CN117105092B

CN117105092B - Laser scanning type lifting appliance posture detection system and adjusting equipment and method applying same

Info

Publication number: CN117105092B
Application number: CN202311032896.7A
Authority: CN
Inventors: 朱少兵; 冯建浩; 李文; 赵鑫; 陈文杰
Original assignee: Guangzhou Port Co ltd Nansha Container Terminal Branch; CCCC Fourth Harbor Engineering Institute Co Ltd
Current assignee: Guangzhou Port Co ltd Nansha Container Terminal Branch; CCCC Fourth Harbor Engineering Institute Co Ltd
Priority date: 2023-08-15
Filing date: 2023-08-15
Publication date: 2024-03-29
Anticipated expiration: 2043-08-15
Also published as: CN117105092A

Abstract

The invention relates to the technical field of gantry crane lifting appliance control, and provides a laser scanning type lifting appliance gesture detection system which comprises a first marker, a second marker, a third marker, a fourth marker, a first 3D laser scanner, a second 3D laser scanner, a first 2D laser scanner, a second 2D laser scanner and a program controller, wherein the first marker is a first laser scanning type lifting appliance gesture detection system; the program controller is electrically connected with the first 3D laser scanner, the second 3D laser scanner, the first 2D laser scanner and the second 2D laser scanner respectively. The invention also provides lifting appliance posture adjusting equipment which comprises the laser scanning type lifting appliance posture detecting system, a lifting appliance push rod motor, an encoder and a frequency converter. The invention also provides a lifting appliance posture adjustment method which is suitable for the lifting appliance posture adjustment equipment and comprises the steps S1-S3. The invention meets the requirement of accurately positioning the posture of the lifting appliance of the gantry crane.

Description

Laser scanning type lifting appliance posture detection system and adjusting equipment and method applying same

Technical Field

The invention relates to the technical field of gantry crane lifting appliance control, in particular to a laser scanning type lifting appliance gesture detection system and adjusting equipment and method using the same.

Background

As shown in fig. 3, the automated rail-mounted crane (RMG) in the field of gantry cranes currently in existence employs a set of three-dimensional laser scanning systems, such as a Target Detection System (TDS), with independent systems cooperating, as described in detail below:

the target detection system comprises: and (3) automatically carrying out auxiliary detection and knowing the accurate position of the box body to be subjected to loading and unloading operation, calculating the operation position and the like. And establishing a laser three-dimensional profile data model through a laser arranged on the bottom surface of the trolley, and finding out the relative position of a reference object on the lifting appliance and a box below. The position parameters obtained from the programmable controller (PLC) are compared, detection adjustment is performed, and the feedback difference is provided to the programmable controller (PLC) to perform a closed-loop automatic box loading detection system.

The working principle of the target detection system is that when an automatic track crane (RMG) trolley moves to a certain range of a target position, a function of detecting a target box position by a laser is started, the box edges of the target box position are scanned by a rotary servo motor, feedback results of a front scanner and a rear scanner are read, and the trolley position and the cart position of the target box position are calculated. When the trolley stops moving, a laser is started to monitor the yard profile function, and the rotary servo motor scans the whole yard profile; and when the trolley moves, the data of the storage yard are scanned in real time to update the storage yard profile.

The above prior art has the following disadvantages:

1. the system has single function;

2. the system is not accurate enough to accurately position the posture of the gantry crane lifting appliance, and only can identify the left-right rotation and front-back translation postures of the lifting appliance;

3. the laser scanning precision of the system is not high, and the lifting appliance shields the laser after being lifted up;

4. the marker corresponding to the laser of the system is insufficient, when the laser works, the lifting appliance is used as a marker, and the influence of the lifting appliance is large;

5. the system has poor safety and stability, and is difficult to meet the operation requirement;

6. the gesture of gantry crane hoist can not be effectively adjusted because of the low detection precision.

Disclosure of Invention

In view of the above, it is necessary to provide a laser scanning type lifting appliance posture detection system, and an adjusting device and method using the same, so as to solve the drawbacks in the background art, and thus solve the technical problem of how to accurately and efficiently position the lifting appliance of the gantry crane.

In order to achieve the above purpose, the present invention adopts the following technical scheme:

the invention provides a laser scanning type lifting appliance posture detection system which is applied to a gantry crane provided with a lifting appliance, a cart and a trolley, wherein the traveling direction of the cart is vertical to the traveling direction of the trolley, and the detection system comprises a first marker, a second marker, a third marker, a fourth marker, a first 3D laser scanner, a second 3D laser scanner, a first 2D laser scanner, a second 2D laser scanner and a program controller; the program controller is electrically connected with the first 3D laser scanner, the second 3D laser scanner, the first 2D laser scanner and the second 2D laser scanner respectively;

The first marker is arranged at the right front part of the top surface of the lifting appliance in the overlooking direction, the second marker is arranged at the left rear part of the top surface of the lifting appliance, the third marker is arranged at the right rear part of the top surface of the lifting appliance, and the fourth marker is arranged at the left front part of the top surface of the lifting appliance;

the first 3D laser scanner is arranged in the middle of the front side of the trolley traveling direction of the trolley bottom surface in the overlooking direction, the second 3D laser scanner is arranged in the middle of the rear side of the trolley traveling direction of the trolley bottom surface in the overlooking direction, the first 2D laser scanner is arranged on the right part of the front side of the trolley traveling direction of the trolley bottom surface in the overlooking direction, and the second 2D laser scanner is arranged on the left part of the rear side of the trolley traveling direction of the trolley bottom surface in the overlooking direction;

the first 3D laser scanner is used for carrying out 3D scanning on the fourth marker so as to obtain corresponding marker position information;

the second 3D laser scanner is used for carrying out 3D scanning on the third marker so as to obtain corresponding marker position information;

the first 2D laser scanner is used for carrying out real-time 2D scanning on the first marker so as to obtain corresponding marker position information;

the second 2D laser scanner is used for carrying out real-time 2D scanning on the second marker so as to obtain corresponding marker position information;

The program controller is used for acquiring and analyzing the position information of each marker from each laser scanner so as to detect the posture of the lifting appliance.

Further, a virtual connecting line of the first 3D laser scanner and the second 3D laser scanner is parallel to the trolley traveling direction.

