CN112141894A - Box grabbing alignment method based on fusion of multiple 2D measuring devices - Google Patents
Box grabbing alignment method based on fusion of multiple 2D measuring devices Download PDFInfo
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- CN112141894A CN112141894A CN202011019104.9A CN202011019104A CN112141894A CN 112141894 A CN112141894 A CN 112141894A CN 202011019104 A CN202011019104 A CN 202011019104A CN 112141894 A CN112141894 A CN 112141894A
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
- G01S13/426—Scanning radar, e.g. 3D radar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
- G01S13/44—Monopulse radar, i.e. simultaneous lobing
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- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention discloses a box grabbing alignment method based on fusion of a plurality of 2D measuring devices. Through the mode, the box grabbing alignment method based on the fusion of the plurality of 2D measuring devices judges and calculates the position deviation of the lifting appliance and the container by using the monitoring and positioning mechanism, and adjusts the angle and the position of the lifting appliance according to the deviation, so that the lifting appliance and the container can be completely aligned, the working efficiency and the accuracy of lifting are improved, and the use is convenient.
Description
Technical Field
The invention relates to the field of container grabbing and positioning, in particular to a container grabbing alignment method based on fusion of a plurality of 2D measuring devices.
Background
In the automatic implementation or transformation process of port RMG or RTG, after the positioning basis of cart, dolly, hoist has been accomplished to the location back, thereby the final link needs to control hoist and container and carry out accurate counterpoint thereby the tapered end on the hoist can be accurate insert the four case holes of container in order to accomplish and grab the case operation.
The traditional mode is to realize the accurate counterpoint of hoist and container through the manual work, but this kind of mode is inefficient, and the error is big.
Disclosure of Invention
The invention mainly solves the technical problem of providing a box grabbing alignment method based on fusion of a plurality of 2D measuring devices, has the advantages of high reliability, accurate positioning and the like, and has wide market prospect in application and popularization of container grabbing positioning.
In order to solve the technical problems, the invention adopts a technical scheme that:
the box grabbing alignment method based on fusion of a plurality of 2D measuring devices is provided, and comprises the following steps:
1) installing a plurality of monitoring and positioning mechanisms on 4 corners of the lifting appliance and two opposite sides of the lifting appliance, calculating the position deviation and the angle deviation of the lifting appliance and a container to be grabbed in the direction of a trolley through the monitoring and positioning mechanisms on the corners, and calculating the position deviation and the angle deviation of the lifting appliance and the container to be grabbed in the direction of a trolley through the monitoring and positioning mechanisms on the two opposite sides;
2) aligning the lifting appliance with a container to be grabbed to ensure that four lock heads of the lifting appliance can be normally placed into box holes in four corners of the container without scraping;
3) after the lifting appliance rises to a preset height, points at the edge of the container scanned by the monitoring and positioning mechanism at the moment are used as standard points, and the coordinates of each standard point under the plane coordinate system of the respective monitoring and positioning mechanism are respectively expressed by (xn, yn), wherein n is a positive integer, the direction of an X axis is the horizontal direction, so as to calculate the position deviation of the lifting appliance in the horizontal direction, and the direction of a Y axis is the vertical direction, so as to calculate the distance between the lifting appliance and the container, so as to determine the search area of the monitoring and positioning mechanism;
4) when the monitoring and positioning mechanism scans that the container has position deviation, the position deviation of the spreader and the container is calculated;
4.1) selecting a corresponding search area of each monitoring positioning mechanism under the respective coordinate system according to the standard points so as to reduce the search range;
4.2) aggregating and filtering the scanning points in the search area to obtain the scanning points which are scanned to the edge of the container by the monitoring and positioning mechanism at the moment, and taking the scanning points as one-time real-time detection points; the coordinates of each primary real-time detection point under the coordinate system of the monitoring positioning mechanism are respectively (xn ', yn'), wherein n is a positive integer;
4.3) obtaining the relative position deviation between the primary real-time detection point and the standard point as follows: dn = | xn-xn' |;
4.4) judging whether there is an angular deviation
