CN111285255B

CN111285255B - Container hoisting monitoring system and method

Info

Publication number: CN111285255B
Application number: CN202010155744.6A
Authority: CN
Inventors: 朱惠忠; 袁文龙; 王佩胜
Original assignee: Beijing Dongfang Weite Weighing Equipment System Co ltd
Current assignee: Beijing Dongfang Weite Weighing Equipment System Co ltd
Priority date: 2020-03-09
Filing date: 2020-03-09
Publication date: 2021-03-23
Anticipated expiration: 2040-03-09
Also published as: CN111285255A

Abstract

The invention provides a container hoisting monitoring system and a method, comprising the following steps: measuring an included angle of a normal line of a plane of the hanging bracket relative to a plumb line through a plane dip angle measuring sensor, namely, the plane dip angle of the hanging bracket; measuring the weight change on the lock head of the hanging box of the hanging bracket through a weighing sensor; continuously monitoring the weight of the lock head of the hanging box and the plane inclination angle of the hanging bracket; judging whether the sum of the weights is not less than the weight threshold, and respectively taking the plane inclination angle and the weight of the hanging bracket which are not less than the weight threshold as an initial inclination angle value and an initial weight value; continuously monitoring the increment of the plane inclination angle of the hanger relative to the initial value of the inclination angle and the weight increment of each lock head; judging whether the inclination angle increment reaches an inclination angle threshold or not; when the inclination angle increment reaches a set inclination angle threshold, a coupling alarm is sent out, and the coupling angle position is determined through the gravity center of the weight increment at each lock head. The system and the method synchronously integrate the plane inclination angle of the lifting frame and the weight measurement to intelligently judge the coupling state of the container and the flatcar lock catch when the container is lifted.

Description

Container hoisting monitoring system and method

Technical Field

The invention relates to the technical field of containers, in particular to a container hoisting monitoring system and a container hoisting monitoring method.

Background

The occupied proportion of the railway container transportation in the railway transportation is larger and larger, and in order to ensure the stability of the container in the transportation process, a novel container lock head (namely an F-TR lock) flat car is adopted at present, so that the safety accidents are reduced, and the loading and unloading operation efficiency is improved.

However, the use of the new container F-TR flatcar also presents another problem: during unloading operation, when the container is lifted upwards from the railway flat car, the bottom of the container and the F-TR lock catch on the flat car are not smoothly separated occasionally, and the flat car is dragged to lift and derail. At present, the derailment accidents of the flat car caused by the failure of smooth release of the F-TR lock in the loading and unloading liability accidents which occur all the year round account for more than 50 percent. In order to eliminate such safety accidents, a method for avoiding derailing the flatcar in a hanging manner in the hoisting process needs to be researched.

The existing method for avoiding the derailment of the flatcar in the process of hoisting comprises the following steps:

the first method is a hoisting and launching method: at present, in the safety regulations of some road offices, an operation flow of forcibly turning down in the hoisting process is designed, a container is hoisted for about 100cm and then placed again, and the container bottom hole and an F-TR lock head are separated from a possible locking state through the vibration action of the crane, so that the container can be conveniently hoisted and separated next time. This method can reduce the probability of hitching to some extent, but is still uncertain and also reduces the efficiency of the handling operation.

Second, instrumental monitoring: the method is characterized in that a measuring and monitoring device of certain characteristic parameters is introduced into a hanger system, the state that a container is separated from an FTR hook in the container lifting process is monitored, and when the container is detected and confirmed to be still connected with the FTR hook on a flat car after the lifting operation is carried out for a certain time, the container is put down to execute the action of down-loading and hook loosening. The mode realizes the targeted down-stroke and hook-releasing operation, avoids a large amount of unnecessary down-stroke operation, has reliable operation and does not reduce the operation efficiency.

The first method is to monitor the weight distribution on four lifting hooks for lifting a container on a lifting frame during lifting, and judge whether the container is hung or not according to a certain artificial intelligence judgment model; the second is to monitor the distance and the change between the four corners of the hanger and the flat car plate surface of the container during hoisting, and then judge whether the connection exists according to a certain judgment model.

In both of the two monitoring methods, a measuring device (or force measurement or distance measurement) is required to be added to each of the four corners of the hanger, and the device cost and the installation and wiring (power supply, signal) cost are high.

In the prior art, a method for judging whether a container is hung continuously by adopting an inclination angle sensor and a plurality of weighing sensors is also adopted, specifically, the inclination angle sensor measures the inclination of the container, judges that the condition of a hanging judgment threshold is basically reached when the container inclination is detected to reach a threshold, then starts weight recheck, and confirms that the container is hung continuously and gives an alarm when the weight simultaneously meets an overrun condition.

This decision logic seems to be unproblematic, but presents a problem of being difficult to operate. The container to be hoisted may be an empty container or a heavy container, one empty container is about 2-3 t, and the heavy container is fully loaded about 30.5 t. The self weight of a container flat car is about 30t, if a coupling threshold is set according to a heavy box, when an empty box is hoisted in operation, even if one end of the flat car is suspended continuously (15t), the weight does not necessarily exceed the weight threshold; however, if the weight of the empty box plus some additional weight is used as a threshold, 100% of the weight of the heavy box meets the weight judgment condition when the heavy box is hoisted, and the judgment is meaningless.

