A method and device for detecting zero position of a sling, and a crane

Abstract

The present application provides a method and device for detecting zero position of a sling, and a crane, which solves the technical problem in the prior art that the sensor is affected by the external temperature, causing the direct output value to drift, which further causes the zero position measurement of the sling to be inaccurate. The present application provides a method for detecting zero position of a sling. After the inclination sensor directly measures the output inclination data, the output inclination data is then compensated for the temperature drift online, which overcomes the problem that the sensor is affected by the external temperature, causing the direct output value to drift, which further causes the zero position measurement of the sling to be inaccurate; in addition, the zero position value of the sling at any position can be calculated in real time, which improves the accuracy and consistency of the zero position measurement.

Description

Technical Field

[0001] The present application relates to the technical field of engineering vehicles, and in particular to a method and device for detecting zero position of a spreader, and a crane. Background Art

[0002] Shore-side bridge cranes have been gradually moving from semi-automatic operation to fully automatic operation. With the increasing degree of automation, automatic container landing has become an inevitable trend. The current functional requirements of automated quay cranes are to achieve efficient automatic container landing on the land side, and gradually realize automatic container grabbing and releasing operations under limited conditions above the sea side deck. Both the anti-sway operation and automatic container landing of the spreader require the detection of the swing angle. Due to the large size of the crane, deviations in the manufacturing and installation process, and the cross-winding method of the spreader, the zero position of the spreader is not at the center of the hanging. When performing automatic container landing, an accurate spreader zero position is required. In the prior art, the sensor is affected by the external temperature, resulting in temperature drift in its direct output value, which further causes the problem of inaccurate spreader zero position measurement. Summary of the invention

[0003] In view of this, the present application provides a method and device for detecting zero position of a sling, and a crane, which solves the technical problem in the prior art that the sensor is affected by the external temperature, causing temperature drift in its direct output value, further causing inaccurate measurement of the zero position of the sling.

[0004] As a first aspect of the present application, the present application provides a method for detecting a zero position of a sling, comprising: obtaining track inclination data of a current parking position of a trolley; obtaining an inclination temperature drift compensation value of the current parking position based on the debugged track inclination data of the current parking position and the track inclination data; and obtaining a sling zero position value of the sling corresponding to the trolley based on the inclination temperature drift compensation value and the actual track inclination data; wherein the actual track inclination data is: the actual track inclination data of the actual parking position of the trolley corresponding to the zero position calibration lane of the container truck when the container is landed in the zero position calibration lane of the container truck.

[0005] In a possible embodiment, the inclination temperature drift compensation value of the current parking position is obtained based on the debugging track inclination data of the current parking position and the track inclination data, including: when the trolley is enabled for the first time, based on the initial track inclination data of the first parking position when the trolley is first enabled and the debugging track inclination data of the first parking position, obtaining the initial inclination temperature drift compensation value at the first parking position.

[0006] In a possible embodiment, the inclination temperature drift compensation value of the current parking position is obtained based on the debugging track inclination data of the current parking position and the track inclination data, and also includes: when the trolley is continuously enabled, obtaining the initial inclination temperature drift compensation value when the trolley first stops at the current parking position; obtaining the current track inclination data when the trolley is parked at the current parking position at the current moment; obtaining M real-time track inclination data when the trolley stops at the current parking position M times before the current moment, wherein the track inclination data includes current track inclination data and M real-time track inclination data; and obtaining the inclination temperature drift compensation value of the current parking position based on the initial inclination temperature drift compensation value, the current track inclination data and the M real-time track inclination data.

[0007] In a possible embodiment, M real-time track inclination data when the vehicle stopped at the current parking position M times before the current moment are obtained, including: obtaining N real-time track inclination data when the vehicle stopped at the current parking position for the first N times; and obtaining P real-time track inclination data when the vehicle stopped at the current parking position for the most recent P times; wherein the M real-time track inclination data include N real-time track inclination data and P real-time track inclination data.

