contour of the spreader 2 in the figures, and the rear edge of the container 3 refers to the lower edge of the outer contour of the container 3 in the figures.
In some embodiments, as shown in fig. 4, the measurement device comprises: a first range finder 401, a second range finder 402, and a third range finder 403; the first rangefinder 401 is configured to: determining a first distance value between a first nominal position of the spreader 2 and the right edge of the container 3; the second rangefinder 402 is configured to: determining a second distance value between a second nominal position of the spreader 2 and the rear edge of the container 3; the third range finder 403 is configured to: determining a third distance value between a third calibration position of the spreader 2 and the rear edge of the container 3;
wherein the controller is further configured to: and receiving and controlling the reach stacker 1 to move the spreader 2 according to the first distance value, the second distance value and the third distance value, so that the first calibration position of the spreader 2 and the right edge of the container 3 mutually reach a first preset distance value, the second calibration position of the spreader 2 and the rear edge of the container 3 mutually reach a second preset distance value, and the third calibration position of the spreader 2 and the rear edge of the container 3 mutually reach a third preset distance value, so that the container 3 can be locked after the spreader 2 moves.
In this embodiment, the first distance meter 401, the second distance meter 402 and the third distance meter 403 are mounted on the spreader 2, the first calibration position may be the position of the first distance meter 401, the second calibration position may be the position of the second distance meter 402, and the third calibration position may be the position of the third distance meter 403. The first preset distance value, the second preset distance value and the third preset distance value are measured in advance, and the measuring process can be as follows: when the spreader 2 is aligned with the container 3, the distance between the first calibration position and the right edge of the container 3 is measured as a first preset distance value, the distance between the second calibration position and the rear edge of the container 3 is measured as a second preset distance value, and the distance between the third calibration position and the rear edge of the container 3 is measured as a third preset distance value. When the spreader 2 and the container 3 need to be aligned in actual use, after the first distance value, the second distance value and the third distance value are measured, the controller moves and adjusts the spreader 2 according to the first distance value, the second distance value and the third distance value, so that the first calibration position of the spreader 2 and the right edge of the container 3 reach the first preset distance value, the second calibration position of the spreader 2 and the rear edge of the container 3 reach the second preset distance value, the distance between the third calibration position of the spreader 2 and the rear edge of the container reaches the third preset distance value, at this moment, the spreader 2 and the container 3 are in an aligned state, thereby completing the alignment of the spreader 2 and the container 3, and then the spreader 2 can lock the container 3 at any time.
In the embodiment of fig. 4, the right edge of the spreader 2 refers to the right edge of the outer contour of the spreader 2 in the figure, the right edge of the container 3 refers to the right edge of the outer contour of the container 3 in the figure, the rear edge of the spreader 2 refers to the lower edge of the outer contour of the spreader 2 in the figure, and the rear edge of the container 3 refers to the lower edge of the outer contour of the container 3 in the figure.
In some embodiments, as shown in fig. 5, the first range finder 401 and the second range finder 402 are both provided at a first position of the spreader 2, and the third range finder 403 is provided at a second position of the spreader 2; wherein the first calibration position and the second calibration position are at the first position of the spreader 2, and the third calibration position is at the second position of the spreader 2.
In the present embodiment, the first distance meter 401 and the second distance meter 402 are disposed at the same position of the spreader 2, for example, on the right side of the spreader 2; the third distance meter 403 is provided on the left side of the spreader 2, and the space can be saved by the structural arrangement of this embodiment. In this embodiment, the first distance meter 401 measures a first distance value between the first calibration position (which may be the position of the first distance meter 401) and the right edge of the container 3, the second distance meter 402 measures a second distance value between the second calibration position (which may be the position of the second distance meter 402) and the rear edge of the container 3, and the third distance meter 403 measures a third distance value between the third calibration position (which may be the position of the third distance meter 403) and the rear edge of the container 3. Since the first distance meter 401 and the second distance meter 402 are located at the same position, i.e. the first position, the first calibration position and the second calibration position are overlapped and both located at the first position.