In the prior art, dip angle measurement is started firstly (weighing is not carried out at the moment), weight measurement is started again after the dip angle overrun condition is met, final judgment is carried out according to whether the weight is overrun or not, the dip angle measurement and the total weight measurement are started in sequence, the measurement is independent of each other, and the problems of empty box operation and heavy box operation are inevitable.

Disclosure of Invention

In view of the above problems, the present invention provides a container lifting monitoring system and method that combines the planar tilt angle measurement of a lifting frame and the intelligent judgment of the coupling state of a container and a flatcar latch when the container is lifted, while performing weight and center of gravity detection.

According to one aspect of the invention, a container hoisting monitoring system is provided for monitoring a process of hoisting a container locked by a lock catch on a flat car by a hoisting frame, and comprises a plane inclination angle measuring sensor, a plurality of weighing sensors, a first synchronous monitoring module, a judging module, an initializing module, a second synchronous monitoring module, an alarming module and a linkage angle position determining module, wherein:

the plane inclination angle measuring sensor is arranged on the hanging bracket and is used for measuring the included angle of the normal line of the plane of the hanging bracket relative to the plumb line, namely the plane inclination angle of the hanging bracket;

the weight change on the lock head of the hanging box in the process of hoisting the container by the hanging bracket is measured;

the first synchronous monitoring module is used for continuously monitoring the weight of the lock head of the hanging box and the plane inclination angle of the hanging bracket, sending the measured value of the plane inclination angle measuring sensor to the initialization module and the second synchronous monitoring module, and sending the measured value of the weighing sensor to the judgment module, the initialization module and the second synchronous monitoring module;

the judging module is used for judging whether the sum of the weights measured by the weighing sensors is not less than a set weight threshold or not, and sending the sum of the weights to the initializing module when the sum of the weights is not less than the weight threshold;

the initialization module is used for taking the measurement value of the plane inclination angle measurement sensor when the sum of the weights is not less than the weight threshold as an initial inclination angle value, taking the measurement value of each weighing sensor when the sum of the weights is not less than the weight threshold as an initial weight value, sending the initial inclination angle value to the second synchronous monitoring module, and sending the initial weight value to the connecting and hanging angle position determining module;

the second synchronous monitoring module is used for monitoring the increment of the plane inclination angle of the hanging bracket relative to the initial value of the inclination angle and the sum of the weights of the plurality of weighing sensors, the sum of the weights meets a stable condition if the change of the sum of the weights sampled for a plurality of times is within a set error threshold, and when the increment of the plane inclination angle of the hanging bracket does not reach the set inclination angle threshold and the sum of the weights meets the stable condition, a signal is sent to the first synchronous monitoring module; when the increment of the plane inclination angle of the hanging bracket reaches a set inclination angle threshold, sending a signal to an alarm module and a connecting and hanging angle position determining module;

the alarm module receives the signal of the second synchronous monitoring module and sends out a continuous alarm;

the coupling angle position determining module determines a coupling angle position according to the increment of each weighing sensor relative to each initial weight value when the increment of the plane inclination angle of the hanging bracket reaches a set inclination angle threshold, wherein the coupling angle position determining module comprises:

a coordinate system constructing unit, wherein a plane coordinate system is arranged at the center of the plane of the hanging bracket;

a relative component obtaining unit that takes a ratio of a difference between a sum of weight increments of the respective load cells in the positive X-axis direction and a sum of weight color increments of the respective load cells in the negative X-axis direction to a sum of all weight increments as an X-axis relative component of the weight center of increment; taking the proportion of the difference value of the sum of the weight increments of the weighing sensors in the positive Y-axis direction and the sum of the weight increments of the weighing sensors in the negative Y-axis direction to the sum of all weight increments as the Y-axis relative component of the increment center of gravity;

the coupling angle position judging unit judges the coupling angle position according to the relative component of the X axis and the relative component of the Y axis of the incremental gravity center, wherein when the relative component of the X axis is more than 0 and the relative component of the Y axis is more than 0, the container is coupled with the lock catches corresponding to the quadrants in the X axis positive direction and the Y axis positive direction of the coordinate system; when the relative component of the increment gravity center in the X axis is smaller than 0 and the relative component of the increment gravity center in the Y axis is larger than 0, the container is connected with the lock catch corresponding to the quadrants positioned in the negative direction of the X axis and the positive direction of the Y axis of the coordinate system; when the relative component of the increment gravity center in the X axis is smaller than 0 and the relative component of the increment gravity center in the Y axis is smaller than 0, the container is connected with the lock catch corresponding to the quadrant positioned in the negative direction of the X axis and the quadrant positioned in the negative direction of the Y axis of the coordinate system; when the relative component of the increment gravity center in the X axis is larger than 0 and the relative component of the increment gravity center in the Y axis is smaller than 0, the container is connected with the lock catch corresponding to the quadrant positioned in the positive direction of the X axis and the negative direction of the Y axis of the coordinate system.

According to an aspect of the present invention, the container crane monitoring system further includes: and the rotating position sensor is arranged on a hanging box lock head of the hanging bracket and used for judging whether the hanging bracket and the container are locked or not.