[0008] In a possible embodiment, before obtaining the inclination temperature drift compensation value of the current parking position according to the initial inclination temperature drift compensation value, the current orbit inclination data and the M real-time orbit inclination data, obtaining the inclination temperature drift compensation value of the current parking position according to the debugging orbit inclination data of the current parking position and the orbit inclination data, also includes: performing statistical mean calculation on the N real-time orbit inclination data to generate a first inclination statistical mean; performing statistical mean calculation on the P real-time orbit inclination data to generate a second inclination statistical mean; and performing statistical mean calculation on the current orbit inclination data to generate a third inclination statistical mean; wherein, obtaining the inclination temperature drift compensation value of the current parking position according to the initial inclination temperature drift compensation value, the current orbit inclination data and the M real-time orbit inclination data includes: obtaining the inclination temperature drift compensation value of the current parking position according to the initial inclination temperature drift compensation value, the first inclination statistical mean, the second inclination statistical mean and the third inclination statistical mean.

[0009] In a possible embodiment, based on the first track inclination data of the first parking position when the trolley is first enabled and the debugging track inclination data of the first parking position, the initial inclination temperature drift compensation value at the first parking position is obtained, including: performing statistical mean calculation on the first track inclination data of the first parking position when the trolley is first enabled to generate a first inclination statistical mean; and obtaining the initial inclination temperature drift compensation value at the first parking position based on the first inclination statistical mean and the debugging track inclination data of the first parking position.

[0010] In a possible embodiment, before obtaining the inclination temperature drift compensation value of the current parking position based on the debugging track inclination data of the current parking position and the track inclination data, the sling zero position detection method also includes: detecting the current ambient temperature of the inclinometer; obtaining the relationship between the zero position of the inclinometer and the ambient temperature; and obtaining the temperature drift correction value of the inclinometer at the current ambient temperature based on the relationship between the zero position of the inclinometer and the ambient temperature and the current ambient temperature; wherein, obtaining the sling zero position value of the sling corresponding to the trolley based on the inclination temperature drift compensation value and the actual track inclination data includes: obtaining the sling zero position value of the sling corresponding to the trolley based on the inclination temperature drift compensation value, the temperature drift correction value and the actual track inclination data.

[0011] In a possible embodiment, the container truck zero position marking lane is the container truck lane corresponding to the current parking position.

[0012] As a second aspect of the present application, the present application also provides a sling zero position detection device, including: an acquisition module, used to obtain the track inclination data of the current parking position of the trolley on the track; an inclination temperature drift compensation value calculation module, used to obtain the inclination temperature drift compensation value of the current parking position according to the debugged track inclination data of the current parking position and the track inclination data; and a sling zero position value determination module, used to obtain the sling zero position value of the sling corresponding to the trolley according to the inclination temperature drift compensation value and the actual track inclination data; wherein the actual track inclination data is: the actual track inclination data of the actual parking position of the trolley corresponding to the zero position calibration lane of the container truck when the container is landed in the zero position calibration lane of the container truck.

[0013] As a third aspect of the present application, the present application also provides a crane, comprising: a track; a trolley, which can move along the track; a sling located under the trolley; an inclinometer, which is used to detect the inclination data of the track; and the above-mentioned sling zero position detection device, wherein the sling zero position detection device is communicatively connected to the inclinometer.

[0014] The present application provides a method for detecting zero position of a sling. After the inclination sensor directly measures and outputs inclination data, online temperature drift compensation is then performed on the output inclination data, thereby overcoming the problem that the direct output value of the sensor is affected by external temperature and causes temperature drift, which further causes inaccurate zero position measurement of the sling. In addition, the zero position value of the sling at any position can be calculated in real time, thereby improving the accuracy and consistency of the zero position measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The figure is a flow chart of a method for detecting zero position of a sling provided in one embodiment of the present application;

[0016] Figure 2 FIG. 1 is a flow chart of a method for detecting zero position of a sling provided in another embodiment of the present application;

[0017] Figure 3 FIG. 1 is a flow chart of a method for detecting zero position of a sling provided in another embodiment of the present application;

[0018] Figure 4 FIG. 1 is a flow chart of a method for detecting zero position of a sling provided in another embodiment of the present application;

[0019] Figure 5 Shown is the use of this application Figure 4 A spreader zero position value obtained by a spreader zero position detection method shown;

[0020] Figure 6 The figure shows the zero position value of the spreader obtained by the zero position detection method of the spreader in the prior art;

[0021] Figure 7 FIG. 1 is a flow chart of a method for detecting zero position of a sling provided in another embodiment of the present application;

[0022] Figure 8 FIG. 1 is a flow chart of a method for detecting zero position of a sling provided in another embodiment of the present application;

[0023] Fig. 9 The figure shows a working principle diagram of a sling zero position detection provided by an embodiment of the present application.