In some embodiments, the structure may be as shown in fig. 5, the first range finder 401 further configured to: determining a first horizontal distance value in a first direction between the first distance meter 401 and the right edge of the container 3; the second rangefinder 402 is further configured to: determining a second horizontal distance value in a second direction between the second distance meter 402 and the rear edge of the container 3; the third range finder 403 is further configured to: determining a third horizontal distance value in the second direction between the third distance meter 403 and the rear edge of the container 3;
the controller is further configured to: receiving and controlling the reach stacker 1 to move the spreader 2 according to the first horizontal distance value, the second horizontal distance value and the third horizontal distance value, so that the first horizontal distance value corresponds to the first edge distance value, the second horizontal distance value corresponds to the second edge distance value, and the third horizontal distance value corresponds to the third edge distance value, so that the container 3 can be locked after the spreader 2 moves;
the first edge distance value is the horizontal distance between the first distance meter and the right edge of the lifting appliance in the first direction; the second edge distance value is the horizontal distance between the second distance meter and the rear edge of the lifting appliance in the second direction; the third edge spacing value is a horizontal distance in the second direction between the third rangefinder and the rear edge of the spreader.
In this embodiment, the measurement directions of the first distance meter 401, the second distance meter 402, and the third distance meter 403 are limited, and each measured distance is a distance in the horizontal direction, so that the control calculation process can be simplified. The first horizontal distance value and the first edge distance value may correspond in the following manner: the first horizontal distance value is substantially equal to the first edge separation value, i.e. the first horizontal distance value is substantially equal to the horizontal distance in the first direction between the first rangefinder 401 and the right edge of the spreader 2. The corresponding manner of the second horizontal distance value and the second edge distance value may be: the second horizontal distance value is substantially equal to the second edge separation value, i.e. the second horizontal distance value is substantially equal to the horizontal distance in the second direction between the second distance meter 402 and the rear edge of the spreader 2. The corresponding manner of the third horizontal distance value and the third edge distance value may be: the third horizontal distance value is substantially equal to the third edge separation value, i.e. the third horizontal distance value is substantially equal to the horizontal distance in the second direction between the third distance meter 403 and the rear edge of the spreader 2.
Specifically, in some embodiments, the first direction may be set to be perpendicular to the right edge of the spreader 2, the second direction may be set to be perpendicular to the rear edge of the spreader 2, the right edge of the spreader 2 refers to a perpendicular line on which a point protrudes most to the right of the outer contour of the spreader 2 in fig. 5, and the rear edge of the spreader 2 refers to a horizontal line on which a point protrudes most to the lower side of the outer contour of the spreader 2 in fig. 5. Accordingly, in the present embodiment, the distance between the first distance meter 401 and the right edge of the spreader 2 in the first direction is the shortest distance between the first distance meter 401 and the right edge of the spreader 2, and the shortest distance can be set as a 1; the distance in the second direction between the second distance meter 402 and the rear edge of the spreader 2 is the shortest distance between the second distance meter 402 and the rear edge of the spreader 2, and the shortest distance can be set to a 2; the distance in the second direction between the third distance meter 403 and the rear edge of the spreader 2 is the shortest distance between the third distance meter 403 and the rear edge of the spreader 2, and the shortest distance may be set as B2. In the present embodiment, the shortest distance between the second distance meter 402 and the rear edge of the spreader 2 may be set equal to the shortest distance between the third distance meter 403 and the rear edge of the spreader 2, i.e., a 2-B2. A first horizontal distance value of the first direction between the first distance meter 401 and the right edge of the container 3 may be set to D1, a second horizontal distance value of the second direction between the second distance meter 402 and the rear edge of the container 3 may be set to D2, and a third horizontal distance value of the second direction between the third distance meter 403 and the rear edge of the container 3 may be set to D3. In designing the structure of the present embodiment, when D1 ═ a1 and D2 ═ D3 ═ a2 ═ B2, the spreader 2 is aligned with the container 3 in a lockable position state. In the embodiment, the front crane 1 is controlled to move the spreader 2 to align the container 3 according to the measured values of D1, D2 and D3, the values of D1, D2 and D3 can be measured in real time during the control process, and the values of D1, D2 and D3 can be continuously close to a1, a2 and B2 by a feedback control method until the spreader 2 moves to a position state capable of being locked with the container 3 when the value of D1 is equal to a1 and the value of D2 is equal to D3 is equal to a2 is equal to B2, so that the mutual alignment work of the spreader 2 and the container 3 is completed.