Preferably, the hitching angle position determining module further comprises: the inclination angle increment obtaining unit is used for obtaining inclination angle increments DAx and DAy of two axes X and Y of the plane of the hanging bracket relative to a horizontal plane from the time when the sum of weights is not less than a weight threshold to the time when the increment of the inclination angle of the plane of the hanging bracket reaches a set inclination angle threshold, and defining the inclination angle increment as positive when a coordinate axis is inclined upwards in the positive direction;

the connection angle position judging unit determines a connection angle position according to the inclination angle increment DAx and DAy, wherein:

if DAx is greater than 0 and DAy is greater than 0, the container is connected with the lock catches corresponding to the quadrants of the coordinate system with the negative X-axis and the negative Y-axis;

if DAx is greater than 0 and DAy is less than 0, the container is connected with the lock catch corresponding to the quadrants of the coordinate system with the negative direction of the X axis and the positive direction of the Y axis;

if DAx is less than 0, DAy is more than 0, the container is connected with the lock catch corresponding to the quadrant positioned in the positive direction of the X axis and the negative direction of the Y axis of the coordinate system;

if DAx is less than 0 and DAy is less than 0, the container is connected with the lock catch corresponding to the quadrants in the X-axis positive direction and the Y-axis positive direction of the coordinate system;

if DAx is greater than 0, DAy is equal to 0, the container is connected with two lock catches corresponding to the quadrants in the negative direction of the X axis of the coordinate system;

if DAx is less than 0, DAy is equal to 0, the container is connected with two lock catches corresponding to quadrants positioned in the positive direction of the X axis of the coordinate system;

if DAx is equal to 0, DAy is less than 0, the container is connected with two lock catches corresponding to quadrants positioned in the positive direction of the Y axis of the coordinate system;

if DAx is 0, DAy >0, the container is linked with two latches corresponding to the quadrant in the negative direction of the Y axis of the coordinate system.

According to another aspect of the present invention, there is provided a container lifting monitoring method, including:

measuring an included angle of the normal line of the plane of the hanging bracket relative to the plumb line by using a plane dip angle measuring sensor, namely, the plane dip angle of the hanging bracket;

measuring the weight change on a lock head of the container hanging in the process of hoisting the container by the hanger through the weighing sensor;

continuously monitoring the weight of the lock head of the hanging box and the plane inclination angle of the hanging bracket in the hoisting process;

judging whether the sum of the weights measured by the weighing sensors is not less than a set weight threshold, and respectively taking the measured values of the plane inclination angle measuring sensor and each weighing sensor when the sum of the weights is not less than the weight threshold as an inclination angle initial value and each weight initial value;

continuously monitoring the increment of the plane inclination angle of the lifting frame relative to the initial value of the inclination angle in the lifting process and the sum of the weights of a plurality of weighing sensors;

the change of the sum of the weights sampled for a plurality of times continuously is within a set error threshold, and the sum of the weights meets a stable condition;

judging whether the increment of the plane inclination angle of the hanging bracket reaches a set inclination angle threshold or not;

when the increment of the plane inclination angle of the hanger does not reach the set inclination angle threshold and the sum of the weights meets the stable condition, returning to the step of continuously monitoring the increment of the plane inclination angle of the hanger relative to the initial value of the inclination angle and the sum of the weights of the plurality of weighing sensors in the hoisting process;

when the increment of the plane inclination angle of the hanging frame reaches a set inclination angle threshold, sending out a coupling alarm, and determining a coupling angle position according to the increment of each weighing sensor relative to each initial weight value when the increment of the plane inclination angle of the hanging frame reaches the set inclination angle threshold, wherein the step of determining the coupling angle position according to the increment of each weighing sensor relative to each initial weight value when the increment of the plane inclination angle of the hanging frame reaches the set inclination angle threshold comprises the following steps:

a plane coordinate system is arranged at the center of the plane of the hanging bracket;

taking the ratio of the sum of the weight increments of each weighing sensor in the positive X-axis direction and the sum of the weight color increments of each weighing sensor in the negative X-axis direction to the sum of all weight increments as the X-axis relative component of the increment center of gravity; taking the proportion of the difference value of the sum of the weight increments of the weighing sensors in the positive Y-axis direction and the sum of the weight increments of the weighing sensors in the negative Y-axis direction to the sum of all weight increments as the Y-axis relative component of the increment center of gravity;

when the relative component of the X axis is greater than 0 and the relative component of the Y axis is greater than 0, the container is connected with the lock catches corresponding to the quadrants in the X axis positive direction and the Y axis positive direction of the coordinate system;

when the relative component of the increment gravity center in the X axis is smaller than 0 and the relative component of the increment gravity center in the Y axis is larger than 0, the container is connected with the lock catch corresponding to the quadrants positioned in the negative direction of the X axis and the positive direction of the Y axis of the coordinate system;

when the relative component of the increment gravity center in the X axis is smaller than 0 and the relative component of the increment gravity center in the Y axis is smaller than 0, the container is connected with the lock catch corresponding to the quadrant positioned in the negative direction of the X axis and the quadrant positioned in the negative direction of the Y axis of the coordinate system;

when the relative component of the increment gravity center in the X axis is larger than 0 and the relative component of the increment gravity center in the Y axis is smaller than 0, the container is connected with the lock catch corresponding to the quadrant positioned in the positive direction of the X axis and the negative direction of the Y axis of the coordinate system.

The container hoisting monitoring method further comprises the following steps before the step of judging whether the inclination angle increment reaches the set inclination angle threshold:

when the sum of the weights is stable, acquiring the total weight and the barycentric coordinate of the container, taking the proportion of the difference value of the sum of the weights measured by the weighing sensors in the positive X-axis direction and the sum of the weights measured by the weighing sensors in the negative X-axis direction in the total weight as the X-axis coordinate of the barycenter, and taking the proportion of the difference value of the sum of the weights measured by the weighing sensors in the positive Y-axis direction and the sum of the weights measured by the weighing sensors in the negative Y-axis direction in the total weight as the Y-axis coordinate of the barycenter.

