Container positioning method based on container front-side handling crane
A container and crane technology, applied in the field of container positioning, can solve the problems of unmanageable management and undeveloped information management of container operations, and achieve the effects of information tracking, convenient systematic automatic management, and simple positioning
Inactive Publication Date: 2020-04-28
中国铁路上海局集团有限公司金华货运中心
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[0002] In the existing railway container yard operations, because of the flexibility and cost of mobile loading machinery, more and more mobile state machines are used for operations in the yard. Heavy-duty containers are widely used, but in the existing operating system, the information management of the operation of the container reach stacker crane has not yet been developed, especially based on the position of the container in the case of the reach stacker operation, the positioning of the container is based on the front of the container. It is impossible to manage when lifting the crane, so the container management at this time is managed purely in the form of manual transcription
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[0020] The technical scheme of the present invention will be further described below in conjunction with the accompanying drawings of the description:
[0021] A method for positioning a container based on a container front stacker crane, comprising the following specific steps:
[0022] Step 1, such as figure 1 As shown, two reference points are selected on the container reach stacker crane 3, and the two reference points are marked as A and B;
[0023] Step two, such as figure 1 As shown, the coordinates of A and B in the entire yard are obtained by positioning, and the coordinates of A are marked as A(Xa,Ya), and the coordinates of B are marked as B(Xb,Yb);
[0024] Step three, such as figure 1 As shown, the inclination angle θ value of the cantilever of the container reach stacker crane 3 is measured by the sensor;
[0025] Step 4, such as figure 1 As shown, the length L value of the cantilever of the container reach stacker crane 3 is measured by the ranging sensor; ...
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The invention discloses a container positioning method based on a container front-side handling crane. The method comprises the following specific steps of first, selecting two datum points on the container front-side handling crane; second, acquiring the coordinates of A and B in a whole container yard; third, measuring a dip angle theta of a cantilever of the container front-side handling crane;fourth, measuring of the length L of the cantilever of the container front-side handling crane to obtain the length value; fifth, acquiring the coordinate of an H point of a container relative to thecontainer front-side handling crane; sixth, recognizing the number of the container through an image acquisition equipment; seventh, acquiring the coordinate of the container in the whole container yard; and eighth, acquiring the coordinate of the container during unlocking and the coordinate of the container during locking. With the container positioning method based on the container front-sidehandling crane, it is achieved that positioning information of the container is acquired, information tracking on the location information of the container is achieved, and the operation efficiency and the management performance of operation of the front-side handling crane are improved.
Description
technical field [0001] The invention relates to a method for positioning a container based on a container front-loading crane. Background technique [0002] In the existing railway container yard operations, because of the flexibility and cost of mobile loading machinery, more and more mobile state machines are used for operations in the yard. Heavy-duty containers are widely used, but in the existing operating system, the information management of the operation of the container reach stacker crane has not yet been developed, especially based on the position of the container in the case of the reach stacker operation, the positioning of the container is based on the front of the container. It is impossible to manage when the crane is being lifted, so the container management at this time is managed purely in the form of manual transcription. Contents of the invention [0003] The purpose of the present invention is to overcome the deficiencies in the existing products, an...
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IPC IPC(8): B66C13/16B66C13/48
CPCB66C13/16B66C13/48
Inventor 俞武骏历劲松陈登科裴鹏徐剑刘正伟朱雷军周琪峰王建平胡明
Owner 中国铁路上海局集团有限公司金华货运中心
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