[0024] Fig.10 Shown is a schematic structural diagram of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0026] Figure 1 FIG. 1 is a flow chart of a method for detecting zero position of a sling provided by an embodiment of the present application, as shown in FIG. Figure 1 As shown, the spreader zero position detection method includes the following steps:

[0027] Step S101: obtaining track inclination data of the current parking position of the trolley;

[0028] Step S102: obtaining the inclination temperature drift compensation value of the current parking position according to the debugging track inclination data and the track inclination data of the current parking position;

[0029] The debugging track inclination data is the debugging track inclination data when the trolley is parked at the current parking position during debugging.

[0030] Step S103: acquiring a spreader zero position value of a spreader corresponding to the trolley according to the inclination temperature drift compensation value and the actual track inclination data;

[0031] The actual track inclination data is: when the container is loaded on the zero position marking lane of the container truck, the actual track inclination data of the actual parking position of the trolley corresponding to the zero position marking lane of the container truck.

[0032] Optionally, the container truck zero position marking lane is the container truck lane corresponding to the current parking position.

[0033] The zero position detection method for the sling provided in the present application performs online temperature drift compensation on the output inclination data after the inclination sensor directly measures and outputs the inclination data, thereby overcoming the problem that the direct output value of the sensor is affected by the external temperature and causes temperature drift, which further causes inaccurate zero position measurement of the sling; in addition, the zero position value of the sling at any position can be calculated in real time, thereby improving the accuracy and consistency of the zero position measurement.

[0034] In a possible implementation of the present application, Figure 2 As shown, step S102 (obtaining the inclination temperature drift compensation value of the current parking position according to the debugging track inclination data of the current parking position and the track inclination data) specifically includes the following steps:

[0035] Step S1021: Determine whether the car is enabled for the first time;

[0036] Specifically, during the operation of the crane, the trolley is not always in the working process. When the trolley finishes the previous work, it stops working and stays still on the track. When the trolley starts a new work, the trolley is driven by the motor to move on the track, thus starting a new working process. Determining whether the trolley is enabled for the first time in step S1021 means: determining whether the trolley is driven to move on the track for the first time in the current working process.

[0037] When the judgment result of step S1021 is yes, that is, the car is enabled for the first time, step S1022 is executed;

[0038] Step S1022: According to the initial track inclination data of the initial parking position when the trolley is first enabled and the debugging track inclination data at the initial parking position, the initial inclination temperature drift compensation value at the initial parking position is obtained.

[0039] After the initial inclination temperature drift compensation value when the trolley stops for the first time is obtained according to step S1022, step S103 includes: step S1031: obtaining the sling zero position value of the sling corresponding to the first enabling of the trolley according to the initial inclination temperature drift compensation value and the actual track inclination data.

[0040] When the judgment result of step S1021 is no, the car is not enabled for the first time, that is, the car is continuously enabled, step S1023 is executed;

[0041] Step S1023: obtaining the initial tilt angle temperature drift compensation value when the car stops at the current parking position for the first time;

[0042] The initial inclination temperature drift compensation value when the car stops at the current parking position for the first time is the initial inclination temperature drift compensation value when the car stops at the current parking position for the first time during this enabling process.

[0043] Step S1024: obtaining the current track inclination data when the trolley is currently parked at the current parking position;

[0044] Step S1025: obtaining M real-time track inclination data when the trolley stops at the current parking position M times before the current moment, wherein the track inclination data includes the current track inclination data and M real-time track inclination data, wherein M is an integer greater than or equal to one;

[0045] During the entire continuous enabling process, the car will stop at the current parking position countless times. For example, before the current moment, the car has stopped at the current parking position countless times. The M real-time track inclination data when the car stops at the current parking position M times can be the M real-time track inclination data when the car stops at the current parking position M times continuously before the current moment, or can be the M real-time track inclination data when the car stops at the current parking position M times non-continuously before the current moment, for example:

[0046] When the car is first enabled (i.e., the time when this proposal starts working for the first time) is 8:00, the current time is 12:00, and before 12:00, the car has stopped at the current parking position 10 times, and the first stop at the current parking position, the second stop at the current parking position, the third stop at the current parking position, the fourth stop at the current parking position, the fifth stop at the current parking position, the sixth stop at the current parking position, the seventh stop at the current parking position, the eighth stop at the current parking position, the ninth stop at the current parking position, and the tenth stop at the current parking position are in chronological order;

[0047] The M real-time orbital inclination data for M consecutive stops at the current parking position before the current moment: when M is 5, the M stops at the current parking position may be the 6th stay at the current parking position, the 7th stay at the current parking position, the 8th stay at the current parking position, the 9th stay at the current parking position, and the 10th stay at the current position; that is, when M is 5, the M real-time orbital inclination data for M stops at the current parking position include: the real-time orbital inclination data for the 6th stay at the current parking position, the real-time orbital inclination data for the 7th stay at the current parking position, the real-time orbital inclination data for the 8th stay at the current parking position, the real-time orbital inclination data for the 9th stay at the current parking position, and the real-time orbital inclination data for the 10th stay at the current parking position.

[0048] M real-time orbital inclination data for M non-continuous stops at the current parking position before the current moment: when M is 5, the M stops at the current parking position can be the 2nd stay at the current parking position, the 4th stay at the current parking position, the 6th stay at the current parking position, the 7th stay at the current parking position, and the 9th stay at the current position; that is, when M is 5, the M real-time orbital inclination data for M stops at the current parking position include: the real-time orbital inclination data for the 2nd stay at the current parking position, the real-time orbital inclination data for the 4th stay at the current parking position, the real-time orbital inclination data for the 6th stay at the current parking position, the real-time orbital inclination data for the 7th stay at the current parking position, and the real-time orbital inclination data for the 9th stay at the current parking position.

[0049] Step S1026: Obtain the inclination temperature drift compensation value of the current parking position according to the initial inclination temperature drift compensation value, the current track inclination data and the M real-time track inclination data.

[0050] Among them, the initial inclination temperature drift compensation value is the initial inclination temperature drift compensation value obtained in step S1023; the current orbit inclination data is the current orbit inclination data obtained in step S1024; and the M real-time orbit inclination data are the M real-time orbit inclination data obtained in step S1025.

[0051] When calculating the inclination temperature drift compensation value of the current parking position, the present application takes into account the real-time track inclination data of the trolley when it has stopped at the current parking position multiple times before the current moment, thereby reducing the probability of different temperatures at different times affecting the track inclination data, and improving the problem of the sensor being affected by the external temperature, causing its direct output value to drift, which further causes inaccurate zero position measurement of the sling.

[0052] As a possible implementation of this application, Figure 3 As shown, step S1025 (obtaining M real-time track inclination data when the car stopped at the current parking position M times before the current moment) specifically includes the following steps:

[0053] Step S10251: obtaining N real-time track inclination data when the trolley stops at the current parking position for the first N times, where N is an integer greater than or equal to one; and

[0054] Step S10252: obtaining P real-time track inclination data when the trolley stops at the current parking position for the most recent P times, where P is an integer greater than or equal to one; wherein the M real-time track inclination data include N real-time track inclination data and P real-time track inclination data;

[0055] When the car is first enabled (i.e., the time when this proposal starts working for the first time) is 8:00, the current time is 12:00, and before 12:00, the car has stopped at the current parking position 10 times, and the first stop at the current parking position, the second stop at the current parking position, the third stop at the current parking position, the fourth stop at the current parking position, the fifth stop at the current parking position, the sixth stop at the current parking position, the seventh stop at the current parking position, the eighth stop at the current parking position, the ninth stop at the current parking position, and the tenth stop at the current parking position are in chronological order;

[0056] When M is equal to 5, the sum of N and P is 5, then N can be 2 and P is 3, then the N real-time track inclination data when the car first stops at the current parking position for the Nth time include: the real-time track inclination data when it stops at the current parking position for the first time, and the real-time track inclination data when it stops at the current parking position for the second time; the P real-time track inclination data when the car stops at the current parking position for the most recent P times include: the real-time track inclination data when it stops at the current parking position for the eighth time, the real-time track inclination data when it stops at the current parking position for the ninth time, and the real-time track inclination data when it stays at the current parking position for the tenth time; that is, the M real-time track inclination data include: the real-time track inclination data when it stops at the current parking position for the first time, the real-time track inclination data when it stops at the current parking position for the second time, the real-time track inclination data when it stops at the current parking position for the eighth time, the real-time track inclination data when it stops at the current parking position for the ninth time, and the real-time track inclination data when it stays at the current parking position for the tenth time.

