Automatic box grabbing method for spreader of gantry crane

A gantry crane and spreader technology, which is applied in the directions of load hanging components, transportation and packaging, can solve the problems of easy deviation of the RTG cart base, the inability to effectively improve the operation efficiency, and the inconvenience of the attitude detection of the spreader. The effect of reduced human intervention, accurate and reliable translation and rotation, and reduced adjustment time

Pending Publication Date: 2021-10-01
武汉港迪智能技术有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, most port container operations are still based on RTG trolleys for local operations or remote computer room operations, which are inefficient and difficult to operate. RTG is a gantry crane.
[0003] Although some ports have adopted the RTG yard automation solution, there are still shortcomings such as difficult calibration, easy deviation of RTG cart datum, inconvenient detection of the current attitude of the spreader, and long time-consuming adjustment of attitude, and the operating efficiency cannot be effectively improved.

Method used

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  • Automatic box grabbing method for spreader of gantry crane
  • Automatic box grabbing method for spreader of gantry crane
  • Automatic box grabbing method for spreader of gantry crane

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0054] Example 1: The spreader adjustment process for grabbing boxes in the box area: as figure 1 combine image 3 and Figure 4 As shown, here the vertical and vertical planes are defined as the front, the vertical plane is perpendicular to the vertical plane and the inside is defined as the rear, the spreader moving to the left is defined as the left, and the spreader is defined as the right moving to the right, the same below.

[0055] When carrying out the container grabbing process in the container area, the spreader runs to a certain height above the target container in the container area according to the instructions of the PLC shown in the figure, and then stops. Single-line laser scanning and multi-line laser scanning; after processing according to the above algorithm, the point cloud data of each side line of the spreader and the position of each side line of the container to be grabbed is obtained and converted into spatial coordinates in the world coordinate syste...

Embodiment 2

[0061] Example 2: The spreader adjustment process for stacking boxes in the box area: such as figure 1 combine Figure 5 and Figure 6 , the definition of the front, rear, left and right directions of the spreader movement is the same as that of embodiment 1;

[0062] When performing the container stacking process in the container area, the spreader and its loaded containers move synchronously to a certain height above the containers to be stacked and then stop. The four first laser radars and two second laser radars perform single-line laser detection on the bottom of the spreader respectively. Scanning and multi-line laser scanning; after processing according to the above algorithm, the point cloud data of each side line of the container loaded on the spreader and the position of each side line of the container to be stacked is obtained and converted into the spatial coordinates in the world coordinate system; according to the position of the side line Project the relation...

Embodiment 3

[0069] Embodiment 3: The process of grabbing boxes in the loading lane, such as figure 1 combine Figure 7 and Figure 8 As shown, the container grabbing operation process of the loading lane is that after the container truck, that is, the collection truck moves into place, the spreader walks to the designated row and lowers it to a fixed position above the target container to stop. According to the 4 single-line laser radar and 2 multi-line The lidar detects the offset distance between the edge of the spreader and the edge of the container on the truck, calculates the translation and rotation of the spreader, and continuously adjusts the attitude of the spreader in real time. When the translation and rotation enter the threshold range, the After the adjustment is completed, the spreader is lowered to grab the box.

[0070] The offset distance of the loading lane grabbing process includes the fifth offset shift_FB3, the sixth offset shift_LR3 and the third angle offset rotat...

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PUM

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Abstract

The invention provides an automatic box grabbing method for a spreader of a gantry crane. The automatic box grabbing method comprises the steps of: arranging first laser radars at two ends of the spreader in the long edge direction separately; arranging second laser radars at the middle positions of the spreader in the short edge direction separately, wherein each laser radar is used for acquiring point cloud data below the spreader; constructing a world coordinate system by using the spreader center of the gantry crane; after the spreader of the gantry crane moves to a certain height above a to-be-grabbed or to-be-stacked container, acquiring point cloud data below the spreader by the first laser radars and the second laser radars,calibrating the point cloud data into the world coordinate system separately, carrying out point cloud splicing on the calibrated point cloud data, eliminating repeated point cloud data, and processing the point cloud data to acquire point cloud data of various edge lines of the spreader, a container loaded on the spreader and various edge lines of a container to be grabbed or stacked on the ground and space coordinates of the point cloud data in the world coordinate system; and calculating the translation amount and rotation amount of the edge lines of the spreader and the edge lines of the to-be-grabbed container.

Description

technical field [0001] The invention relates to the technical field of port automation hoisting equipment, in particular to a method for automatically grabbing boxes by a gantry crane spreader. Background technique [0002] With the increasing demand for port business, the container throughput of the port has also increased. The traditional container lifting operation is difficult to operate, and there are certain requirements for the skills and experience of the operators. With the improvement of the level of port automation, more and more ports have begun to deploy fully automatic operations, and the automatic picking and placing of containers is an important technology. At present, most port container operations are still based on RTG trolleys for local operations or remote computer room operations, which are inefficient and difficult. RTG is a gantry crane. [0003] Although some ports have adopted the RTG yard automation solution, there are still shortcomings such as d...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66C13/48B66C13/46B66C13/08
CPCB66C13/48B66C13/46B66C13/08
Inventor 何冲石先城曹志俊张涛
Owner 武汉港迪智能技术有限公司
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