CN108249313A - A kind of method and device based on the lifting of polar intelligent container - Google Patents
A kind of method and device based on the lifting of polar intelligent container Download PDFInfo
- Publication number
- CN108249313A CN108249313A CN201810045881.7A CN201810045881A CN108249313A CN 108249313 A CN108249313 A CN 108249313A CN 201810045881 A CN201810045881 A CN 201810045881A CN 108249313 A CN108249313 A CN 108249313A
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- processing unit
- polar
- container
- control device
- lifting
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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
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
- B66C19/002—Container cranes
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The present invention relates to a kind of method and devices based on the lifting of polar intelligent container, device is crane, crane includes ontology pallet, pedestal, processing unit, control device, pedestal is provided with turntable, ontology pallet is set by suspender and guide rail mechanism, processing unit is connect with control device, control device is connect with suspender, suspender is set to guide rail mechanism, crane is used for the lifting of container, container top surface short side midpoint is respectively arranged with first position tracking chip, track chip in the center line midpoint setting second position, the polar coordinates control turntable that chip is tracked according to first position rotates container to longitudinal direction, and control the lifting of suspender progress container.
Description
Technical field
The present invention relates to quay transportation field and cargo handling fields more particularly to one kind to be collected based on polar intelligence
The method and device of vanning lifting.
Background technology
The thriving demand and China's container port throughput of world container transport constantly increase, and container handling technology is filled
Standby and handling technique technique proposes the higher requirement of update, there is an urgent need to develop designing efficient container handling device,
To meet the requirement of Container Transport scale, high speed and automation to stevedoring productivity.Since the nineties, with complete
Ball warp is helped and the growth of trade, container traffic volume increase sharply, in powerful transport requirement and the promotion of good technical economic benefit
Under, bank crane tool new and high technology particularly automated control technology has obtained development in an all-round way, still, the packaging used at present
In the handling system of box terminal, there is it is following the problem of.In general, container terminal can be divided into front of harbour (bank)
With harbour rear (stockyard) two parts, the bank crane in front of harbour is for container to be loaded and unloaded from container ship, harbour
The stockyard at rear is used for stacking container.For the arrangement of storage yard container, by two schemes, a kind of is the side of storage yard container
To the direction for being parallel to container on ship, container direction herein refers to the long axis direction of container.It is another in recent years when heap
Field container direction is different from the direction of container on ship, in recent years, in order to improve the utilization rate of stockyard crane, while also carries
The working efficiency in high stockyard, the following second method arrangement container of generally use, i.e.,：Container direction on container ship
Perpendicular to the container direction in stockyard.For stockyard to the transport between bank crane, at present, used method is by interior
The horizontal transport vehicle of combustion engine driving carries out the transport between harbour front and back, i.e., for unloading, bank crane will
Container is attached to from ship on horizontal transport vehicle, then container is transported to heap field areas by horizontal transport vehicle, by stockyard lifting
Machine slings container from vehicle, is aligned on stockyard.For container car, by stockyard crane by container from stockyard
It slings, is put on vehicle, then container is transported to below bank crane by horizontal transport vehicle, complete to fill by bank crane
Vehicle.
Invention content
Goal of the invention：
In view of the above-mentioned problems, the present invention provides a kind of method and device based on the lifting of polar intelligent container.
Technical solution：
A kind of method and device based on the lifting of polar intelligent container, described device is crane, the crane packet
Ontology pallet, pedestal, processing unit, control device are included, the pedestal is provided with turntable, and the ontology pallet setting is by suspender
And guide rail mechanism, the processing unit are connect with the control device, the control device is connect with the suspender, described to hang
Tool is set to the guide rail mechanism, and the crane is used for the lifting of container, the container top surface short side midpoint difference
First position tracking chip, center line midpoint setting second position tracking chip are provided with, the described method comprises the following steps：
S010：The different first position tracking chip in position sends the first trace location A and the to the processing unit respectively
One trace location B, second track chip and send the second trace location to the processing unit；
S020：The processing unit generates the first polar coordinates A according to the first trace location A, according to the described first tracking position
It puts B and generates the first polar coordinates B；
S030：The processing unit calculates projections of the first polar coordinates A and the second polar coordinates B in polar axis according to algorithm,
Respectively project A and projection B；
S040：The processing unit judges whether the projection A and projection B are identical；
S050：If so, the processing unit generates the second polar coordinates according to second trace location, and according to described second
Polar coordinate position sends control instruction to the control device；
S060：The control device controls the suspender to be slided to second polar coordinate position according to the control instruction；
S070：The processing unit judges whether the suspender slides into second pole and sit according to the suspender polar coordinate position
Cursor position；
S080：If so, the processing unit sends lifting instruction to the control device；
S090：The control device controls the suspender to sling container according to the lifting instruction.