In some embodiments, as shown in fig. 6, the front suspension 1 further comprises: the arm support 101, the arm support 101 is configured to be assembled on the front crane in a rotatable mode, and the lifting appliance 2 is arranged at the free end of the arm support 101;
the controller is further configured to: the lifting appliance translation value of the lifting appliance is calculated in the process that the arm support 101 rotates and swings to drive the lifting appliance 2 to reach the height capable of locking the container 3; and controlling the reach stacker to move the spreader 2 so that the second horizontal distance value corresponds to a difference obtained by subtracting the spreader translation value from the second edge distance value, and so that the third horizontal distance value corresponds to a difference obtained by subtracting the spreader translation value from the third edge distance value, so that the boom 101 can lock the container 3 after lifting or lowering the spreader 2 in a rotating manner.
In this embodiment, the corresponding manner of the difference between the second horizontal distance value and the second edge distance value minus the spreader translation value may be as follows: the second horizontal distance value is substantially equal to the horizontal distance between the second rangefinder and the rear edge of the spreader 2 minus the spreader translation value. The corresponding way of the difference value obtained by subtracting the spreader translation value from the third horizontal distance value and the third edge distance value may be: the third horizontal distance value is equal to the horizontal distance between the third rangefinder and the rear edge of the spreader 2 minus the spreader translation value.
In this embodiment, since the boom 101 is arranged to lift up or down the spreader 2 in a rotating manner, a curve with an arrow in the figure represents an approximate swinging direction of the boom 101, and during the rotating, swinging and rotating process of the boom 101, the spreader 2 is caused to generate a horizontal displacement, which is a spreader translation value. If the spreader 2 is above the container 3 and the alignment between the spreader 2 and the container 3 needs to be performed, the boom 101 needs to rotate and swing the lowering spreader to a height that can be locked with the container 3, at this time, the container twistlock 201 of the spreader 2 can be locked into the lock hole of the container 3, the rotation angle of the boom 101 in the lowering process can be set to θ, the vertical displacement of the boom 101 in the lowering process can be set to h, and the spreader translation value caused by the rotation and swing process can be set to X, then X is h. With reference to the embodiment shown in fig. 5, in the process that the boom 101 rotates to drive the spreader 2 to reach the height that can be locked with the container 3, the reach stacker moves to adjust the horizontal position of the spreader 2, and in the process that the reach stacker moves the spreader 2 to lock the container 3, D2 ═ a2-X and D3 ═ B2-X are required to enable the spreader 2 to lock the container 3. If a2 is B2, D2 is D3 is a 2-X.
In this embodiment, the values of θ and h may be obtained by acquiring internal data of the front-loading system in real time when the front-loading control boom 101 rotates, or h may be measured by introducing a fourth distance meter. In the process of controlling the front-end crane by the controller, a feedback control method can be adopted, wherein theta and h are constantly changed variable values, the spreader translation value X is a changed value, D2-D3-A2-X is a constantly changed function, and the feedback control process introduces the changed function to carry out feedback control.
In the feedback control process, D2 ═ D3 ═ a2-X in the equation, only real-time feedback control of D2 and D3 is needed, and X is a constant in the equation. Regarding the measurement of θ and h, when the spreader 2 is above the container 3 and the alignment between the spreader 2 and the container 3 needs to be performed, the vertical height difference between the bottom surface of the spreader 2 and the top surface of the container 3 can be measured as h by setting a fourth distance meter on the bottom surface of the spreader 2, and the distance between the intersection point of the horizontal plane of the top surface of the container 3 and the arm 101 and the fourth distance meter can be measured by introducing a fifth distance meter, and the distance between the intersection point and the fourth distance meter is set as k, so θ ═ arcsin (h/k).
In some embodiments, the controller comprises: a spreader rotation controller configured to: the front crane is electrically connected with the front crane, and the front crane is controlled to horizontally rotate the lifting appliance, so that the edge of the lifting appliance is parallel to the corresponding edge of the container; and a spreader side-shifting controller configured to: and electrically connected with the head crane, controlling the head crane to translate the spreader so that the spreader is aligned and can lock the container.
When the lifting appliance is used, the lifting appliance rotation controller is used for controlling the lifting appliance to rotate in the horizontal plane direction, so that the right edge of the lifting appliance is parallel to the right edge of a container, the rear edge of the lifting appliance is parallel to the rear edge of the container, the lifting appliance side-moving controller is used for controlling the lifting appliance to translate in the horizontal plane direction, and in addition, the arm support is used for controlling the lifting appliance to lift or lower in the height direction. By decomposing the spreader control process, the implementation of the feedback control process of spreader to container alignment can be facilitated.