[0057] In a possible implementation of the present application, Figure 4 As shown, before step S1026 (obtaining the inclination temperature drift compensation value of the current parking position according to the initial inclination temperature drift compensation value, the current track inclination data and the M real-time track inclination data), step S102 also includes the following steps:

[0058] Step S10253: Calculate the statistical mean of the N real-time orbit inclination data to generate a first inclination statistical mean;

[0059] Step S10254: Calculate the statistical mean of the P real-time orbit inclination data to generate a second inclination statistical mean; and

[0060] Step S10255: Calculate the statistical mean of the current orbit inclination data to generate a third inclination statistical mean;

[0061] In this case, step S1026 includes:

[0062] Step S10261: Obtain the inclination temperature drift compensation value of the current parking position according to the initial inclination temperature drift compensation value, the first inclination statistical mean value, the second inclination statistical mean value and the third inclination statistical mean value.

[0063] Figure 5 Shown is the use of this application Figure 4 The zero position value of the spreader obtained by a spreader zero position detection method shown in FIG. Figure 6 The figure shows the zero position value of the spreader obtained by the zero position detection method of the spreader in the prior art. It can be clearly seen that with the change of seasons, Figure 6 The zero position detection scheme shown has a 2 cm deviation, which will affect the automatic pick-and-place operation of the target object to a certain extent. Figure 5 As shown, the spreader zero position detection method provided in the present application can effectively solve the problem that the direct detection data of the sensor is affected by the external temperature, resulting in inaccurate spreader zero position measurement, thereby improving the accuracy and consistency of the zero position measurement.

[0064] In a possible implementation of the present application, Figure 7 As shown, when the judgment result in step S1021 is yes, that is, the trolley is enabled for the first time, step S1022 (according to the initial track inclination data of the first parking position when the trolley is first enabled and the debugging track inclination data of the first parking position, obtaining the initial inclination temperature drift compensation value at the first parking position) specifically includes the following steps:

[0065] Step S10221: Calculate the statistical mean of the initial track inclination data at the initial parking position when the trolley is first enabled, and generate the initial inclination statistical mean; and

[0066] Step S10222: Obtain the initial inclination temperature drift compensation value at the first parking position according to the initial inclination statistical mean value and the debugging track inclination data at the first parking position.

[0067] In a possible implementation of the present application, Figure 8 As shown, before step S103 (obtaining the inclination temperature drift compensation value of the current parking position according to the debugging track inclination data of the current parking position and the track inclination data), the spreader zero position detection method also includes the following steps:

[0068] Step S104: Detecting the current ambient temperature of the inclinometer;

[0069] Step S105: obtaining the relationship between the zero position of the inclinometer and the ambient temperature; and

[0070] Step S106: obtaining a temperature drift correction value of the inclinometer at the current ambient temperature according to the relationship between the zero position of the inclinometer and the ambient temperature and the current ambient temperature;

[0071] In this case, step S103 includes the following steps:

[0072] Step S1031: acquiring the hanger zero position value of the hanger corresponding to the trolley according to the inclination temperature drift compensation value, the temperature drift correction value and the actual track inclination data.

[0073] By adopting the temperature sensor correction method: the inclination value is corrected by using the inclination sensor temperature drift curve and the current operating temperature. This further reduces the probability that the sensor is affected by the external temperature and causes the temperature drift of its direct output value, which further causes the zero position measurement of the spreader to be inaccurate; that is, the accuracy and consistency of the zero position measurement are further improved.

[0074] As another aspect of the present application, the present application also provides a sling zero position detection device, such as Fig. 9 As shown, the spreader zero position detection device comprises:

[0075] Acquisition module 1, used to acquire track inclination data of the current parking position of the trolley on the track;

[0076] The inclination temperature drift compensation value calculation module 2 is used to obtain the inclination temperature drift compensation value of the current parking position according to the debugging track inclination data and the track inclination data of the current parking position; and

[0077] A spreader zero position value determination module 3 is used to obtain a spreader zero position value of a spreader corresponding to the trolley according to the inclination temperature drift compensation value and the actual track inclination data;

[0078] The actual track inclination data is: when the container is loaded on the zero position marking lane of the container truck, the actual track inclination data of the actual parking position of the trolley corresponding to the zero position marking lane of the container truck.