Further, a virtual connecting line of the first 3D laser scanner and the first 2D laser scanner is parallel to the travelling direction of the cart, and the first 2D laser scanner is positioned on the right side of the first 3D laser scanner; the virtual connecting line of the second 3D laser scanner and the second 2D laser scanner is parallel to the travelling direction of the cart, and the second 2D laser scanner is positioned at the left side of the second 3D laser scanner.

Further, the first 3D laser scanner includes a third 2D laser scanner and a first servo motor; the second 3D laser scanner comprises a fourth 2D laser scanner and a second servo motor; the system also includes a servo drive; the servo driving device is electrically connected with the first servo motor and the second servo motor respectively; the program controller is respectively and electrically connected with the servo driving device, the third 2D laser scanner and the fourth 2D laser scanner;

the first servo motor is used for driving the third 2D laser scanner to rotate around the travelling direction of the cart;

The third 2D laser scanner is arranged on the first servo motor and used for scanning towards the fourth marker;

the second servo motor is used for driving the fourth 2D laser scanner to rotate around the travelling direction of the cart;

the fourth 2D laser scanner is mounted on the second servo motor for scanning toward the third marker.

The invention also provides lifting appliance posture adjusting equipment which comprises the laser scanning type lifting appliance posture detecting system, a lifting appliance push rod motor, an encoder and a frequency converter; the program controller of the laser scanning type lifting appliance gesture detection system is electrically connected with the encoder and the frequency converter respectively; the encoder is connected with a lifting appliance push rod motor; the frequency converter is electrically connected with the lifting appliance push rod motor;

the lifting appliance push rod motor is used for pushing and adjusting the lifting appliance posture;

the encoder is used for detecting the action change of the lifting appliance push rod motor so as to form an encoded signal which is transmitted to the program controller;

the frequency converter is used for carrying out frequency conversion driving on the lifting appliance push rod motor according to the control signal of the program controller.

The invention also provides a lifting appliance posture adjustment method which is suitable for the lifting appliance posture adjustment equipment and comprises the following steps:

S1, respectively and correspondingly carrying out 3D scanning on a fourth marker and a third marker by a first 3D laser scanner and a second 3D laser scanner, so as to obtain corresponding marker position information; simultaneously, the first 2D laser scanner and the second 2D laser scanner respectively and correspondingly perform real-time 2D scanning on the first marker and the second marker, so that corresponding marker position information is obtained; then S2 is executed;

s2, judging a left-right offset posture, a left-right rotation amplitude posture, a front-back offset posture, a front-back inclination posture and a left-right inclination amplitude posture of the lifting appliance by the program controller according to the obtained marker position information; then executing S3;

and S3, the program controller controls the action of a lifting appliance push rod motor in a closed loop manner through the encoder and the frequency converter according to the lifting appliance posture result judged in the S2, so that the posture of the lifting appliance is adjusted until the posture of the lifting appliance is kept in a horizontal centering state.

Further, before S1, the method further includes the following steps:

s1000, correcting the position of the laser scanning type lifting appliance gesture detection system to ensure that the distance from the scanning line center of each laser scanner to the lifting appliance center line, the distance from the geometric center of each marker to the lifting appliance center line and the actual distance from the scanning line center of each laser scanner to the geometric center of the marker are consistent; the actual distance from the scanning line center of each laser scanner to the geometric center of the marker is equal to the absolute value of the difference between the distance from the scanning line center of the corresponding laser scanner to the center line of the lifting appliance and the geometric center of the marker to the center line of the lifting appliance; then S1 is performed.

Further, in S2, each laser scanner scans the corresponding marker in real time, and calculates a first actual distance from the center of the scanning line of the laser scanner to the geometric center of the marker; in S3, when the first actual distance is too large, the program controller starts a lifting appliance posture adjustment control process so as to ensure that the lifting appliance center coincides with the frame platform center of the trolley; the lifting appliance posture adjustment control process comprises the following steps: the program controller controls the lifting appliance push rod motor to enable the lifting appliance push rod to act, so that the lifting appliance moves back and forth, moves left and right and rotates left and right until real-time posture data of the lifting appliance is close to calibration data, and even if the lifting appliance tends to a normal posture.

Further, S2 includes the following steps:

s21, establishing a space rectangular coordinate system with the center of a frame platform of the trolley as an origin S0 (0, 0), and calculating real-time attitude data of the lifting appliance through coordinate data of four markers; then S22 is performed;

s22, calculating the front-rear direction offset, the left-right direction offset, the front-rear direction inclination, the left-right direction inclination and the left-right direction rotation of the lifting appliance; then S23 is performed;

s23, acquiring real-time attitude data of the lifting appliance, and presetting calibration data under the normal lifting appliance attitude; then S24 is performed;

S24, comparing the magnitude relation between the calibration data and the real-time posture data of the lifting appliance, and judging that the front-rear direction offset of the lifting appliance is overlarge, the left-right direction offset is overlarge and/or the left-right direction rotation is overlarge when the difference value between the calibration data and the real-time posture data of the lifting appliance falls into a standard range; then S25 is performed;

s25, controlling lifting appliance posture adjustment by lifting appliance posture adjustment equipment.

The invention also provides a lifting appliance posture adjustment method which is suitable for the lifting appliance posture detection system according to any one of the above, and comprises the following steps:

s100, the first 3D laser scanner and the second 3D laser scanner respectively and correspondingly perform 3D scanning on the fourth marker and the third marker, so that corresponding marker position information is obtained; simultaneously, the first 2D laser scanner and the second 2D laser scanner respectively and correspondingly perform real-time 2D scanning on the first marker and the second marker, so that corresponding marker position information is obtained; then, S200 is performed;

s200, the program controller judges the left-right offset posture, the left-right rotation amplitude posture, the front-back offset posture, the front-back inclination posture and the left-right inclination amplitude posture of the lifting appliance according to the obtained marker position information; then, S300 is performed;

S300, adjusting the lifting appliance posture in a manual or automatic control mode according to judgment information of the left-right offset posture, the left-right rotation amplitude posture, the front-back offset posture, the front-back inclination posture and the left-right inclination amplitude posture of the lifting appliance.