In some embodiments, the present application provides an alignment method for automatically aligning a lock hole of a container, which is applied to the controller of the foregoing corresponding embodiment of fig. 5, as shown in fig. 7, and includes the steps of:
and step 706, controlling the front crane to move the lifting appliance so that the third horizontal distance value corresponds to the third edge distance value.
In this embodiment, before the alignment work of the spreader and the container is performed, the first horizontal distance value, the second horizontal distance value, and the third horizontal distance value are measured. And then controlling the front crane to move the lifting appliance, so that the first horizontal distance value corresponds to the first edge distance value, wherein the first horizontal distance value can be equal to the horizontal distance in the first direction between the first distance meter and the right edge of the lifting appliance. And the second horizontal distance value is made to correspond to the second edge distance value, which may be in such a way that the second horizontal distance value is equal to the horizontal distance in the second direction between the second distance meter and the rear edge of the spreader. And the third horizontal distance value corresponds to the third edge distance value, the third horizontal distance value may be equal to the horizontal distance in the second direction between the third distance meter and the rear edge of the spreader, and the data alignment process may be performed by a real feedback control algorithm. In the embodiment corresponding to fig. 5, when the alignment is performed by using the feedback control algorithm, the feedback control is continued so that D1 ═ a1 and D2 ═ D3 ═ a2 ═ B2 are sufficient.
In this embodiment, the sequence of steps 701 to 703 may be randomly ordered, and the sequence of steps 704 to 706 may be randomly ordered, which is not limited herein.
In some embodiments, the front suspension further comprises: the arm support is assembled on the front crane in a rotatable mode, and the lifting appliance is arranged at the free end of the arm support;
as shown in fig. 8, the method for automatically aligning the locking hole of the container further comprises the steps of:
and step 804, controlling the front crane to move the lifting appliance, so that the third horizontal distance value corresponds to a difference value obtained by subtracting the lifting appliance translation value from the third edge distance value.
In this embodiment, when the spreader is located above the container, the spreader needs to be lowered by rotating and swinging the boom so that the spreader reaches a height capable of locking with the container, and the spreader generates a spreader translation value in the rotation process of the boom, and the spreader translation value is calculated in the method steps of this embodiment; when the lifting appliance is moved by the front crane, compensation calculation of the horizontal displacement value of the lifting appliance needs to be added in the feedback control of the second horizontal distance value, and compensation calculation of the horizontal displacement value of the lifting appliance also needs to be added in the feedback control of the third horizontal distance value, so that the lifting appliance can be moved to a position state capable of locking the container after the compensation calculation. In the embodiment corresponding to fig. 6, the alignment of the spreader and the container can be completed by controlling D2-D3-a 2-X, and then the spreader can be controlled to lock the container at any time.
In this embodiment, the sequence of step 803 and step 804 may be randomly ordered, and is not limited herein.
In some embodiments, as shown in fig. 9, in the step of calculating a spreader translation value of the spreader during the process that the boom rotates to drive the spreader to reach the height capable of locking the container, the method further includes the steps of:
and step 903, calculating a spreader translation value according to the vertical distance and the boom rotation angle value.
In this embodiment, when the spreader is located above the container and the alignment between the spreader and the container needs to be performed, the boom needs to rotate and swing the lower spreader to a height that can be locked with the container, at this time, the container twistlock of the spreader can be locked into the lock hole of the container, the boom rotation angle in the lower process can be set to θ, the vertical displacement of the boom in the lower process can be set to h, the spreader translation value caused by the rotation and swing process can be set to X, and X is h tan θ. The values of theta and h can be obtained by acquiring internal data of the front-loading system in real time when the front-loading control arm frame 101 rotates, and h can also be measured by introducing a fourth distance meter. In the process of controlling the front-end crane by the controller, a feedback control method can be adopted, wherein theta and h are constantly changed variable values, the spreader translation value X is a changed value, D2-D3-A2-X is a constantly changed function equation, and a change function is introduced into the feedback control process for feedback control. In the embodiment, the spreader translation value is calculated by collecting and receiving the vertical distance and the rotation angle value, the calculation process is simple, reliable and accurate, the spreader translation value caused by boom rotation can be obtained in real time, and the real-time spreader translation value is introduced into a function equation D2-D3-A2-X for feedback control.