As a kind of preferred embodiment of the present invention, before the step S010, following preliminary step is further included：
S001：The processing unit using the left back corner point of pedestal as pole, using with the long side that the apex angle is connected as pole
Axis generates the first polar coordinate system；
S002：The processing unit using the pallet face apex angle identical with said base apex angle plan-position as pole, with this
The long side that apex angle is connected generates the second polar coordinate system as polar axis.
As a kind of preferred embodiment of the present invention, the part that the pedestal is not connect with pallet face bottom with pallet foot
Shape is consistent with area, and first polar coordinate system is consistent with second polar coordinate system.
As a kind of preferred embodiment of the present invention, the step S040 is further comprising the steps of：
S041：If it is not, then the processing unit sends rotation instruction to the control device；
S042：The control device controls the turntable to rotate according to the rotation instruction；
S043：The processing unit calculates the projection B of the projection A and the first polar coordinates B of the first polar coordinates A；
S044：The processing unit judges whether the projection A and projection B are identical, instructs and holds if so, stopping sending rotating
Row step S050；If it is not, then perform step S041.
As a kind of preferred embodiment of the present invention, the polar coordinates of suspender operating position, institute are provided in the processing unit
State polar coordinate position of the polar coordinates of operating position for the fixed point vanning of the container.
As a kind of preferred embodiment of the present invention, the method is further comprising the steps of：
S100：The processing unit sends control instruction according to the polar coordinates of the operating position to the control device；
S110：The control device slides into the polar coordinates position of the operating position according to the control instruction control suspender
It puts.
As a kind of preferred embodiment of the present invention, the crane further includes wheel, sliding rail, driving motor, the wheel
The midline of the pallet foot plate surface is set to, the sliding rail is set to the pedestal both sides, and the length of the sliding rail is described
Twice of base length, the wheel are set to the sliding rail, and described sliding rail one end is pedestal, and the other end is container packing
Area, the container packing area are provided with parking stall, and the parking stall is longitudinal parking stall.
As a kind of preferred embodiment of the present invention, the method is further comprising the steps of：
S120：The processing unit sends driving instruction to the driving motor；
S130：The driving motor controls the wheel to be slided in the sliding rail according to the driving instruction；
S140：When the crane slides into the sliding rail tail end, the processing unit sends to the control device and controls
The container is loaded onto the container car for being stopped at parking stall according to the control instruction by instruction, the control device.
The present invention realizes following advantageous effect：
1. being labeled using polar coordinates to suspender and container, and the control of suspender is carried out according to the corresponding polar coordinates of container
System, so as to reach the container of automation unloading process.
2. being labeled using polar coordinates to container car, and compared, passed through with the polar coordinates of suspender and container
Comparison situation carries out the control of suspender, so as to reach the container entrucking process of automation.
Description of the drawings
Attached drawing herein is incorporated into specification and forms the part of this specification, shows the implementation for meeting the disclosure
Example, and in specification together for explaining the principle of the disclosure.
Fig. 1 is work step figure of the present invention；
Fig. 2 is two block diagram of embodiment；
Fig. 3 is three block diagram of embodiment；
Fig. 4 is system framework figure；
Fig. 5 is crane schematic diagram；
Fig. 6 is pallet face bottom view.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.