The beneficial effects of the invention are as follows:

the invention meets the requirement of accurately positioning the posture of the gantry crane lifting appliance, and can recognize all working conditions of left-right rotation, front-back translation posture, left-right translation, left-right inclination, front-back inclination and the like of the lifting appliance; the detection precision and the control process of the invention are not affected by the vibration of the lifting appliance, and the invention has the advantages of high stability and high efficiency.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification. The drawings illustrate exemplary embodiments of the invention and, together with the description, serve to explain the principles of the invention. These figures are for illustration only and thus are not limiting of the invention.

Fig. 1 is a schematic diagram of a top view mounting structure of a laser scanning type lifting appliance gesture detection system on a gantry crane trolley;

fig. 2 is a schematic diagram of a top view mounting structure of a laser scanning type lifting appliance gesture detection system on a gantry crane lifting appliance;

Fig. 3 is a schematic perspective view of a gantry crane according to the present invention;

fig. 4 is an electrical schematic diagram of a spreader attitude adjustment apparatus according to the present invention;

fig. 5 is a control flow chart of an adjusting method for lifting appliance posture according to the present invention in embodiment 1;

fig. 6 is a control flow chart of an adjusting method of lifting appliance posture according to the present invention in embodiment 2;

reference numerals illustrate:

a first marker 1; a second marker 2; a third marker 3; a fourth marker 4; a first 3D laser scanner 5; a second 3D laser scanner 6; a first 2D laser scanner 7; a second 2D laser scanner 8; a program controller 9; a third 2D laser scanner 51; a first servomotor 52; a fourth 2D laser scanner 61; a second servomotor 62; a servo drive device 10; a spreader pushrod motor 100; an encoder 200; a frequency converter 300; a hanger 400; a cart 500; the trolley 600.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be further clearly and completely described in the following in conjunction with the embodiments of the present invention. It should be noted that the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The terms "first," "second," "third," "fourth," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a definition of "a first", "a second", "a third" or a fourth "feature may explicitly or implicitly include one or more of such features.

The following is a detailed description of embodiments of the invention depicted in the accompanying drawings. The embodiments are in detail in order to clearly communicate the invention. However, the amount of detail offered is not intended to limit the anticipated variations of embodiments; on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of embodiments of the invention. It will be apparent to one skilled in the art that embodiments of the invention may be practiced without some of these specific details.

Embodiments of the present invention include various steps, which will be described below. These steps may be performed by hardware components or may be embodied in machine-executable instructions, which may be used in a general-purpose or special-purpose processor programmed with the instructions to perform the steps. Alternatively, the steps may be performed by a combination of hardware, software, and firmware, and/or a human operator.

The various methods described herein may be practiced by combining one or more machine-readable storage media containing code according to the present invention with appropriate standard computer hardware to execute the code contained therein. An apparatus for practicing various embodiments of the invention could include one or more computers (or one or more processors within a single computer) and a storage system containing or having network access to a computer program encoded in accordance with the various methods described herein, and method steps of the invention could be accomplished by modules, routines, subroutines, or sub-portions of a computer program product.

If the specification states a component or feature "may", "could" or "could" include or have a feature, that particular component or feature need not be included.

As used in the specification herein and in the claims that follow, the meaning of "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. Furthermore, as used in the description herein, the meaning of "in" includes "in" and "on" unless the context clearly dictates otherwise.

Exemplary embodiments will now be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments are shown. These exemplary embodiments are provided for illustrative purposes only and to complete and convey the scope of the invention to those skilled in the art. The disclosed invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Various modifications will be apparent to those skilled in the art. The general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of the invention. Furthermore, all statements herein reciting embodiments of the invention, as well as specific examples thereof, are intended to encompass both structural and functional equivalents thereof. Additionally, it is intended that such equivalents include both currently known equivalents as well as equivalents developed in the future (i.e., any elements developed that perform the same function, regardless of structure). Also, the terminology and phraseology used is for the purpose of describing the exemplary embodiments and should not be regarded as limiting. Thus, the invention is to be accorded the widest scope encompassing numerous alternatives, modifications and equivalents consistent with the principles and features disclosed. For the sake of clarity, details of technical material that is known in the technical fields related to the invention have not been described in detail so that the invention is not unnecessarily obscured.

Thus, for example, it will be appreciated by those skilled in the art that diagrams, schematics, illustrations, and the like represent conceptual views or processes embodying the system and method of the invention. The functions of the various elements shown in the figures may be provided through the use of dedicated hardware as well as hardware capable of executing associated software. Similarly, any switches shown in the figures are conceptual only. Their function may be carried out through the operation of program logic, through dedicated logic, through the interaction of program control and dedicated logic, or even manually, the particular technique being selectable by the entity embodying the invention. Those of ordinary skill in the art will further appreciate that the exemplary hardware, software, processes, methods, and/or operating systems described herein are for illustrative purposes and are not intended to be limited to any particular named element.

Embodiments of the invention may be provided as a computer program product that may include a machine-readable storage medium tangibly embodying instructions thereon, which may be used to program a computer (or other electronic devices) to perform processing. The term "machine-readable storage medium" or "computer-readable storage medium" includes, but is not limited to, fixed (hardware) drives, magnetic tape, floppy diskettes, optical disks, compact disk read-only memories (CD-ROMs)) and magneto-optical disks, semiconductor memories, such as ROMs, PROMs, random Access Memories (RAMs), programmable read-only memories (PROMs), erasable PROMs (EPROMs), electrically Erasable PROMs (EEPROMs), flash memory, magnetic or optical cards, or other type of media/machine-readable medium suitable for storing electronic instructions (e.g., computer programming code, such as software or firmware). A machine-readable medium may include a non-transitory medium in which data may be stored and include no carrier wave and/or transient electronic signals propagated over a wireless or wired connection. Examples of non-transitory media may include, but are not limited to, magnetic disks or tapes, optical storage media such as Compact Discs (CDs) or Digital Versatile Discs (DVDs), flash memory, or memory devices. A computer program product may include code and/or machine-executable instructions that may represent a procedure, a function, a subprogram, a program, a routine, a subroutine, a module, a software package, a class, or any combination of instructions, data structures, or program statements. A code segment may be coupled to another code segment or a hardware circuit by passing and/or receiving information, data, arguments, parameters, or memory contents. Information, arguments, parameters, data, etc. may be passed, forwarded, or transmitted via any suitable means including memory sharing, message passing, token passing, network transmission, etc.