The present application further provides a front crane control apparatus, as shown in fig. 10, the front crane control apparatus 1001 includes: the controller 1011 is electrically connected with the front crane and the measuring device; and a memory 1012 for storing instructions executable by the controller 1011; the controller 1011 is configured to perform the above-mentioned alignment method for automatically aligning the lock hole of the container.
The controller 1011 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the front lift control apparatus 1001 to perform desired functions. On the basis of the above embodiments, the controller 1011 includes a control module and a processing module, and the control module and the processing module may be some module in the controller 1011 to implement the corresponding functions thereof.
Memory 1012 may include one or more computer program products that may include various forms of readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the readable storage medium and executed by the controller 1011 to implement the method of automatically aligning container lockholes described above or other desired functions. Various contents such as a first horizontal distance value, a second horizontal distance value, and a third horizontal distance value may be further stored in the readable storage medium.
In one example, the reach stacker control apparatus 1001 may further include: an input device 1013 and an output device 1014, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
The input device 1013 may include, for example, a keyboard, a mouse, a joystick, a button, and the like.
The output device 1014 can output various information including drive data for controlling the movement of the spreader by the front crane to the outside. The output device 1014 may include, for example, a display, a communication network, a remote output device connected thereto, and so forth.
Of course, for the sake of simplicity, only some of the components related to the present application in this front-lift control apparatus 1001 are shown in fig. 10, and components such as a bus, an input/output interface, and the like are omitted. In addition, the front crane control 1001 may include any other suitable components depending on the particular application.
In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps in the method of automatically aligning a container keyhole according to embodiments of the present application described in the present specification.
The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
The present application also provides a readable storage medium storing a computer program for executing the above-mentioned aligning method for automatically aligning the lock hole of the container.
The readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modifications, equivalents and the like that are within the spirit and principle of the present application should be included in the scope of the present application.
Claims (10)
1. An aligning device for automatically aligning a lock hole of a container, which is applied to a reach stacker, comprises:
a spreader mounted on the reach stacker, the reach stacker moving the spreader to align a container;
a measurement device configured to: determining an alignment of the spreader with the container; and
a controller electrically connected to the front crane and the measuring device, respectively, and configured to: controlling the reach stacker to move the spreader so that the spreader aligns with and can lock the container, in accordance with the alignment condition.
2. The aligning apparatus for automatically aligning a lock hole of a container as claimed in claim 1,
the measurement device is further configured to: determining a right side alignment condition between a right edge of the spreader and a right edge of the container, and determining a rear side alignment condition between a rear edge of the spreader and a rear edge of the container;
wherein the controller is further configured to: controlling the front crane to move the spreader according to the right and rear edge alignment conditions such that the right edge of the spreader is aligned with the right edge of the container and the rear edge of the spreader is aligned with the rear edge of the container to enable the spreader to lock the container after movement.
3. The aligning apparatus for automatically aligning a lock hole of a container as claimed in claim 2, wherein the measuring means comprises:
a first range finder configured to: determining a first distance value between a first nominal position of the spreader and a right edge of the container;
a second range finder configured to: determining a second distance value between a second nominal position of the spreader and a rear edge of the container;
a third range finder configured to: determining a third distance value between a third nominal position of the spreader and a rear edge of the container;
wherein the controller is further configured to: receiving and controlling the reach stacker to move the spreader according to the first distance value, the second distance value and the third distance value, so that the first calibration position of the spreader and the right edge of the container mutually reach a first preset distance value, the second calibration position of the spreader and the rear edge of the container mutually reach a second preset distance value, and the third calibration position of the spreader and the rear edge of the container mutually reach a third preset distance value, so that the spreader can lock the container after moving.
4. The aligning apparatus for automatically aligning a lock hole of a container as claimed in claim 3,
the first distance meter and the second distance meter are both arranged at a first position of the lifting appliance, and the third distance meter is arranged at a second position of the lifting appliance;
wherein the first and second calibration positions are at the first position of the spreader and the third calibration position is at the second position of the spreader.