4.4.1) obtaining the distance L between the monitoring positioning mechanisms relatively arranged on the top corners of the left and right spreaders, wherein the primary position deviation Ds = (D1+ D4)/2 between the left spreader and the short edge of the container, wherein D1 is the primary relative position deviation of the first top corner of the left spreader, D4 is the primary relative position deviation of the second top corner of the left spreader, and the primary position deviation Db = (D2+ D3)/2 between the right spreader and the short edge of the container, wherein D2 is the primary relative position deviation of the first top corner of the right spreader, and D3 is the primary relative position deviation of the second top corner of the right spreader;
4.4.2) when the Ds and Db are not equal, the positions of the lifting appliance and the container have angular deviation;
4.5) the deviation angle of the spreader from the container to be grabbed is β, and Sin β = (Ds-Db) × 2/L;
4.6) the control mechanism rotates the lifting appliance according to the deviation angle beta to eliminate the angle deviation between the lifting appliance and the container to be grabbed, so that the four edges of the lifting appliance are parallel to the four edges of the container;
4.7) calculating the position deviation between the cart direction and the trolley direction
4.7.1) using the points on the edge of the container scanned by the monitoring and positioning mechanism at the moment as secondary real-time detection points; the coordinate of each secondary real-time detection point under the coordinate system of the monitoring positioning mechanism is (xn ', yn '), and the relative position deviation Dn ' = | xn ' -xn ' | of the secondary real-time detection point and the standard point;
4.7.2) secondary position deviation Ds '= (D1' + D4 ')/2 of left spreader to container short side, secondary position deviation Db' = (D2 '+ D3')/2 of right spreader to container short side, where D1 'is the secondary relative position deviation of the left spreader first vertex angle, D4' is the secondary relative position deviation of the left spreader second vertex angle, D2 is the 'secondary relative position deviation of the right spreader first vertex angle, and D3' is the secondary relative position deviation of the right spreader second vertex angle;
4.7.3) the positional deviation Diffs = (Ds '+ Db')/2 in the trolley direction between spreader and container, and the positional deviation Diffb = (D5 '+ D6')/2 in the trolley direction between spreader and container;
4.7.4) the spreader control mechanism moves the spreader according to the position deviation so that the spreader moves Diffs distance in the trolley direction and Diffb distance in the trolley direction to make the spreader and the container to be grabbed completely aligned;
4.7.5) the spreader descends, so that the lock heads on the spreader are inserted into the four box holes of the container, thereby completing the box grabbing operation.
In a preferred embodiment of the present invention, in step 3), the preset height is a distance between the spreader and the container, wherein the distance is 30 CM.
In a preferred embodiment of the invention, a No. 1 monitoring positioning mechanism, a No. 2 monitoring positioning mechanism, a No. 3 monitoring positioning mechanism and a No. 4 monitoring positioning mechanism are sequentially arranged at 4 corners of the left and right lifting appliances, and a No. 5 monitoring positioning mechanism and a No. 6 monitoring positioning mechanism are respectively arranged on two opposite sides of the left and right lifting appliances.
In a preferred embodiment of the present invention, the points on the edge of the container scanned by the 6 monitoring and positioning mechanisms are used as standard points, and the coordinates of the 6 standard points in the plane coordinate system of the respective monitoring and positioning mechanisms are (x1, y1), (x2, y2), (x3, y3), (x4, y4), (x5, y5), and (x6, y 6).
In a preferred embodiment of the present invention, in step 3), a distance of ± 20CM is added in the horizontal direction of the standard point and a distance of ± 50CM is added in the vertical direction of the standard point, based on the position of the standard point, to form the search area.
In a preferred embodiment of the invention, 6 monitoring and positioning mechanisms scan the scanning points at the edge of the container to be used as one-time real-time detection points; the coordinates of the 6 primary real-time detection points in the coordinate system of the monitoring and positioning mechanism are respectively (x1 ', y 1'), (x2 ', y 2'), (x3 ', y 3'), (x4 ', y 4'), (x5 ', y 5'), (x6 ', y 6').
In a preferred embodiment of the present invention, the relative position deviation between the 6 primary real-time detection points and the standard point is:
D1=|x1-x1’|、D2=|x2-x2’|、D3=|x3-x3’|、
D4=|x4-x4’|、D5=|x5-x5’|、D6=|x6-x6’|；
and the position deviation of the left sling and the short edge of the container is Ds = (D1+ D4)/2, and the position deviation of the right sling and the short edge of the container is Db = (D2+ D3)/2.
In a preferred embodiment of the invention, points at the edge of the container scanned by 6 monitoring and positioning mechanisms are used as secondary real-time detection points; the coordinates of the 6 secondary real-time detection points in the coordinate system of the monitoring and positioning mechanism are (x1 ', y 1'), (x2 ', y 2'), (x3 ', y 3'), (x4 ', y 4'), (x5 ', y 5'), (x6 ', y 6'), respectively.