Furthermore, embodiments may be implemented by hardware, software, firmware, middleware, microcode, hardware description languages, or any combination thereof. When implemented in software, firmware, middleware or microcode, the program code or code segments (e.g., a computer program product) to perform the necessary tasks may be stored in a machine readable medium. The processor may perform the necessary tasks.

The systems depicted in some of the figures may be provided in various configurations. In some embodiments, the system may be configured as a distributed system, wherein one or more components of the system are distributed over one or more networks in the cloud computing system.

Each of the appended claims defines a separate invention which, for infringement purposes, is recognized as including equivalents to the various elements or limitations specified in the claims. Depending on the context, all references below to "invention" may in some cases refer to only certain specific embodiments. In other cases it will be recognized that references to the "invention" will refer to one or more, but not necessarily all, of the subject matter described in the claims.

All methods described herein can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The use of any and all examples, or exemplary language (e.g., "such as") provided with respect to certain embodiments herein, is intended merely to better illuminate the invention and does not pose a limitation on the scope of the invention claimed. No language in the specification should be construed as indicating any non-claimed element as essential to the practice of the invention.

The various terms used herein are shown below. Where no term is defined below as used in the claims, the broadest definition persons in the pertinent art have given that term as reflected in printed publications and issued patents at the time of filing.

Example 1

As shown in fig. 1-5:

the embodiment provides a laser scanning type lifting appliance posture detection system which is applied to a gantry crane provided with a lifting appliance 400, a cart 500 and a cart 600, wherein the traveling direction of the cart 500 is vertical to the traveling direction of the cart 600, and the detection system comprises a first marker 1, a second marker 2, a third marker 3, a fourth marker 4, a first 3D laser scanner 5, a second 3D laser scanner 6, a first 2D laser scanner 7, a second 2D laser scanner 8 and a program controller 9; the program controller 9 is electrically connected with the first 3D laser scanner 5, the second 3D laser scanner 6, the first 2D laser scanner 7 and the second 2D laser scanner 8 respectively;

the first marker 1 is arranged at the right front of the top surface of the lifting appliance 400 (specifically, may be a lifting appliance 400 upper frame) in the overlooking direction, the second marker 2 is arranged at the left rear of the top surface of the lifting appliance 400 (specifically, may be a lifting appliance 400 upper frame), the third marker 3 is arranged at the right rear of the top surface of the lifting appliance 400 (specifically, may be a lifting appliance 400 upper frame), and the fourth marker 4 is arranged at the left front of the top surface of the lifting appliance 400 (specifically, may be a lifting appliance 400 upper frame);

The first 3D laser scanner 5 is disposed in the middle of the front side of the traveling direction of the trolley 600 on the bottom surface of the trolley 600 in the top view direction, the second 3D laser scanner 6 is disposed in the middle of the rear side of the traveling direction of the trolley 600 on the bottom surface of the trolley 600 in the top view direction, the first 2D laser scanner 7 is disposed in the right part of the front side of the traveling direction of the trolley 600 on the bottom surface of the trolley 600 in the top view direction, and the second 2D laser scanner 8 is disposed in the left part of the rear side of the traveling direction of the trolley 600 on the bottom surface of the trolley 600 in the top view direction;

the first 3D laser scanner 5 is configured to perform 3D scanning on the fourth marker 4, so as to obtain corresponding marker position information; specifically, the first 3D laser scanner 5 3D scans the fourth marker 4 in one direction toward the cart 500;

the second 3D laser scanner 6 is configured to perform 3D scanning on the third marker 3, so as to obtain corresponding marker position information; specifically, the second 3D laser scanner 6 performs 3D scanning of the third marker 3 toward the other direction in which the cart 500 walks

The first 2D laser scanner 7 is configured to perform real-time 2D scanning on the first marker 1, so as to obtain corresponding marker position information;

the second 2D laser scanner 8 is configured to perform real-time 2D scanning on the second marker 2, so as to obtain corresponding marker position information;

The program controller 9 is used for acquiring and analyzing the position information of each marker from each laser scanner so as to detect the posture of the lifting appliance 400.

Further in this embodiment, the virtual connection line between the first 3D laser scanner 5 and the second 3D laser scanner 6 is parallel to the traveling direction of the trolley 600.

Further in this embodiment, the virtual connection line between the first 3D laser scanner 5 and the first 2D laser scanner 7 is parallel to the traveling direction of the cart 500, and the first 2D laser scanner 7 is located on the right side of the first 3D laser scanner 5; the virtual connecting line between the second 3D laser scanner 6 and the second 2D laser scanner 8 is parallel to the traveling direction of the cart 500, and the second 2D laser scanner 8 is located at the left side of the second 3D laser scanner 6.

Further to the present embodiment, the first 3D laser scanner 5 includes a third 2D laser scanner 51 and a first servo motor 52; the second 3D laser scanner 6 includes a fourth 2D laser scanner 61 and a second servo motor 62; the system further comprises a servo drive 10; the servo driving device 10 is electrically connected with the first servo motor 52 and the second servo motor 62 respectively; the program controller 9 is electrically connected with the servo driving device 10, the third 2D laser scanner 51 and the fourth 2D laser scanner 61 respectively;

The first servo motor 52 is used for driving the third 2D laser scanner 51 to rotate around the traveling direction of the cart 500;

a third 2D laser scanner 51 is mounted on the first servo motor 52 for scanning towards the fourth marker 4; preferably, the third 2D laser scanner 51 is parallel to the plane of the cart 500 direction;

the second servo motor 62 is used for driving the fourth 2D laser scanner 61 to rotate around the travelling direction of the cart 500;

a fourth 2D laser scanner 61 is mounted on the second servo motor 62 for scanning towards the third marker 3; preferably, the fourth 2D laser scanner 61 is parallel to the plane of the cart 500 direction.

The embodiment also provides a lifting appliance posture adjusting device, which comprises the laser scanning type lifting appliance posture detecting system, a lifting appliance push rod motor 100, an encoder 200 and a frequency converter 300; the program controller 9 of the laser scanning type lifting appliance gesture detection system is electrically connected with the encoder 200 and the frequency converter 300 respectively; the encoder 200 is connected with the lifting appliance push rod motor 100; the frequency converter 300 is electrically connected with the lifting appliance push rod motor 100;

the lifting appliance push rod motor 100 is used for pushing and adjusting the posture of the lifting appliance 400;

The encoder 200 is used for detecting the motion change of the lifting appliance push rod motor 100 so as to form an encoded signal which is transmitted to the program controller 9;

the frequency converter 300 is used for performing frequency conversion driving on the lifting appliance push rod motor 100 according to the control signal of the program controller 9.