5. The aligning apparatus for automatically aligning a lock hole of a container as claimed in claim 4,
the first range finder is further configured to: determining a first horizontal distance value in a first direction between the first range finder and a right edge of the container;
the second range finder is further configured to: determining a second horizontal distance value in a second direction between the second rangefinder and a rear edge of the container;
the third range finder is further configured to: determining a third horizontal distance value in a second direction between the third range finder and a rear edge of the container;
the controller is further configured to: receiving and controlling the reach stacker to move the spreader according to the first horizontal distance value, the second horizontal distance value, and the third horizontal distance value such that the first horizontal distance value corresponds to a first edge spacing value, the second horizontal distance value corresponds to a second edge spacing value, and the third horizontal distance value corresponds to a third edge spacing value, such that the spreader can lock the container after moving;
wherein the first edge spacing value is a horizontal distance in a first direction between the first rangefinder and a right edge of the spreader; the second edge spacing value is a horizontal distance in a second direction between the second rangefinder and a rear edge of the spreader; the third edge separation value is a horizontal distance in a second direction between the third range finder and a rear edge of the spreader.
6. The aligning apparatus for automatically aligning a lock hole of a container as claimed in claim 5, wherein the front crane further comprises:
an arm support configured to be rotatably fitted on the reach stacker, the spreader being provided on a free end of the arm support;
the controller is further configured to: the lifting appliance is electrically connected with the arm support, the arm support is controlled to lift or lower the lifting appliance in a rotating mode, and a lifting appliance translation value of the lifting appliance is calculated in the process that the arm support rotates to drive the lifting appliance to reach the height capable of locking the container; and controlling the reach stacker to move the spreader so that the second horizontal distance value corresponds to a difference value obtained by subtracting the spreader translation value from the second edge distance value, and the third horizontal distance value corresponds to a difference value obtained by subtracting the spreader translation value from the third edge distance value, so that the container can be locked after the spreader is lifted or lowered by the boom in a rotating manner.
7. The aligning apparatus for automatically aligning a lock hole of a container as claimed in claim 6, wherein the controller comprises:
a spreader rotation controller configured to: the front crane is electrically connected with the front crane, and the front crane is controlled to horizontally rotate the lifting appliance, so that the edge of the lifting appliance is parallel to the corresponding edge of the container; and
a spreader side-shifting controller configured to: electrically connected to the reach stacker, controlling the reach stacker to translate the spreader such that the spreader is aligned and able to lock the container.
8. An alignment method for automatically aligning a lock hole of a container, which is applied to the controller of claim 5, comprising the steps of:
receiving a first horizontal distance value in a first direction between the first range finder and a right edge of the container;
receiving a second horizontal distance value in a second direction between the second range finder and a rear edge of the container;
receiving a third horizontal distance value in a second direction between the third range finder and a rear edge of the container;
controlling the head-lift to move the spreader such that the first horizontal distance value corresponds to the first edge-to-edge distance value;
controlling the head-lift to move the spreader such that the second horizontal distance value corresponds to the second edge spacing value; and
controlling the head crane to move the spreader such that the third horizontal distance value corresponds to the third edge distance value.
9. The method of claim 8, wherein the front crane further comprises:
an arm support configured to be rotatably fitted on the reach stacker, the spreader being provided on a free end of the arm support;
the aligning method for automatically aligning the lock hole of the container further comprises the following steps:
calculating a spreader translation value of the spreader in the process that the boom rotates to drive the spreader to reach the height capable of locking the container;
controlling the arm support to lift or lower the lifting appliance in a rotating mode;
controlling the front crane to move the lifting appliance so that the second horizontal distance value corresponds to a difference value obtained by subtracting the lifting appliance translation value from the second edge distance value; and
and controlling the front crane to move the lifting appliance, so that the third horizontal distance value corresponds to a difference value obtained by subtracting the lifting appliance translation value from the third edge distance value.
10. The method as claimed in claim 9, wherein the step of calculating the spreader translation value of the spreader during the rotation of the arm support to bring the spreader to a height at which the container can be locked comprises the steps of:
receiving a vertical distance of the spreader bottom surface from the container top surface;
receiving a rotation angle value of the arm support in the process that the arm support rotates to drive the lifting appliance to reach the height capable of locking the container; and
and calculating the spreader translation value according to the vertical distance and the boom rotation angle value.
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| CN202011626283.2A CN112744728B (en) | 2020-12-30 | 2020-12-30 | Alignment device and method for automatically aligning lock holes of container |
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| CN202011626283.2A CN112744728B (en) | 2020-12-30 | 2020-12-30 | Alignment device and method for automatically aligning lock holes of container |
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