In a preferred embodiment of the present invention, the relative position deviation between the secondary real-time detection point and the standard point is:
D1’=|x1’-x1’ ’|、D2’=|x2’-x2’’|、D3’=|x3’-x3’’|、
D4’=|x4’-x4’’|、D5’=|x5’-x5’ ’|、D6’=|x6’-x6’’|；
and the position deviation Ds '= (D1' + D4 ')/2 of the left spreader from the short side of the container, and the position deviation Db' = (D2 '+ D3')/2 of the right spreader from the short side of the container.
In a preferred embodiment of the present invention, the monitoring and positioning mechanism comprises a 2D laser radar, a camera or a 3D radar.
The invention has the beneficial effects that: the position deviation of the lifting appliance and the container is judged and calculated by the aid of the radar, and the angle and the position of the lifting appliance are adjusted according to the deviation, so that the lifting appliance and the container can be completely aligned, the working efficiency and accuracy of lifting are improved, and the lifting appliance is convenient to use.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
FIG. 1 is a schematic view showing a structure of an installation position and a scanning direction of a radar in the present invention;
FIG. 2 is a schematic structural diagram of a standard point determination in the box grabbing alignment method based on fusion of a plurality of 2D measuring devices;
fig. 3 is a schematic structural diagram of deviation between a spreader and a container in the box grabbing alignment method based on fusion of a plurality of 2D measuring devices.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all 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 invention.
Referring to fig. 1-3, an embodiment of the present invention includes:
a box grabbing alignment method based on fusion of a plurality of 2D measuring devices can accurately calculate the relative positions of a lifting appliance and a container and control the mechanism to act, so that automatic box grabbing is completed.
In order to realize the alignment of the spreader and the container, the deviation of the spreader and the container on the long side, the short side and the angle needs to be obtained, and therefore, a plurality of monitoring and positioning mechanisms need to be installed on the spreader. The number of the monitoring positioning mechanisms can be adjusted according to actual use conditions, precision requirements and other conditions, and 6 or more than 6 monitoring positioning mechanisms can be selected preferably.
Preferably, a radar number 1, a radar number 2, a radar number 3, and a radar number 4 may be sequentially disposed at 4 corners of the spreader, and a radar number 5 and a radar number 6 are respectively mounted on two opposite sides of the spreader, that is, a total of 6 single line radars need to be mounted to measure corresponding data, and the specific mounting method and the scanning direction of the radars are shown in fig. 1, where the dotted line in the drawing is the scanning direction.
The position deviation and the angle deviation of the spreader and the container to be grabbed in the direction of the trolley are calculated by radars No. 1, 2, 3 and 4, and the position deviation and the angle deviation of the spreader and the container to be grabbed in the direction of the trolley are calculated by radars No. 5 and 6.
In addition, above-mentioned 2D laser radar can be replaced by monitoring positioning mechanism such as camera or 3D radar, and under the general condition, when looking for the target, camera or 3D radar do not have 2D laser radar convenient, also can receive certain influence on the monitoring precision.
The method comprises the following specific steps:
1) the lifting appliance is aligned with the container to be grabbed, so that four lock heads of the lifting appliance can be normally placed into box holes in four corners of the container without scraping.
2) The spreader is lifted to a position 30CM higher than the container, the edge points of the container scanned by 6 radars at this time are taken as standard points, and the coordinates of the 6 standard points in the radar plane coordinate system are (X1, Y1), (X2, Y2), (X3, Y3), (X4, Y4), (X5, Y5), (X6, and Y6), wherein the direction of the X axis is the horizontal direction to calculate the position deviation of the spreader in the horizontal direction, and the direction of the Y axis is the vertical direction to calculate the distance between the spreader and the container, so as to determine the search area of the radar, as shown in fig. 2.
3) When the container has a position deviation, the radar scans the edge position of the container as shown in fig. 3, and the position deviation between the spreader and the container needs to be calculated.
And 3.1) selecting a corresponding search area of each radar in the respective coordinate system according to the standard point to reduce the search range, wherein in the embodiment, a distance of +/-20 CM is increased in the horizontal direction of the standard point and a distance of +/-50 CM is increased in the vertical direction of the standard point by taking the position of the standard point as a reference to form the search area.