The embodiment also provides a lifting appliance posture adjustment method, which is suitable for the lifting appliance posture adjustment device, and comprises the following steps:

s1, respectively and correspondingly carrying out 3D scanning on a fourth marker 4 and a third marker 3 by a first 3D laser scanner 5 and a second 3D laser scanner 6 so as to obtain corresponding marker position information; simultaneously, the first 2D laser scanner 7 and the second 2D laser scanner 8 respectively and correspondingly perform real-time 2D scanning on the first marker 1 and the second marker 2, so that corresponding marker position information is obtained; then S2 is executed;

s2, the program controller 9 judges the left-right offset posture, the left-right rotation amplitude posture, the front-back offset posture, the front-back inclination posture and the left-right inclination amplitude posture of the lifting appliance 400 according to the obtained marker position information; then executing S3;

s3, the program controller 9 controls the action of the lifting appliance push rod motor 100 in a closed loop manner through the encoder 200 and the frequency converter 300 according to the lifting appliance 400 posture result judged in the S2, so that the posture of the lifting appliance 400 is adjusted until the posture of the lifting appliance 400 is kept in a horizontal centering state.

In this embodiment, before S1, the method further includes the following steps:

s1000, carrying out position correction on a laser scanning type lifting appliance gesture detection system to ensure that the distance from the scanning line center of each laser scanner to the lifting appliance 400 central line, the distance from the geometric center of each marker to the lifting appliance 400 central line and the actual distance from the scanning line center of each laser scanner to the geometric center of the marker are consistent (ensuring that the scanning line of the scanner is parallel or on the same plane with the lifting appliance or the marker); the actual distance from the scanning line center of each laser scanner to the geometric center of the marker is equal to the absolute value of the difference between the distance from the scanning line center of the corresponding laser scanner to the central line of the lifting appliance 400 and the geometric center of the marker to the central line of the lifting appliance 400; then S1 is executed; therefore, the lifting appliance push rod motor can be controlled to rotate, so that the lifting appliance posture is kept in a horizontal centering state, or warning and reminding can be carried out when the lifting appliance posture is in a non-horizontal centering state.

In the embodiment, in S2, each laser scanner scans the corresponding marker in real time, and calculates a first actual distance from the center of the scanning line of the laser scanner to the geometric center of the marker; in S3, when the first actual distance is too large, the program controller 9 starts a process of adjusting and controlling the posture of the lifting appliance 400 to ensure that the center of the lifting appliance 400 coincides with the center of the frame platform of the trolley 600, so that the left-right/front-rear center line of the lifting appliance 400 coincides with the left-right/front-rear center line of the frame platform of the trolley 600, that is, the center point of the lifting appliance 400 coincides with the center point of the frame platform of the trolley 600 on the X-axis and the Z-axis; the posture adjustment control process of the lifting appliance 400 is as follows: the program controller 9 controls the lifting appliance push rod motor 100 to enable the lifting appliance 400 to push rods to move forwards and backwards, move left and right and rotate left and right until the real-time posture data of the lifting appliance 400 is close to the calibration data, even if the lifting appliance 400 tends to be in a normal posture.

In this embodiment, S2 further includes the following steps:

s21, establishing a space rectangular coordinate system with the center of a frame platform of the trolley 600 as an origin S0 (0, 0), and calculating real-time attitude data of the lifting appliance 400 according to the coordinate data of the four markers; establishing a space rectangular coordinate system X axis in the traveling direction of the trolley 600, establishing a space rectangular coordinate system Y axis in the direction vertical to the ground, and establishing a space rectangular coordinate system Z axis in the traveling direction of the trolley 500; coordinate data of the four markers are respectively P1 (X5, Y5, Z5), P2 (X6, Y6, Z6), P3 (X7, Y7, Z7) and P4 (X8, Y8, Z8); the method comprises the steps of carrying out a first treatment on the surface of the

S22, calculating the front-rear direction offset, the left-right direction offset, the front-rear direction inclination, the left-right direction inclination and the left-right direction rotation of the lifting appliance 400; then S23 is performed;

s23, acquiring real-time attitude data of the lifting appliance 400, and presetting calibration data of the lifting appliance 400 in a normal attitude; then S24 is performed;

s24, comparing the magnitude relation between the calibration data and the real-time posture data of the lifting appliance 400, and judging that the front-back direction offset of the lifting appliance 400 is overlarge, the left-right direction offset is overlarge and/or the left-right direction rotation is overlarge when the difference value between the calibration data and the real-time posture data of the lifting appliance 400 falls into a standard range; then S25 is performed;

S25, the lifting appliance posture adjustment equipment controls the posture adjustment of the lifting appliance 400.

In the embodiment, in S21, the real-time attitude data of the lifting appliance is calculated according to the coordinate data of the four markers, and the calculation process is as follows:

the front-back direction offset of the lifting appliance is as follows: (x5+x6+x7+x8)/(4);

the left-right direction offset of the lifting appliance is as follows: (z7+z8)/(2);

the front-back direction inclination amount of the lifting appliance is as follows: (y5+y7)/(2);

the left-right direction inclination amount of the lifting appliance is as follows: (y5+y6)/(2);

the left-right direction rotation amount of the lifting appliance:

example 2

As shown in fig. 1-4 and 6:

The second 3D laser scanner 6 is configured to perform 3D scanning on the third marker 3, so as to obtain corresponding marker position information; specifically, the second 3D laser scanner 6 performs 3D scanning of the third marker 3 toward the other direction in which the cart 500 walks;

The embodiment also proposes a lifting appliance posture adjustment method, which is applicable to the lifting appliance posture detection system according to any one of embodiment 2, and includes the following steps:

S100, the first 3D laser scanner 5 and the second 3D laser scanner 6 respectively and correspondingly perform 3D scanning on the fourth marker 4 and the third marker 3, so that corresponding marker position information is obtained; simultaneously, the first 2D laser scanner 7 and the second 2D laser scanner 8 respectively and correspondingly perform real-time 2D scanning on the first marker 1 and the second marker 2, so that corresponding marker position information is obtained; then, S200 is performed;

s200, the program controller 9 judges the left-right offset posture, the left-right rotation amplitude posture, the front-back offset posture, the front-back inclination posture and the left-right inclination amplitude posture of the lifting appliance 400 according to the obtained marker position information; then, S300 is performed;

s300, adjusting the posture of the lifting appliance 400 in a manual or automatic control mode according to judgment information of the left-right offset posture, the left-right rotation amplitude posture, the front-back offset posture, the front-back inclination posture and the left-right inclination amplitude posture of the lifting appliance 400.