The container hoisting monitoring method is characterized in that the inclination angle threshold is different according to different sizes of containers, and the larger the size of the container is, the smaller the inclination angle threshold is.

The container hoisting monitoring method comprises the step of determining the angle position of the coupling

Respectively corresponding an X axis and a Y axis of a plane tilt angle sensor to an X axis and a Y axis of a plane coordinate system of the hanger, obtaining tilt angle increments DAx and DAy of two axes X and Y of the plane of the hanger relative to a horizontal plane from the time when the sum of weights is not less than a weight threshold to the time when the increment of the tilt angle of the plane of the hanger reaches a set tilt angle threshold, and defining the tilt angle increment as positive when a coordinate axis is inclined upwards in the positive direction;

The container hoisting monitoring method is characterized in that the lock catch is an F-TR lock.

The container hoisting monitoring method further comprises the following steps:

whether the lock head of the hanging box of the hanging bracket is locked with the container or not is judged through the rotating position sensor, and the lock head of the hanging box of the hanging bracket is locked with the container to hoist the container.

The container hoisting monitoring method comprises the following steps of: and constructing a coordinate system according to the arrangement positions of the lock catches on the platform, so that one lock catch corresponds to one quadrant of the coordinate system.

The container hoisting monitoring system and the method detect the weight and the gravity center of the container in the container loading and unloading process, pick out the container with overweight and over-deviated gravity center, and ensure the transportation safety, particularly have strict requirements on the railway transportation. The container hanger is provided with a weighing sensor for independent weighing and a plane dip angle measuring sensor for the hanger, and the weighing sensor and the plane dip angle measuring sensor are fused to judge whether the continuous hanging occurs or not and accurately judge the angular position of the continuous hanging. The independent measurement and the plane inclination angle measurement of the weighing sensor are synchronously and continuously carried out in the whole operation process, a plurality of independent weights are adopted to obtain a plurality of sub weights, the total weight and the gravity center of the container can be obtained, and the connecting and hanging angle can be accurately judged through the weight increment comparison of four corners.

Drawings

Figure 1 is a schematic view of a container lifting monitoring system according to the present invention;

figure 2 is a schematic view of a flow chart of a container lifting monitoring method according to the invention;

fig. 3 is a schematic view of a flow chart of a preferred embodiment of the container lifting monitoring method according to the invention;

fig. 4 is a schematic view of the container spreader planar coordinate system and its included angle of inclination according to the present invention.

Detailed Description

In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of one or more embodiments. It may be evident, however, that such embodiment(s) may be practiced without these specific details. In other instances, well-known structures and devices are shown in block diagram form in order to facilitate describing one or more embodiments.

Various embodiments according to the present invention will be described in detail below with reference to the accompanying drawings.

Fig. 1 is a schematic diagram of a block diagram of a container lifting monitoring system according to the present invention, and as shown in fig. 1, the container lifting monitoring system is used for monitoring a process of locking a container on a hanger lifting flatcar, and includes a plane inclination angle measuring sensor 1, a plurality of weighing sensors 2, a first synchronous monitoring module 3, a judgment module 4, an initialization module 5, a second synchronous monitoring module 6, an alarm module 7, and a coupling angle position determining module 8, wherein:

the plane inclination angle measuring sensor is arranged on the hanging bracket and is used for measuring the hanging bracket plane inclination angle of the hanging bracket plane normal relative to the plumb line;

and the connecting and hanging angle position determining module is used for determining the connecting and hanging angle position when the increment of the plane inclination angle of the hanging bracket reaches a set inclination angle threshold.

Preferably, the method further comprises the following steps:

and the rotating position sensor is arranged on a hanging box lock head of the hanging bracket and used for judging whether the hanging bracket and the container are locked or not.

In one embodiment, the hitching angle position determining module comprises:

the linkage judging unit is used for judging a linkage angular position according to an X-axis relative component and a Y-axis relative component of the incremental gravity center, wherein when the X-axis relative component is greater than 0 and the Y-axis relative component is greater than 0, the container is linked with the lock catches corresponding to quadrants in the X-axis positive direction and the Y-axis positive direction of the coordinate system; when the relative component of the increment gravity center in the X axis is smaller than 0 and the relative component of the increment gravity center in the Y axis is larger than 0, the container is connected with the lock catch corresponding to the quadrants positioned in the negative direction of the X axis and the positive direction of the Y axis of the coordinate system; when the relative component of the increment gravity center in the X axis is smaller than 0 and the relative component of the increment gravity center in the Y axis is smaller than 0, the container is connected with the lock catch corresponding to the quadrant positioned in the negative direction of the X axis and the quadrant positioned in the negative direction of the Y axis of the coordinate system; when the relative component of the increment gravity center in the X axis is larger than 0 and the relative component of the increment gravity center in the Y axis is smaller than 0, the container is connected with the lock catch corresponding to the quadrant positioned in the positive direction of the X axis and the negative direction of the Y axis of the coordinate system.