Embodiment one：
Reference chart is Fig. 1, Fig. 4.A kind of method and device based on the lifting of polar intelligent container, described device is lifting
Machine, the crane include ontology pallet 1, pedestal 2, processing unit 3, control device 4, and the pedestal 2 is provided with turntable 5,
The ontology pallet 1 is set by suspender 6 and guide rail mechanism 7, and the processing unit 3 is connect with the control device 4, the control
Device 4 processed is connect with the suspender 6, and the suspender 6 is set to the guide rail mechanism 7, and the crane hangs for container
Dress, the container top surface short side midpoint are respectively arranged with first position tracking chip 8, the center line midpoint setting second position
Chip 9 is tracked, the described method comprises the following steps：
S010：Position it is different first position tracking chip 8 respectively to the processing unit 3 send the first trace location A and
First trace location B, second track chip and send the second trace location to the processing unit 3；
S020：The processing unit 3 generates the first polar coordinates A according to the first trace location A, according to the described first tracking position
It puts B and generates the first polar coordinates B；
S030：The processing unit 3 calculates projections of the first polar coordinates A and the second polar coordinates B in polar axis according to algorithm,
Respectively project A and projection B；
S040：The processing unit 3 judges whether the projection A and projection B are identical；
S050：If so, the processing unit 3 generates the second polar coordinates according to second trace location, and according to described the
Two polar coordinate positions send control instruction to the control device 4；
S060：The control device 4 controls the suspender 6 to be slided to second polar coordinate position according to the control instruction；
S070：The processing unit 3 judges whether the suspender 6 slides into described second according to 6 polar coordinate position of suspender
Polar coordinate position；
S080：If so, the processing unit 3 sends lifting instruction to the control device 4；
S090：The control device 4 controls the suspender 6 to sling container according to the lifting instruction.
As a kind of preferred embodiment of the present invention, before the step S010, following preliminary step is further included：
S001：The processing unit 3 using the left back corner point of pedestal 2 as pole, using with the long side that the apex angle is connected as
Polar axis generates the first polar coordinate system；
S002：The processing unit 3 using the pallet face apex angle identical with 2 apex angle plan-position of said base as pole, with
The long side that the apex angle is connected generates the second polar coordinate system as polar axis.
As a kind of preferred embodiment of the present invention, the portion that the pedestal 2 is not connect with pallet face bottom with pallet foot
Point shape is consistent with area, and first polar coordinate system is consistent with second polar coordinate system.
As a kind of preferred embodiment of the present invention, the step S040 is further comprising the steps of：
S041：If it is not, then the processing unit 3 sends rotation instruction to the control device 4；
S042：The control device 4 controls the turntable 5 to rotate according to the rotation instruction；
S043：The processing unit 3 calculates the projection B of the projection A and the first polar coordinates B of the first polar coordinates A；
S044：The processing unit 3 judges whether the projection A and projection B are identical, if so, stopping sending rotation instruction simultaneously
Perform step S050；If it is not, then perform step S041.
In specific implementation process, the part shape that is not connect due to the pedestal 2 with pallet face bottom with pallet foot
Shape is consistent with area, and in terms of longitudinal surface, and pole overlaps, polar axis overlaps, therefore first polar coordinate system and described second
Polar coordinate system is consistent.The first position tracking chip 8 is divided into first position tracking chip 8A and first according to position difference
Location tracking chip 8B, corresponding transmission the first trace location A and the first trace location B, the processing unit 3 is according to described
First trace location A and the first trace location B generation the first polar coordinates A and the first polar coordinates B, the processing unit 3
Projection A is calculated according to the first polar coordinates A, projection B is calculated according to the first polar coordinates B, for example, when the first polar coordinates A is
(4,60 °), the first polar coordinates B are (4,30 °), then it is 2 that the processing unit 3, which calculates projection A, and projection B is 2, then the place
Reason device 3 judges that the container does not switch to longitudinal direction, then the control device 4 continues that the turntable 5 is controlled to rotate, the place
Reason device 3 calculates projection A and projects B and judge whether the projection A is identical with the projection B in real time.When first pole
Coordinate A is gone to（5.5,57 °）, the first polar coordinates B goes to（3.9,37 °）When, the processing unit 3 calculates first pole and sits
The projection for marking A and the first polar coordinates B is all 3, then the processing unit 3 judges that the container is in placed longitudinally, at this point,
The processing unit 3 tracks the second trace location that chip 9 sends according to the second position and generates the second polar coordinates, and to institute
It states control device 4 and sends control instruction, the control device 4 controls the suspender 6 to slide into second polar coordinate position, and
Carry out container hoisting.The processing unit 3 is hung according to described second polar ρ 2 drives the control device 4 to adjust
Have 6 polar ρ 1, meanwhile, the control device 4 is driven according to being adjusted described second polar polar angle α 2
6 polar angle α 1 of suspender, until the suspender 6 slides into second polar coordinate position.The processing unit 3 is immediately to institute
It states control device 4 and sends control instruction, the control device 4 controls the suspender 6 to sling the container.