In this embodiment, before S100, the method further includes the following steps:

s1000, carrying out position correction on a laser scanning type lifting appliance gesture detection system to ensure that the distance from the scanning line center of each laser scanner to the lifting appliance 400 central line, the distance from the geometric center of each marker to the lifting appliance 400 central line and the actual distance from the scanning line center of each laser scanner to the geometric center of the marker are consistent (ensuring that the scanning line of the scanner is parallel or on the same plane with the lifting appliance or the marker); the actual distance from the scanning line center of each laser scanner to the geometric center of the marker is equal to the absolute value of the difference between the distance from the scanning line center of the corresponding laser scanner to the central line of the lifting appliance 400 and the geometric center of the marker to the central line of the lifting appliance 400; then S100 is performed.

Further in this embodiment, in S200, each laser scanner scans the corresponding marker in real time, and calculates a first actual distance from the center of the scanning line of the laser scanner to the geometric center of the marker; the left-right offset posture, the left-right rotation amplitude posture, the front-back offset posture, the front-back inclination posture and the left-right inclination amplitude posture of the lifting appliance can be judged according to the position information of the marker, and the position information is used for judging whether the first actual distance is overlarge;

in S3, when the first actual distance is too large, the program controller 9 starts a process of adjusting and controlling the posture of the lifting appliance 400 to ensure that the center of the lifting appliance 400 coincides with the center of the frame platform of the trolley 600, so that the left-right/front-rear center line of the lifting appliance 400 coincides with the left-right/front-rear center line of the frame platform of the trolley 600, that is, the center point of the lifting appliance 400 coincides with the center point of the frame platform of the trolley 600 on the X-axis and the Z-axis; the posture adjustment control process of the lifting appliance 400 is as follows: the program controller 9 controls the lifting appliance push rod motor 100 to enable the lifting appliance 400 to push rods to move forwards and backwards, move left and right and rotate left and right until the real-time posture data of the lifting appliance 400 is close to the calibration data, even if the lifting appliance 400 tends to be in a normal posture.

In this embodiment, S200 further includes the following steps:

s201, establishing a space rectangular coordinate system with the center of a frame platform of the trolley 600 as an origin S0 (0, 0), and calculating real-time attitude data of the lifting appliance 400 according to coordinate data of four markers; establishing a space rectangular coordinate system X axis in the traveling direction of the trolley 600, establishing a space rectangular coordinate system Y axis in the direction vertical to the ground, and establishing a space rectangular coordinate system Z axis in the traveling direction of the trolley 500; coordinate data of the four markers are respectively P1 (X5, Y5, Z5), P2 (X6, Y6, Z6), P3 (X7, Y7, Z7) and P4 (X8, Y8, Z8); the method comprises the steps of carrying out a first treatment on the surface of the Then S202 is performed;

s202, calculating the front-rear direction offset, the left-right direction offset, the front-rear direction inclination, the left-right direction inclination and the left-right direction rotation of the lifting appliance 400; then S203 is performed;

s203, acquiring real-time attitude data of the lifting appliance 400, and presetting calibration data of the lifting appliance 400 in a normal attitude; then S204 is performed;

s204, comparing the magnitude relation between the calibration data and the real-time posture data of the lifting appliance 400, and judging that the front-back direction offset of the lifting appliance 400 is overlarge, the left-right direction offset is overlarge and/or the left-right direction rotation is overlarge at the moment when the difference value between the calibration data and the real-time posture data of the lifting appliance 400 falls into a standard range; then S205 is performed;

S205, the lifting appliance posture adjustment equipment controls the posture adjustment of the lifting appliance 400.

Example 3

Example 3 is a further optimization improvement based on example 1;

the front and rear bottom laser scanners of the trolley are installed as follows:

1) The scanning direction of the laser scanners is the cart direction, the servo rotation direction is the trolley direction, and the number of the 3D laser scanners is 2;

2) Two 3D laser scanners need to meet symmetrical mounting conditions: the center of the trolley frame is taken as 0 point, and the length of the trolley in the direction is the same and 1520mm; meanwhile, the mounting heights are the same as much as possible in the lifting direction, and the height deviation is +/-0.3 meter;

3) The two 3D laser scanners are equidistant from the center.

4) No shielding object can exist in the scanning range below the laser scanner.

5) All the position centers are based on the scanning point of the laser scanner.

6) The installation stability of the laser scanner needs to be guaranteed, the laser scanner is installed on the main structure, and the scanning effect is prevented from being influenced by the shaking condition of the installation position of the laser scanner during the motor.

7) The front laser scanner swings forward by 74-76 degrees to ensure no shielding in the scanning direction, and the rear laser scanner swings backward by 74-76 degrees to ensure no shielding in the scanning direction.

The installation requirements of the left rear and right front bottom laser scanners of the trolley are as follows:

1) The scanning directions of the laser scanners are 2 in the trolley direction and 2 in the 2D scanners;

2) Two 2D laser scanners need to meet symmetrical mounting conditions: taking the center of the trolley frame as 0 point, wherein the lengths of the trolley frames in the directions are the same and 1500mm; meanwhile, the mounting heights are the same as much as possible in the lifting direction, and the height deviation is +/-0.3 meter;

3) The positions of the two 2D laser scanners are equidistant from the center;

4) A shielding object cannot exist in the scanning range below the 2D laser scanner;

5) All the position centers are based on the scanning points of the laser scanner;

6) The installation stability of the 2D laser scanner needs to be ensured, the 2D laser scanner needs to be installed on a trolley main structure, and the scanning effect is prevented from being influenced by the shaking condition of the installation position of the laser scanner during the motor train;

7) The dimensional accuracy requirement of the installation position of the 2D laser scanner is high, and the length in the direction of the trolley is guaranteed to be the same and 1500mm;

9) The installation position of the 2D laser scanner needs to be considered for convenient maintenance; a maintenance platform is needed near the laser scanner, and a plug of the laser scanner is needed to face the maintenance platform.