In another embodiment, the hitching angle position determining module comprises:

the inclination angle increment obtaining unit is used for obtaining inclination angle increments DAx and DAy of two axes X and Y of the plane of the hanging bracket relative to a horizontal plane from the time when the sum of weights is not less than a weight threshold to the time when the increment of the inclination angle of the plane of the hanging bracket reaches a set inclination angle threshold, and defining the inclination angle increment as positive when a coordinate axis is inclined upwards in the positive direction;

and the coupling and coupling judgment unit determines a coupling angle position according to the inclination angle increment DAx and Day, wherein:

Two embodiments of the coupling angle determination module are given above, but the present invention is not limited to this, and the coupling angle determination module may be implemented by combining the two embodiments.

Fig. 2 is a schematic view of a flow chart of the container lifting monitoring method of the present invention, as shown in fig. 2, in the container lifting process, a container locked with a lock catch on a flat car is lifted by a hanger, and the container lifting monitoring method includes:

step S1, measuring the plane inclination angle of the hanger relative to the plumb line by the plane inclination angle measuring sensor;

step S2, measuring the weight change on the lock of the container hanging in the process of hanging the container by the hanger through the weighing sensor;

step S3, continuously monitoring the weight of the lock head of the hanging box and the plane inclination angle of the hanging bracket in the hoisting process;

step S4, judging whether the sum of the weights measured by the weighing sensors is not less than a set weight threshold, and taking the measured values of the plane inclination angle measuring sensor and each weighing sensor when the sum of the weights is not less than the weight threshold as an inclination angle initial value and each weight initial value respectively, wherein the weight threshold can be manually set according to experience and logics, preferably, the weight threshold is within a set range of the weight of an empty container of the container, and further, preferably, the weight threshold is the weight of the empty container of the container;

step S5, continuously monitoring the increment of the plane inclination angle of the lifting frame relative to the initial value of the inclination angle in the lifting process and the sum of the weights of a plurality of weighing sensors;

step S6, the change of the sum of the weights sampled for a plurality of times continuously is within a set error threshold, and the sum of the weights meets a stable condition;

step S7, judging whether the increment of the plane inclination angle of the hanger reaches a set inclination angle threshold, preferably, the inclination angle threshold is different according to different sizes of containers, and the larger the size of the container is, the smaller the inclination angle threshold is;

when the increment of the plane inclination angle of the hanging bracket does not reach the set inclination angle threshold and the sum of the weights meets the stable condition, returning to the step S5;

and step S8, when the increment of the plane inclination angle of the hanging bracket reaches a set inclination angle threshold, sending out a coupling alarm to determine the coupling angular position.

Preferably, before step S1, the method further comprises the step of confirming that the hanger is locked with the container, and the step comprises: whether locking of gallows string case tapered end and container is judged through the rotary position sensor, and the gallows is hung case tapered end and container locking carries out the hoist and mount of container, for example, four of gallows hang the case tapered end and fall into four lockholes at container top, rotate 90 degrees back locking.

The container hoisting monitoring method has the advantages that the inclination angle measurement and the weight measurement are synchronously and continuously carried out, and the signals of the two sensors are fused and processed.

In one embodiment of the present invention, in step S8, the method for determining the hitch angle position according to the increment of each weighing sensor relative to the initial value of the respective weight when the increment of the plane inclination angle of the hanger reaches the set inclination angle threshold includes:

a plane coordinate system is arranged at the center of gravity of the plane of the hanging bracket, and the coordinate system is constructed according to the arrangement position of the lock catch on the platform, so that one lock catch corresponds to one quadrant of the coordinate system;

taking the proportion of the difference between the increment of each weighing sensor in the positive direction of each axis and the increment of each weighing sensor in the negative direction of each axis to the sum of the increments of the weights measured by all the weighing sensors as the increment of each axis component;

and determining the quadrant of the coordinate system where the coupling occurs according to the relative 0 size of the weight gain of each axis component, thereby determining one or more lock catches where the coupling occurs.

Preferably, step S8 includes:

a plane coordinate system is arranged at the center of gravity of the plane of the hanging bracket;

In another embodiment of the present invention, in step S8, the determining the hitching angle position according to the inclination angle increment when the increment of the inclination angle of the plane of the hanging bracket reaches the set inclination angle threshold specifically includes:

Two embodiments of the method for determining the coupling angle are described above, but the present invention is not limited thereto, and the coupling angle may be determined by combining the two embodiments.

Fig. 3 is a schematic view of a flow chart of a preferred embodiment of the container lifting monitoring method according to the present invention, and as shown in fig. 3, the container lifting monitoring method includes:

step S10, collecting rotating position sensors of the hanging box lock heads at the four corners of the hanger as monitoring signals, and monitoring the combination state of the hanger and the container according to the monitoring signals, wherein specifically, the four connecting lock heads of the hanger are rotatable and are correspondingly provided with lock head corner position sensors, one locking position and one releasing position are respectively provided, and the two positions correspond to an included angle of 90 degrees;

step S20, judging whether the hanger is successfully attached to the box, and when the four rotation position sensors output signals of locking head rotation locking, the hanger is successfully attached to the box;

when the cradle is not successfully docked, returning to step S20;

step S21, when the spreader is successfully landed, detecting an output of the spreader plane tilt angle sensor, and obtaining an initial value (initial tilt angle) of a spreader plane normal tilt angle (tilt angle), as shown in fig. 4, where an initial plane (locked and not lifted with the container) of the spreader is O0-X0Y0Z0, the initial plane is tilted after being lifted is O1-X1Y1Z1, a normal of a plane before being lifted is Z0, a normal of a plane after being lifted is Z1, an angle between Z0 and Z1 is F, an azimuth angle of a coordinate axis relative to a horizontal plane is tilted up and tilted down and is negative, an angle between X1 after being lifted and the initial plane is a, an angle between Y1 axis and the initial plane is b, and an angle between the tilt angle F and a and b is positive and negative, and a and b are in accordance with the:

calculating F0 by the above formula according to the initial inclination angles a0 and b0 of the X axis and the Y axis of the plane coordinate system of the hanging bracket relative to the horizontal plane, and storing;

step S22, detecting outputs of a plurality of load cells, for example, four load cells are provided at four corners of the hanger, the outputs of the four load cells being W1, W2, W3, and W4;

step S23, obtaining the sum of the output weights of the plurality of weighing sensors as the total weight W which is W1+ W2+ W3+ W4;

step S30, determining whether the total weight is stable, that is, whether the total weight meets a stability determination condition, that is, the total weight obtained by continuous multiple sampling fluctuates no more than a predetermined error threshold value from an average value;

step S40, when the total weight is stable, the sum of the weights measured by the weighing sensors is output as the total weight, the gravity center of the container is obtained, the proportion of the difference between the weight measured by each weighing sensor in the positive direction of the X axis and the weight of each weighing sensor in the negative direction of the X axis to the total weight is used as the X-axis coordinate of the gravity center, and the proportion of the difference between the weight measured by each weighing sensor in the positive direction of the Y axis and the weight of each weighing sensor in the negative direction of the Y axis to the total weight is used as the Y-axis coordinate of the gravity center;

step S50, when the total weight is unstable, judging whether the sum of the weights measured by the weighing sensors is not less than a set weight threshold (WG), wherein the weight threshold is manually set according to experience and logic;

when the sum of the weights is less than the weight threshold, returning to step S22;

step S51, when the sum of the weights is not less than the weight threshold (W > ═ WG), recording the weight currently output by each load cell as the initial weight value W10, W20, W30, W40 of each load cell;

step S52, detecting the plane inclination angle of the hanging bracket and the weight (weight division, W11, W21, W31 and W41) measured by each weighing sensor, obtaining the plane normal inclination angle and the total weight W of the hanging bracket, and obtaining the normal inclination angle increment, wherein the inclination angle increment DF is F-F0, and F is the normal inclination angle at the current moment;

step S60, judging whether the total weight is stable, namely whether the stability judgment condition is met;

step S40, when the total weight is stable, the sum of the weights measured by the weighing sensors is output as the total weight, in addition, the gravity center of the container is obtained, the proportion of the difference between the weight measured by each weighing sensor in the positive direction of the X axis and the weight of each weighing sensor in the negative direction of the X axis to the total weight is taken as the X-axis coordinate of the gravity center, the proportion of the difference between the weight measured by each weighing sensor in the positive direction of the Y axis and the weight of each weighing sensor in the negative direction of the Y axis to the total weight is taken as the Y-axis coordinate of the gravity center, that is, if DF > is not appeared in the meantime, and the calculation result of the total weight W meets the stable judgment condition, the container is judged that F-TR lock catches are not appeared in the lifting process, the loading and unloading and weight measurement are completed smoothly, the gravity center coordinate X, Y of the total weight W,

step S70, when the total weight is unstable, judging whether the normal inclination angle increment reaches a set inclination angle threshold (FG), and DF-F0-FG;

when the increment does not reach the inclination angle threshold, returning to the step S42;

step S71, when the increment reaches the set inclination angle threshold, a coupling alarm is sent out, and a coupling angle position is determined according to the increment of each weighing sensor relative to the respective weight initial value, specifically, the method comprises the following steps:

coordinates Xc, Yc of the center of gravity P corresponding to the four-corner weight increment are calculated (corresponding to the hanger plane coordinates of FIG. 3)

Wherein:

DW1＝W11-W10、DW2＝W21-W20、DW3＝W31-W30、DW4＝W41-W40

DW＝DW1+DW2+DW3+DW4

judging the position of the coupling angle:

if Xc > 0; yc >0 (point P is in the first quadrant) to judge that the 1 corner is connected;

if Xc < 0; yc is greater than 0 (point P is in the second quadrant), and 2-angle linkage is judged;

if Xc < 0; yc <0 (point P is in the third quadrant) to judge that the 3-corner is connected;

if Xc > 0; yc <0 (point P in the fourth quadrant) determines 4-angle coupling.

According to the container hoisting monitoring method, independent weighing at the lock heads at the four corners of the container hanger and measurement of the inclination angle of the plane of the hanger are integrated to judge whether continuous hanging occurs or not, and the continuous hanging angular position is accurately judged. The four-corner independent measurement and the plane inclination angle measurement are synchronously and continuously carried out in the whole operation process, the four-corner load and the plane inclination angle of the lifting appliance are continuously detected, and corresponding judgment is timely made according to the weight of the four corners and the change of the plane inclination angle of the lifting appliance. Four corners are independently weighed to obtain four sub-weights, the total weight and the gravity center of the container can be obtained, and the connection corners can be accurately judged through weight increment comparison of the four corners.