Embodiment two：
Reference chart is Fig. 2, Fig. 4.For embodiment one, the difference of the present embodiment is：
As a kind of preferred embodiment of the present invention, the polar coordinates of 6 operating position of suspender are provided in the processing unit 3, it is described
Polar coordinate position of the polar coordinates of operating position for the fixed point vanning of the container.
As a kind of preferred embodiment of the present invention, the method is further comprising the steps of：
S100：The processing unit 3 sends control instruction according to the polar coordinates of the operating position to the control device 4；
S110：The control device 4 slides into the polar coordinates of the operating position according to the control instruction control suspender 6
Position.
In specific implementation process, when the suspender 6 slides into second polar coordinate position and completes container hoisting
When, the processing unit 3 sends control instruction to the control device 4, and the control device 4 is controlled according to the control instruction
The suspender 6 is slid on the polar coordinates of the operating position.When the suspender 6 is slid on the polar coordinates of the operating position
When, the processing unit 3 sends control instruction to the control device 4, and the control device 4 controls the suspender 6 by described in
Container loads onto container car.
Embodiment three：
Reference chart is Fig. 3, Fig. 5, Fig. 6.For embodiment one, the difference of the present embodiment is：
As a kind of preferred embodiment of the present invention, the crane further includes wheel 10, sliding rail 11, driving motor 12, the vehicle
Wheel 10 is set to the midline of the pallet foot plate surface, and the sliding rail 11 is set to 2 both sides of pedestal, the length of the sliding rail 11
Degree is twice of 2 length of pedestal, and the wheel 10 is set to the sliding rail 11, and described 11 one end of sliding rail is pedestal 2, another
It holds as container packing area, the container packing area is provided with parking stall, and the parking stall is longitudinal parking stall.
As a kind of preferred embodiment of the present invention, the method is further comprising the steps of：
S120：The processing unit 3 sends driving instruction to the driving motor 12；
S130：The driving motor 12 controls the wheel 10 to be slided in the sliding rail 11 according to the driving instruction；
S140：When the crane slides into 11 tail end of sliding rail, the processing unit 3 is sent to the control device 4
The container is loaded onto the container car for being stopped at parking stall according to the control instruction by control instruction, the control device 4.
In specific implementation process, when the processing unit 3 judge container hoisting complete when, the processing unit 3 to
The driving motor 12 sends driving instruction, and the driving motor 12 controls the wheel 10 to be slided on the sliding rail 11, and
Slide into 11 tail end of sliding rail, the pallet face is slid into above the parking stall, at this point, the processing unit 3 is to the control
Device 4 processed sends control instruction, and the container according to the purple water chestnut of control dress is loaded onto and is stopped on parking stall by the control device 4
Container car.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow be familiar with the skill of the technical field
Art personnel can understand present disclosure and implement according to this, can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, should be covered by the protection scope of the present invention.
Claims (8)
1. a kind of method and device based on the lifting of polar intelligent container, described device is crane, the crane
Including ontology pallet, pedestal, processing unit, control device, the pedestal is provided with turntable, and the ontology pallet setting is by hanging
Tool and guide rail mechanism, the processing unit are connect with the control device, and the control device is connect with the suspender, described
Suspender is set to the guide rail mechanism, and the crane is used for the lifting of container, the container top surface short side midpoint punishment
It is not provided with first position tracking chip, chip is tracked in the center line midpoint setting second position, which is characterized in that the method packet
Include following steps：
S010：The different first position tracking chip in position sends the first trace location A and the to the processing unit respectively
One trace location B, second track chip and send the second trace location to the processing unit；
S020：The processing unit generates the first polar coordinates A according to the first trace location A, according to the described first tracking position
It puts B and generates the first polar coordinates B；
S030：The processing unit calculates projections of the first polar coordinates A and the second polar coordinates B in polar axis according to algorithm,
Respectively project A and projection B；
S040：The processing unit judges whether the projection A and projection B are identical；
S050：If so, the processing unit generates the second polar coordinates according to second trace location, and according to described second
Polar coordinate position sends control instruction to the control device；
S060：The control device controls the suspender to be slided to second polar coordinate position according to the control instruction；
S070：The processing unit judges whether the suspender slides into second pole and sit according to the suspender polar coordinate position
Cursor position；
S080：If so, the processing unit sends lifting instruction to the control device；
S090：The control device controls the suspender to sling container according to the lifting instruction.