3.2) aggregating and filtering the scanning points in the search area, obtaining the scanning points scanned to the edge of the container by the radar at the moment according to the position relation such as the right-angle point fitted into a right angle or the maximum value in the X direction, and taking the scanning points as one-time real-time detection points; the coordinates of the 6 primary real-time detection points in the respective radar coordinate systems are (x1 ', y 1'), (x2 ', y 2'), (x3 ', y 3'), (x4 ', y 4'), (x5 ', y 5'), (x6 ', y 6'), respectively. The relative position deviation between the primary real-time detection point and the standard point is obtained from fig. 2 and fig. 3 as follows:
D1=|x1-x1’|、D2=|x2-x2’|、D3=|x3-x3’|、
D4=|x4-x4’|、D5=|x5-x5’|、D6=|x6-x6’|。
3.3) calculating the angle
When the position deviation of the spreader on the left side and the right side relative to the container is not equal, namely when Ds and Db are not equal, it indicates that there is an angular deviation between the spreader and the container:
3.3.1) the installation distance between radar No. 1 and radar No. 2 is preset to be L, the position deviation of the spreader on the left side from the short side of the container is Ds = (D1+ D4)/2, the position deviation of the spreader on the right side from the short side of the container is Db = (D2+ D3)/2, and the angle deviation of the spreader from the container to be grabbed is β, which is the rotation angle of fig. 2 and 3 taken together in this embodiment.
3.3.2) since the difference between the installation distance of the two radars and the distance caused by the rotation scanning of the single-line radar is small, neglect of the difference, Sin β = (Ds-Db) × 2/L can be obtained, and the deviation angle between the spreader and the container to be grabbed can be calculated as β.
3.3.3) the control mechanism rotates the spreader according to the deviation angle beta to eliminate the angular deviation of the spreader and the container to be gripped so that the four sides of the spreader and the four sides of the container are parallel.
3.4) calculating the position deviation between the cart direction and the trolley direction
3.4.1) taking the points at the edge of the container scanned by the radar at the moment as secondary real-time detection points; the coordinates of the 6 secondary real-time detection points in the respective radar coordinate systems are (x1 ', y 1'), (x2 ', y 2'), (x3 ', y 3'), (x4 ', y 4'), (x5 ', y 5'), (x6 ', y 6'), respectively, and the relative position deviation between the secondary real-time detection points and the standard points is:
D1’=|x1’-x1’ ’|、D2’=|x2’-x2’’|、D3’=|x3’-x3’’|、
D4’=|x4’-x4’’|、D5’=|x5’-x5’ ’|、D6’=|x6’-x6’’|。
3.4.2) left spreader position deviation Ds '= (D1' + D4 ')/2 from container short side, right spreader position deviation Db' = (D2 '+ D3')/2 from container short side.
3.4.3) positional deviation Diffs = (Ds '+ Db')/2 in the trolley direction of the spreader and container, and positional deviation in the cart direction of the spreader and container is Diffb = (D5 '+ D6')/2.
3.4.4) the spreader control mechanism moves the spreader by the offset so that the spreader moves the Diffs distance in the trolley direction and the Diffb distance in the trolley direction to bring the spreader and the container to be grasped into perfect alignment.
3.4.5) the lifting appliance descends, so that the lock heads on the lifting appliance are inserted into four container holes of the container, and the container grabbing operation is completed.