In an embodiment of the present invention, as shown in fig. 4, the plane tilt angle measurement sensor employs a two-axis or three-axis tilt angle measurement sensor, a corresponding measurement module is designed and installed on the plane of the hanger, and the X-axis and the Y-axis of the plane tilt angle measurement sensor correspond to the X-axis and the Y-axis of the defined plane of the hanger and are connected to a power supply. The inclination of an X axis and a Y axis of a plane of the hanger relative to a horizontal plane can be measured in real time, and then the inclination angle F of a normal Z axis of the plane of the hanger relative to a gravity line is obtained through secondary calculation, the plane inclination angle measuring sensor can be an MEMS digital inclination angle sensor MMA8452 and is designed into a corresponding plane inclination angle measuring module, and the plane inclination angle measuring module is marked with corresponding X axis and Y axis measuring directions; fixing the plane inclination angle measuring module on a plane of the hanging bracket according to the directions of the X axis and the Y axis which are respectively parallel and corresponding; after the measurement state is started, the MMA8452Q continuously outputs a digital inner code corresponding to the inclination angle of the X, Y axis relative to the horizontal plane, and the inclination angle of the X, Y axis relative to the horizontal plane and the inclination angle F of the plane normal Z axis relative to the gravity line are obtained after the digital inner code is processed by a microcomputer in the measurement module, specifically:

it can be obtained from the X-axis and Y-axis output inner codes Nx, Ny (-2048,2048) of MMA8452Q (the sensor output is positive in the gravity direction)

sin(a)＝-N_x/2048

sin(b)＝-N_y/2048；

Wherein a is the X-axis inclination angle of the plane of the hanging bracket relative to the horizontal plane, b is the Y-axis inclination angle of the plane of the hanging bracket relative to the horizontal plane, and N_xIs a numerical inner code, N, corresponding to the X-axis inclination_yThe digital inner code corresponding to the Y-axis inclination angle;

obtaining the cosine of the inclined angle of the normal line of the hanging bracket plane relative to the plumb line through the following formula according to the X-axis inclination angle and the Y-axis inclination angle of the hanging bracket plane relative to the horizontal plane, and further converting the hanging condition (the cosine is not larger than the cosine gate fence)

Wherein F is an inclined included angle of the plane normal of the hanging bracket relative to the plumb line;

and judging that the connection and the hanging occur when the connection and the hanging condition are met, and judging the specific connection and hanging angular position (one or two angles with the lowest position in four corners of the plane) through the change directions of the included angles a (X axis) and b (Y axis):

if N is present_x＞0，N_yIf the coordinate system is more than 0, the container is connected with the lock catches corresponding to the quadrants of the coordinate system with the negative X-axis and the negative Y-axis, and the judgment angle 3 is connected in the above example;

if N is present_x＞0，N_yIf the number is less than 0, the container is connected with the lock catches corresponding to the quadrants in the negative direction of the X axis and the positive direction of the Y axis of the coordinate system, and the angle 2 is judged to be connected in the above example;

if N is present_x＜0，N_yIf the angle is more than 0, the container is connected with the lock catches corresponding to the quadrants of the coordinate system in the positive direction of the X axis and the negative direction of the Y axis, and the angle 4 is judged to be connected in the above example;

if N is present_x＜0，N_yIf the number is less than 0, the container is connected with the lock catches corresponding to the quadrants in the X-axis positive direction and the Y-axis positive direction of the coordinate system, and the angle 1 is judged to be connected as in the above example;

if N is present_x＞0，N_yWhen the coordinate system is 0, the container is connected with a plurality of lock catches corresponding to the quadrants in the negative direction of the X axis of the coordinate system, and the angles 2 and 3 are judged to be connected in the above example;

if N is present_x＜0，N_yWhen the coordinate system X axis is positive, the container is linked with a plurality of latches corresponding to quadrants located in the coordinate system X axis positive direction, as in the above example, the angles 1 and 4 are determined;

if N is present_x＝0，N_yIf the number is less than 0, the container is connected with a plurality of lock catches corresponding to quadrants positioned in the positive direction of the Y axis of the coordinate system, and angles 1 and 2 are judged to be connected in the above example;

if N is present_x＝0，N_yAnd if the angle is more than 0, the container is connected with a plurality of lock catches corresponding to the quadrants in the negative direction of the Y axis of the coordinate system, and the judgment angles 3 and 4 are connected.

In the embodiments, the lock catch is an F-TR lock, and the container hoisting monitoring method can detect the weight and the gravity center of the container in the container loading and unloading process, pick out the container with overweight and over-deviated gravity center, and ensure the transportation safety, especially the strict requirement of railway transportation. When the weight and gravity center detection is implemented, the connection state of the F-TR buckle with the flat car when the container is hoisted is judged and monitored by combining artificial intelligence through measuring the plane inclination angle of the hoisting frame. Once the connection occurs, an alarm stop is given in time to prompt an operator to process.

The container spreader is considered to be a rigid body in view of its sufficiently rigid frame. Before hoisting, a crane (a portal crane or a wheel crane) controls the hanger to move to the upper part of the container to align and lock, and four lock heads (lifting hooks) on the hanger are inserted into four lock holes on the top surface of the container to be rotationally locked. The spreader is then connected to the container as a unit (considered as a rigid body).

If F-TR hooking occurs at a certain angle in the hoisting process, the other angle can be smoothly separated, so that the combination of the hanger and the container is inclined, and the change of the inclination angle of the plane normal of the hanger and the hoisting height of the unhooking angle in the hooking state have a certain one-to-one correspondence relationship.

Obviously, whether the four lock heads at the bottom of the container are synchronously separated or not can be judged by measuring the change of the inclination angle. And further, whether the F-TR lock head is connected or not is obtained. When the connection occurs, the four corners are out of synchronization, and the hanging bracket is inclined.

