Method for dynamically sensing position of lifting appliance of portal crane based on millimeter wave radar

Abstract

The invention discloses a method for dynamically sensing the position of a gantry crane sling based on a millimeter-wave radar, and belongs to the technical field of railway container crane hoisting identification. A millimeter-wave radar is arranged on a transversely-walking trolley of the portal crane and serves as a fixed reference point, and a reflection cone is arranged on a lifting tool, ascending and descending along with a winch, of the portal crane; and the actual descending distance of the lifting appliance is measured through inductive reflection between the millimeter-wave radar and the reflection cone. According to the method, a reflecting cone is arranged on a transversely-walking trolley of the portal crane and serves as a fixed reference point, the actual descending distance h and the deviation angle theta of the lifting appliance are measured through inductive reflection between a millimeter-wave radar and the reflecting cone, and the final height h * sin (theta) is calculated. According to the whole mode, measurement is simple, cost is low, installation is convenient, implementation is fast, positioning information collection of the position of the lifting appliance of the portal crane is achieved, systematic automatic management is facilitated, information tracking of container position information is achieved, and the operation efficiency of the portal crane and the management effect of a railway goods yard are improved.

Description

technical field [0001] The invention belongs to the technical field of hoisting and identification of railway container cranes, and in particular relates to a method for dynamically sensing the position of a gantry crane spreader based on a millimeter-wave radar. Background technique [0002] In the existing railway container yard operations, gantry cranes have been widely used for hoisting operations, and rotary encoders are mostly used for distance measurement between spreaders and trolleys. At present, the distance between the spreader and the trolley is used as an important sensor parameter for the intelligent management of the container yard to determine the position of the container. At present, the distance between the crane trolley and the spreader is calculated according to the rotary encoder on the winch on the spreader combined with the diameter of the winch. However, the cable is likely to be in a loose state during the lowering process, and the diameter of the ...

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Problems solved by technology

However, the cable is likely to be in a loose state during the lowering process, and the diameter of the winch is always changing as the rope is lowered. At this time, it is easy to produce deviations when using the value of the rotary encoder to calculate the distance between the spreader and the container. , resulting in the inability of the intelligent management system to accurately obtain the precise location of the container, which affects the lifting efficiency

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