The box grabbing alignment method based on fusion of a plurality of 2D measuring devices has the advantages that: the position deviation of the lifting appliance and the container is judged and calculated by the aid of the radar, and the angle and the position of the lifting appliance are adjusted according to the deviation, so that the lifting appliance and the container can be completely aligned, the working efficiency and accuracy of lifting are improved, and the lifting appliance is convenient to use.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by the present specification, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A box grabbing alignment method based on fusion of a plurality of 2D measuring devices is characterized by comprising the following steps:
1) installing a plurality of monitoring and positioning mechanisms on 4 corners of the lifting appliance and two opposite sides of the lifting appliance, calculating the position deviation and the angle deviation of the lifting appliance and a container to be grabbed in the direction of a trolley through the monitoring and positioning mechanisms on the corners, and calculating the position deviation and the angle deviation of the lifting appliance and the container to be grabbed in the direction of a trolley through the monitoring and positioning mechanisms on the two opposite sides;
2) aligning the lifting appliance with a container to be grabbed to ensure that four lock heads of the lifting appliance can be normally placed into box holes in four corners of the container without scraping;
3) after the lifting appliance rises to a preset height, points at the edge of the container scanned by the monitoring and positioning mechanism at the moment are used as standard points, and the coordinates of each standard point under the plane coordinate system of the respective monitoring and positioning mechanism are respectively expressed by (xn, yn), wherein n is a positive integer, the direction of an X axis is the horizontal direction, so as to calculate the position deviation of the lifting appliance in the horizontal direction, and the direction of a Y axis is the vertical direction, so as to calculate the distance between the lifting appliance and the container, so as to determine the search area of the monitoring and positioning mechanism;
4) when the monitoring and positioning mechanism scans that the container has position deviation, the position deviation of the spreader and the container is calculated;
4.1) selecting a corresponding search area of each monitoring positioning mechanism under the respective coordinate system according to the standard points so as to reduce the search range;
4.2) aggregating and filtering the scanning points in the search area to obtain the scanning points which are scanned to the edge of the container by the monitoring and positioning mechanism at the moment, and taking the scanning points as one-time real-time detection points; the coordinates of each primary real-time detection point under the coordinate system of the monitoring positioning mechanism are respectively (xn ', yn'), wherein n is a positive integer;
4.3) obtaining the relative position deviation between the primary real-time detection point and the standard point as follows: dn = | xn-xn' |;
4.4) judging whether there is an angular deviation
4.4.1) obtaining the distance L between the monitoring positioning mechanisms relatively arranged on the top corners of the left and right spreaders, wherein the primary position deviation Ds = (D1+ D4)/2 between the left spreader and the short edge of the container, wherein D1 is the primary relative position deviation of the first top corner of the left spreader, D4 is the primary relative position deviation of the second top corner of the left spreader, and the primary position deviation Db = (D2+ D3)/2 between the right spreader and the short edge of the container, wherein D2 is the primary relative position deviation of the first top corner of the right spreader, and D3 is the primary relative position deviation of the second top corner of the right spreader;
4.4.2) when the Ds and Db are not equal, the positions of the lifting appliance and the container have angular deviation;
4.5) the deviation angle of the spreader from the container to be grabbed is β, and Sin β = (Ds-Db) × 2/L;
4.6) the control mechanism rotates the lifting appliance according to the deviation angle beta to eliminate the angle deviation between the lifting appliance and the container to be grabbed, so that the four edges of the lifting appliance are parallel to the four edges of the container;
4.7) calculating the position deviation between the cart direction and the trolley direction
4.7.1) using the points on the edge of the container scanned by the monitoring and positioning mechanism at the moment as secondary real-time detection points; the coordinate of each secondary real-time detection point under the coordinate system of the monitoring positioning mechanism is (xn ', yn '), and the relative position deviation Dn ' = | xn ' -xn ' | of the secondary real-time detection point and the standard point;
4.7.2) secondary position deviation Ds '= (D1' + D4 ')/2 of left spreader to container short side, secondary position deviation Db' = (D2 '+ D3')/2 of right spreader to container short side, where D1 'is the secondary relative position deviation of the left spreader first vertex angle, D4' is the secondary relative position deviation of the left spreader second vertex angle, D2 is the 'secondary relative position deviation of the right spreader first vertex angle, and D3' is the secondary relative position deviation of the right spreader second vertex angle;
4.7.3) the positional deviation Diffs = (Ds '+ Db')/2 in the trolley direction between spreader and container, and the positional deviation Diffb = (D5 '+ D6')/2 in the trolley direction between spreader and container;
4.7.4) the spreader control mechanism moves the spreader according to the position deviation so that the spreader moves Diffs distance in the trolley direction and Diffb distance in the trolley direction to make the spreader and the container to be grabbed completely aligned;
4.7.5) the spreader descends, so that the lock heads on the spreader are inserted into the four box holes of the container, thereby completing the box grabbing operation.
2. The box grabbing alignment method based on the fusion of the plurality of 2D measuring devices according to claim 1, wherein in step 3), the preset height is the distance between the spreader and the container, wherein the distance is 30 CM.
3. The box grabbing alignment method based on the fusion of the multiple 2D measuring devices according to claim 1, wherein a monitoring and positioning mechanism No. 1, a monitoring and positioning mechanism No. 2, a monitoring and positioning mechanism No. 3 and a monitoring and positioning mechanism No. 4 are sequentially arranged at 4 corners of the left and right lifting appliances, and a monitoring and positioning mechanism No. 5 and a monitoring and positioning mechanism No. 6 are respectively arranged on two opposite sides of the left and right lifting appliances.