In one embodiment of the invention, the set inclination angle door fence is obtained by setting the lifting height of one corner relative to the other corner or the lifting height of one edge relative to the other piece when the hanger is inclined, for example:

and taking the threshold condition of F-TR linking judgment as that at least one angle is raised by 100 mm. Another 1 or two corners are hooked without lifting.

Two possibilities are:

in one case, the two corners of the hanger are connected, one side of the hanger (the short side of the box) is fixed when being lifted, and the opposite short side is lifted by 100 mm.

In another case, the single corner is hung, and the opposite corner of the hanging corner is lifted by 100 mm.

The length and width distances among four lifting hooks of the lifting frame are obtained according to the technical parameters of the lifting frame: 40 feet of cabinet: the length is 11985mm, and the width is 2259 mm; 20 ruler box: the length is 5853mm, and the width is 2259 mm.

For both of the above coupling cases, the angle of inclination F of the hanger normal Z can be calculated when the inclination reaches critical (lift up to 100mm), as shown in table 1:

TABLE 1

Combining the calculation results in table 1, the conversion and linkage judgment conditions are as follows:

for a 40-foot cabinet: when the normal line of the plane of the hanging bracket inclines to 0.47 degrees, judging that the hanging bracket is connected;

for a 20-foot cabinet: and when the normal inclination of the plane of the hanging bracket reaches 0.91 degrees, judging that the hanging is connected.

The container hoisting monitoring system and the container hoisting monitoring method adopt synchronous fusion analysis and judgment of the weight and the inclination angle, and do not judge the sequence of the independent weight and the independent inclination angle, so that the monitoring accuracy is improved. In addition, when the initial state is determined, an initial threshold (weight threshold) for hoisting the weight is set, a more accurate initial state is obtained (the system enters a tight state), and the monitoring accuracy is further improved.

While the foregoing disclosure shows illustrative embodiments of the invention, it should be noted that various changes and modifications could be made herein without departing from the scope of the invention as defined by the appended claims. Furthermore, although elements of the invention may be described or claimed in the singular, the plural is contemplated unless limitation to a single element is explicitly stated.

Claims

1. The utility model provides a container hoist and mount monitored control system, the process of the container of hasp locking on the control gallows hoist and mount flatcar, its characterized in that, including plane inclination measuring transducer, a plurality of weighing sensor, first synchronous monitoring module, judge module, initialization module, the synchronous monitoring module of second, alarm module and even string angular position determination module, wherein:

the first synchronous monitoring module is used for continuously monitoring the weight at the lock head of the hanging box and the plane inclination angle of the hanging bracket, sending the measured value of the plane inclination angle measuring sensor to the initialization module and the second synchronous monitoring module, and sending the measured value of the weighing sensor to the judgment module, the initialization module and the second synchronous monitoring module;

a relative component obtaining unit that takes, as an X-axis relative component of the increase center of gravity, a ratio of a difference between a sum of increases in weight of each load cell in the X-axis positive direction and a sum of increases in weight of each load cell in the X-axis negative direction to a sum of increases in all weights; taking the proportion of the difference value of the sum of the weight increments of the weighing sensors in the positive Y-axis direction and the sum of the weight increments of the weighing sensors in the negative Y-axis direction to the sum of all weight increments as the Y-axis relative component of the increment center of gravity;

2. The container lift monitoring system of claim 1, further comprising:

3. The container lift monitoring system of claim 1, wherein the hitch angle determination module further comprises:

4. A container hoisting monitoring method is characterized by comprising the following steps:

measuring the included angle of the normal line of the plane of the hanging bracket relative to the plumb line by using a plane dip angle measuring sensor, namely the plane dip angle of the hanging bracket;

and when the increment of the plane inclination angle of the hanging bracket reaches the set inclination angle threshold, sending out a coupling alarm, and determining the coupling angle position according to the increment of each weighing sensor relative to the respective weight initial value when the increment of the plane inclination angle of the hanging bracket reaches the set inclination angle threshold.

5. The container lifting monitoring method as claimed in claim 4, wherein the determining of the angle of engagement based on the increment of each load cell relative to the initial value of the respective weight when the increment of the plane inclination of the lifting frame reaches the set inclination threshold is performed according to the following steps:

taking the ratio of the sum of the weight increments of the weighing sensors in the positive X-axis direction and the sum of the weight increments of the weighing sensors in the negative X-axis direction to the sum of all weight increments as the X-axis relative component of the increment center of gravity; taking the proportion of the difference value of the sum of the weight increments of the weighing sensors in the positive Y-axis direction and the sum of the weight increments of the weighing sensors in the negative Y-axis direction to the sum of all weight increments as the Y-axis relative component of the increment center of gravity;

6. The container lifting monitoring method according to claim 5, further comprising, before the step of determining whether the tilt angle increment reaches a set tilt angle threshold:

7. The container lifting monitoring method according to claim 5, wherein the inclination angle threshold is different according to the size of the container, and the larger the size of the container is, the smaller the inclination angle threshold is.

8. The container lift monitoring method of claim 5, wherein the method of determining the hitch angle further comprises

9. The container handling monitoring method of claim 5, wherein the lock catch is an F-TR lock.

10. The container lifting monitoring method according to claim 5, further comprising:

11. The container handling monitoring method of claim 5, wherein the step of providing a planar coordinate system at the center of gravity of the spreader plane comprises: and constructing a coordinate system according to the arrangement positions of the lock catches on the platform, so that one lock catch corresponds to one quadrant of the coordinate system.