The outline and working principle of the laser scanning type lifting appliance gesture detection system are as follows:

1.1, overview of laser scanning type lifting appliance gesture detection System

A set of 3D laser scanners are respectively arranged at the front and rear bottoms of the gantry crane trolley, each set of 3D laser scanner comprises a servo motor and a 2D laser scanner, the servo motor rotates around the direction of the trolley, and the laser scanners scan in a plane parallel to the direction of the trolley; after the scanner is installed, the installation deflection angle and the installation position of the scanner need to be measured and calculated, and the parameters are input into the system in a configuration file mode.

And a set of 2D laser scanners are respectively arranged at the bottom of the left rear part and the right front part of the gantry crane trolley, and the laser scanners scan in a plane parallel to the direction of the trolley. After the scanner is installed, the installation deflection angle and the installation position of the scanner need to be measured and calculated, and the parameters are input into the system in a configuration file mode.

1.2 working principle of laser scanning type lifting appliance gesture detection system

1.2.1, left-right movement of lifting appliance and left-right rotation amplitude detection function

The position of the right rear marker and the left front marker of the lifting appliance is scanned by a rotating servo motor driving a laser through 3D laser scanners arranged at the front and rear bottoms of the trolley frame, so that the left-right direction offset distance and the left-right rotation angle of the right rear marker and the left front marker of the lifting appliance are calculated, and the left-right movement amplitude and the left-right rotation amplitude of the lifting appliance are deduced.

1.2.2, the forward and backward movement amplitude detection function of the lifting appliance is as follows:

and a set of 2D laser scanners are respectively arranged at the left rear part and the right front bottom part of the trolley frame, and the positions of the front right marker and the rear left marker of the upper frame of the lifting appliance are scanned by the 2D lasers in real time, so that the front-rear direction offset distances of the front right marker and the rear left marker of the upper frame of the lifting appliance are calculated, and the front-rear movement amplitude of the lifting appliance is deduced.

1.2.3, the lifting appliance tilts back and forth, and the left and right tilting amplitude detection function is as follows:

a set of 2D laser scanners are respectively arranged at the left rear part and the right front bottom part of the trolley frame, and the lasers scan the heights of the right front marker and the left rear marker of the upper frame of the lifting appliance in real time; the heights of the right front marker, the left rear marker, the right rear marker and the left front marker of the lifting appliance are calculated by using the 3D laser scanners arranged at the front and rear bottoms of the trolley frame and the rotating servo motor to drive the lasers, and the front-back inclination and the left-right inclination of the lifting appliance are deduced according to the heights of the markers arranged at the four corners of the upper frame of the lifting appliance.

The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims

1. The utility model provides a laser scanning formula hoist gesture detecting system, be applied to the gantry crane that is equipped with hoist (400), cart (500) and dolly (600), the walking direction of cart (500) is perpendicular with the walking direction of dolly (600), characterized in that, this detecting system includes first marker (1), second marker (2), third marker (3), fourth marker (4), first 3D laser scanner (5), second 3D laser scanner (6), first 2D laser scanner (7), second 2D laser scanner (8) and program controller (9); the program controller (9) is respectively and electrically connected with the first 3D laser scanner (5), the second 3D laser scanner (6), the first 2D laser scanner (7) and the second 2D laser scanner (8);

the first marker (1) is arranged at the right front part of the top surface of the lifting appliance (400) in the overlook direction, the second marker (2) is arranged at the left rear part of the top surface of the lifting appliance (400), the third marker (3) is arranged at the right rear part of the top surface of the lifting appliance (400), and the fourth marker (4) is arranged at the left front part of the top surface of the lifting appliance (400);

the first 3D laser scanner (5) is arranged at the middle part of the front side of the traveling direction of the trolley (600) on the bottom surface of the trolley (600) in the overlooking direction, the second 3D laser scanner (6) is arranged at the middle part of the rear side of the traveling direction of the trolley (600) on the bottom surface of the trolley (600) in the overlooking direction, the first 2D laser scanner (7) is arranged at the right part of the front side of the traveling direction of the trolley (600) on the bottom surface of the trolley (600) in the overlooking direction, and the second 2D laser scanner (8) is arranged at the left part of the rear side of the traveling direction of the trolley (600) on the bottom surface of the trolley (600) in the overlooking direction;

The first 3D laser scanner (5) is used for carrying out 3D scanning on the fourth marker (4) so as to obtain corresponding marker position information;

the second 3D laser scanner (6) is used for carrying out 3D scanning on the third marker (3) so as to obtain corresponding marker position information;

the first 2D laser scanner (7) is used for carrying out real-time 2D scanning on the first marker (1) so as to obtain corresponding marker position information;

the second 2D laser scanner (8) is used for carrying out real-time 2D scanning on the second marker (2) so as to obtain corresponding marker position information;

the program controller (9) is used for acquiring and analyzing the position information of each marker from each laser scanner so as to detect the posture of the lifting appliance (400) and judge the left-right offset posture, the left-right rotation amplitude posture, the front-back offset posture, the front-back inclination posture and the left-right inclination amplitude posture of the lifting appliance (400).

2. The laser scanning type lifting appliance posture detection system according to claim 1, characterized in that a virtual connecting line of the first 3D laser scanner (5) and the second 3D laser scanner (6) is parallel to a travelling direction of a trolley (600).

3. The laser scanning type lifting appliance gesture detection system according to claim 1, wherein a virtual connecting line of the first 3D laser scanner (5) and the first 2D laser scanner (7) is parallel to the travelling direction of the cart (500), and the first 2D laser scanner (7) is located on the right side of the first 3D laser scanner (5); the virtual connecting line of the second 3D laser scanner (6) and the second 2D laser scanner (8) is parallel to the travelling direction of the cart (500), and the second 2D laser scanner (8) is positioned at the left side of the second 3D laser scanner (6).