4. The box grabbing alignment method based on the fusion of multiple 2D measuring devices according to claim 3, wherein the points of the edge of the container scanned by 6 monitoring and positioning mechanisms are used as standard points, and the coordinates of the 6 standard points in the plane coordinate system of the respective monitoring and positioning mechanisms are (x1, y1), (x2, y2), (x3, y3), (x4, y4), (x5, y5), (x6, y 6).
5. The box grabbing alignment method based on the fusion of multiple 2D measuring devices according to claim 1, wherein in step 3), based on the position of the standard point, a distance of ± 20CM is added in the horizontal direction of the standard point, and a distance of ± 50CM is added in the vertical direction of the standard point to form the search area.
6. The box grabbing alignment method based on the fusion of the plurality of 2D measuring devices as claimed in claim 4, wherein 6 monitoring and positioning mechanisms scan the scanning points at the edge of the container as one real-time detection point; the coordinates of the 6 primary real-time detection points in the coordinate system of the monitoring and positioning mechanism are respectively (x1 ', y 1'), (x2 ', y 2'), (x3 ', y 3'), (x4 ', y 4'), (x5 ', y 5'), (x6 ', y 6').
7. The box grabbing alignment method based on the fusion of the plurality of 2D measuring devices according to claim 6, wherein the relative position deviation between the 6 primary real-time detection points and the standard points is as follows:
D1=|x1-x1’|、D2=|x2-x2’|、D3=|x3-x3’|、
D4=|x4-x4’|、D5=|x5-x5’|、D6=|x6-x6’|；
and the position deviation of the left sling and the short edge of the container is Ds = (D1+ D4)/2, and the position deviation of the right sling and the short edge of the container is Db = (D2+ D3)/2.
8. The box grabbing alignment method based on the fusion of the multiple 2D measuring devices according to claim 7, wherein points on the edge of the container scanned by the 6 monitoring and positioning mechanisms are used as secondary real-time detection points; the coordinates of the 6 secondary real-time detection points in the coordinate system of the monitoring and positioning mechanism are (x1 ', y 1'), (x2 ', y 2'), (x3 ', y 3'), (x4 ', y 4'), (x5 ', y 5'), (x6 ', y 6'), respectively.
9. The box grabbing alignment method based on the fusion of the plurality of 2D measuring devices according to claim 8, wherein the relative position deviation between the secondary real-time detection point and the standard point is as follows:
D1’=|x1’-x1’ ’|、D2’=|x2’-x2’’|、D3’=|x3’-x3’’|、
D4’=|x4’-x4’’|、D5’=|x5’-x5’ ’|、D6’=|x6’-x6’’|；
and the position deviation Ds '= (D1' + D4 ')/2 of the left spreader from the short side of the container, and the position deviation Db' = (D2 '+ D3')/2 of the right spreader from the short side of the container.
10. The box grabbing alignment method based on the fusion of multiple 2D measuring devices according to any one of claims 1-9, wherein the monitoring and positioning mechanism comprises a 2D laser radar, a camera or a 3D radar.
Priority Applications (1)
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| CN113060649A (en) * | 2021-04-21 | 2021-07-02 | 上海驭矩信息科技有限公司 | Method and system for positioning based on double encoders |
| CN113734975A (en) * | 2021-09-08 | 2021-12-03 | 三一海洋重工有限公司 | Method, device and system for positioning storage yard of hoisting equipment and hoisting equipment |
| CN113734976A (en) * | 2021-09-14 | 2021-12-03 | 三一海洋重工有限公司 | Method and device for detecting deflection posture and box width of lifting appliance and crane |
| CN115849189A (en) * | 2022-11-16 | 2023-03-28 | 上海西井信息科技有限公司 | Point cloud-based secondary anchoring method, system, equipment and storage medium for lifting appliance |
| CN116621032A (en) * | 2023-05-25 | 2023-08-22 | 广州港股份有限公司 | Method suitable for accurate positioning characteristic of container spreader and improving adjustment efficiency |
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| CN113060649A (en) * | 2021-04-21 | 2021-07-02 | 上海驭矩信息科技有限公司 | Method and system for positioning based on double encoders |
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| CN116621032A (en) * | 2023-05-25 | 2023-08-22 | 广州港股份有限公司 | Method suitable for accurate positioning characteristic of container spreader and improving adjustment efficiency |
| CN116621032B (en) * | 2023-05-25 | 2024-04-09 | 广州港股份有限公司 | Method suitable for accurate positioning characteristic of container spreader and improving adjustment efficiency |
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