2. a kind of method and device based on the lifting of polar intelligent container according to claim 1, feature exist
In：Before the step S010, following preliminary step is further included：
S001：The processing unit using the left back corner point of pedestal as pole, using with the long side that the apex angle is connected as pole
Axis generates the first polar coordinate system；
S002：The processing unit using the pallet face apex angle identical with said base apex angle plan-position as pole, with this
The long side that apex angle is connected generates the second polar coordinate system as polar axis.
3. a kind of method and device based on the lifting of polar intelligent container according to claim 2, feature exist
In：The pedestal is not consistent with area with the pallet foot partial shape connecting with pallet face bottom, first polar coordinates
System is consistent with second polar coordinate system.
4. a kind of method and device based on the lifting of polar intelligent container according to claim 1, feature exist
In：The step S040 is further comprising the steps of：
S041：If it is not, then the processing unit sends rotation instruction to the control device；
S042：The control device controls the turntable to rotate according to the rotation instruction；
S043：The processing unit calculates the projection B of the projection A and the first polar coordinates B of the first polar coordinates A；
S044：The processing unit judges whether the projection A and projection B are identical, instructs and holds if so, stopping sending rotating
Row step S050；If it is not, then perform step S041.
5. a kind of method and device based on the lifting of polar intelligent container according to claim 1, feature exist
In：The polar coordinates of suspender operating position are provided in the processing unit, the polar coordinates of the operating position are the container
Fixed point vanning polar coordinate position.
6. a kind of method and device based on the lifting of polar intelligent container according to claim 5, feature exist
In：The method is further comprising the steps of：
S100：The processing unit sends control instruction according to the polar coordinates of the operating position to the control device；
S110：The control device slides into the polar coordinates position of the operating position according to the control instruction control suspender
It puts.
7. a kind of method and device based on the lifting of polar intelligent container according to claim 1, feature exist
In：The crane further includes wheel, sliding rail, driving motor, and the wheel is set to the midline of the pallet foot plate surface, institute
It states sliding rail and is set to the pedestal both sides, the length of the sliding rail is twice of the base length, and the wheel is set to institute
Sliding rail is stated, described sliding rail one end is pedestal, and the other end is container packing area, and the container packing area is provided with parking stall, institute
It is longitudinal parking stall to state parking stall.
8. a kind of method and device based on the lifting of polar intelligent container according to claim 6, feature exist
In：The method is further comprising the steps of：
S120：The processing unit sends driving instruction to the driving motor；
S130：The driving motor controls the wheel to be slided in the sliding rail according to the driving instruction；
S140：When the crane slides into the sliding rail tail end, the processing unit sends to the control device and controls
The container is loaded onto the container car for being stopped at parking stall according to the control instruction by instruction, the control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810045881.7A CN108249313B (en) | 2018-01-17 | 2018-01-17 | Intelligent container hoisting method and device based on polar coordinates |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810045881.7A CN108249313B (en) | 2018-01-17 | 2018-01-17 | Intelligent container hoisting method and device based on polar coordinates |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108249313A true CN108249313A (en) | 2018-07-06 |
| CN108249313B CN108249313B (en) | 2020-04-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810045881.7A Active CN108249313B (en) | 2018-01-17 | 2018-01-17 | Intelligent container hoisting method and device based on polar coordinates |
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Cited By (1)
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| CN108726383A (en) * | 2018-06-04 | 2018-11-02 | 太仓秦风广告传媒有限公司 | A method of the intelligent container lifting based on cylindrical coordinates |
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| US20030077149A1 (en) * | 2001-09-14 | 2003-04-24 | Gottwald Port Technology Gmbh & Co. Kg | Loading device for ISO containers |
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| CN103818828A (en) * | 2014-03-05 | 2014-05-28 | 上海振华重工电气有限公司 | Container crane sling aligning guide system |
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| CN108249313B (en) | 2020-04-21 |
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