4. A laser scanning spreader attitude detection system according to any one of claims 1-3, characterized in that the first 3D laser scanner (5) comprises a third 2D laser scanner (51) and a first servo motor (52); the second 3D laser scanner (6) comprises a fourth 2D laser scanner (61) and a second servo motor (62); the lifting appliance posture detection system also comprises a servo driving device (10); the servo driving device (10) is electrically connected with the first servo motor (52) and the second servo motor (62) respectively; the program controller (9) is respectively and electrically connected with the servo driving device (10), the third 2D laser scanner (51) and the fourth 2D laser scanner (61);

The first servo motor (52) is used for driving the third 2D laser scanner (51) to rotate around the travelling direction of the cart (500);

a third 2D laser scanner (51) is mounted on the first servo motor (52) for scanning towards the fourth marker (4);

the second servo motor (62) is used for driving the fourth 2D laser scanner (61) to rotate around the travelling direction of the cart (500);

a fourth 2D laser scanner (61) is mounted on the second servo motor (62) for scanning towards the third marker (3).

5. A spreader attitude adjustment apparatus, characterized in that it comprises a laser scanning spreader attitude detection system according to any one of claims 1 to 4, a spreader pushrod motor (100), an encoder (200) and a frequency converter (300); the program controller (9) of the laser scanning type lifting appliance gesture detection system is electrically connected with the encoder (200) and the frequency converter (300) respectively; the encoder (200) is connected with the lifting appliance push rod motor (100); the frequency converter (300) is electrically connected with the lifting appliance push rod motor (100);

the lifting appliance push rod motor (100) is used for pushing and adjusting the posture of the lifting appliance (400);

The encoder (200) is used for detecting the action change of the lifting appliance push rod motor (100) so as to form an encoded signal which is transmitted to the program controller (9);

the frequency converter (300) is used for carrying out frequency conversion driving on the lifting appliance push rod motor (100) according to the control signal of the program controller (9).

6. A lifting appliance posture adjustment method, characterized by being applied to the lifting appliance posture adjustment apparatus as claimed in claim 5, comprising the steps of:

s1, a first 3D laser scanner (5) and a second 3D laser scanner (6) respectively and correspondingly perform 3D scanning on a fourth marker (4) and a third marker (3), so that corresponding marker position information is obtained; simultaneously, the first 2D laser scanner (7) and the second 2D laser scanner (8) respectively and correspondingly perform real-time 2D scanning on the first marker (1) and the second marker (2), so that corresponding marker position information is obtained; then S2 is executed;

s2, the program controller (9) judges the left-right offset posture, the left-right rotation amplitude posture, the front-back offset posture, the front-back inclination posture and the left-right inclination amplitude posture of the lifting appliance (400) according to the obtained marker position information; then executing S3;

S3, the program controller (9) controls the action of the lifting appliance push rod motor (100) in a closed loop manner through the encoder (200) and the frequency converter (300) according to the lifting appliance (400) posture result judged in the S2, so that the posture of the lifting appliance (400) is adjusted until the posture of the lifting appliance (400) is kept in a horizontal centering state.

7. The spreader attitude adjustment method according to claim 6, characterized by further comprising, before S1, the steps of:

s1000, carrying out position correction on a laser scanning type lifting appliance gesture detection system so as to ensure that the distance from the scanning line center of each laser scanner to the central line of the lifting appliance (400), the distance from the geometric center of each marker to the central line of the lifting appliance (400) and the actual distance from the scanning line center of each laser scanner to the geometric center of the marker are consistent; the actual distance from the scanning line center of each laser scanner to the geometric center of the marker is equal to the absolute value of the difference between the distance from the scanning line center of the corresponding laser scanner to the central line of the lifting appliance (400) and the geometric center of the marker to the central line of the lifting appliance (400); then S1 is performed.

8. The method according to claim 6, wherein in S2, each laser scanner scans the corresponding marker in real time and calculates a first actual distance from the center of the scanning line of the laser scanner to the geometric center of the marker; in S3, when the first actual distance is too large, the program controller (9) starts a posture adjustment control process of the lifting appliance (400) so as to ensure that the center of the lifting appliance (400) coincides with the center of the frame platform of the trolley (600); the posture adjustment control process of the lifting appliance (400) is as follows: the program controller (9) controls the lifting appliance push rod motor (100) to enable the lifting appliance (400) push rod to act, so that the lifting appliance (400) moves back and forth, moves left and right and rotates left and right until real-time posture data of the lifting appliance (400) is close to calibration data, and even if the lifting appliance (400) tends to a normal posture.

9. The spreader attitude adjustment method according to claim 6, wherein S2 includes the steps of:

s21, establishing a space rectangular coordinate system with the center of a frame platform of the trolley (600) as an origin S0 (0, 0), and calculating real-time attitude data of the lifting appliance (400) through coordinate data of four markers; then S22 is performed;

s22, calculating the front-rear direction offset, the left-right direction offset, the front-rear direction inclination, the left-right direction inclination and the left-right direction rotation of the lifting appliance (400); then S23 is performed;

s23, acquiring real-time attitude data of the lifting appliance (400), and presetting calibration data under the attitude of a normal lifting appliance (400); then S24 is performed;

s24, comparing the size relation between the calibration data and the real-time posture data of the lifting appliance (400), and judging that the front-back direction offset of the lifting appliance (400) is overlarge, the left-right direction offset is overlarge and/or the left-right direction rotation is overlarge at the moment when the difference value between the calibration data and the real-time posture data of the lifting appliance (400) falls into a standard range; then S25 is performed;

s25, the lifting appliance posture adjustment equipment controls the posture adjustment of the lifting appliance (400).

10. A lifting appliance posture adjustment method, characterized by being applied to the lifting appliance posture detection system according to any one of claims 1 to 4, comprising the steps of:

S100, the first 3D laser scanner (5) and the second 3D laser scanner (6) respectively and correspondingly perform 3D scanning on the fourth marker (4) and the third marker (3), so that corresponding marker position information is obtained; simultaneously, the first 2D laser scanner (7) and the second 2D laser scanner (8) respectively and correspondingly perform real-time 2D scanning on the first marker (1) and the second marker (2), so that corresponding marker position information is obtained; then, S200 is performed;

s200, the program controller (9) judges the left-right offset posture, the left-right rotation amplitude posture, the front-back offset posture, the front-back inclination posture and the left-right inclination amplitude posture of the lifting appliance (400) according to the obtained marker position information; then, S300 is performed;

s300, adjusting the posture of the lifting appliance (400) in a manual or automatic control mode according to judgment information of the left-right offset posture, the left-right rotation amplitude posture, the front-back offset posture, the front-back inclination posture and the left-right inclination amplitude posture of the lifting appliance (400).