[0079] Engineering vehicles

[0080] As a third aspect of the present application, the present application also provides a crane, comprising: a track; a trolley, which can move along the track; a sling located under the trolley; an inclinometer, which is used to detect the inclination data of the track; and the above-mentioned sling zero position detection device, wherein the sling zero position detection device is communicatively connected to the inclinometer.

[0081] Electronic device and computer readable storage medium

[0082] Below, reference Fig.10 To describe an electronic device according to an embodiment of the present application. Fig. 9 Shown is a schematic structural diagram of an electronic device provided in one embodiment of the present application.

[0083] like Fig.10 As shown, the electronic device 130 includes one or more processors 1301 and a memory 1302 .

[0084] The processor 1301 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 130 to perform desired functions.

[0085] The memory 1302 may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 1301 may run the program instructions to implement the sling zero position detection method or other desired functions of the various embodiments of the present application described above. Various contents such as the sling zero position detection method may also be stored in the computer-readable storage medium.

[0086] In one example, the electronic device 130 may further include: an input device 1303 and an output device 1304 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0087] The input device 1303 may include, for example, a keyboard, a mouse, a joystick, a touch screen, and the like.

[0088] The output device 1304 can output various information to the outside, including the determined motion data, etc. The output device 1304 can include, for example, a display, a communication network and a remote output device connected thereto, and the like.

[0089] Of course, to simplify, Fig.10 Only some of the components related to the present application in the electronic device 130 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device 130 may also include any other appropriate components.

[0090] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the spreader zero position detection method according to various embodiments of the present application described in this specification.

[0091] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0092] In addition, an embodiment of the present application may also be a computer-readable storage medium having computer program instructions stored thereon, and when the computer program instructions are executed by a processor, the processor executes the steps of the sling zero position detection method according to various embodiments of the present application in this specification.

[0093] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0094] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0095] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0096] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0097] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features of the present invention.

[0098] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for detecting zero position of a spreader, characterized in that: include: Get the track inclination data of the current parking position of the car; Acquire the inclination temperature drift compensation value of the current parking position according to the debugging track inclination data of the current parking position and the track inclination data; as well as Acquire a spreader zero position value of a spreader corresponding to the trolley according to the inclination temperature drift compensation value and actual track inclination data; The actual track inclination data is: the actual track inclination data of the actual parking position of the trolley corresponding to the zero-position marking lane of the container truck when the container is placed on the zero-position marking lane of the container truck; Acquiring the inclination temperature drift compensation value of the current parking position according to the debugging track inclination data of the current parking position and the track inclination data, including: When the trolley is enabled for the first time, according to the initial track inclination data of the first parking position when the trolley is first enabled and the debugging track inclination data of the first parking position, the initial inclination temperature drift compensation value at the first parking position is obtained; When the trolley is continuously enabled, obtaining an initial tilt angle temperature drift compensation value when the trolley is first parked at the current parking position; Obtaining current track inclination data when the trolley is currently parked at the current parking position; Acquire M real-time track inclination data when the trolley stops at the current parking position M times before the current moment, wherein the track inclination data includes the current track inclination data and the M real-time track inclination data; and The inclination temperature drift compensation value of the current parking position is obtained according to the initial inclination temperature drift compensation value, the current track inclination data and the M real-time track inclination data.

2. The method for detecting zero position of a sling according to claim 1, characterized in that: Acquiring M real-time track inclination data when the car stopped at the current parking position M times before the current moment, including: Obtaining N real-time track inclination data when the trolley stops at the current parking position for the first N times; and Obtain P real-time track inclination data when the car stops at the current parking position for the most recent P times; The M real-time orbital inclination data include N real-time orbital inclination data and P real-time orbital inclination data.

3. The method for detecting zero position of a sling according to claim 2, characterized in that: Before obtaining the inclination temperature drift compensation value of the current parking position according to the initial inclination temperature drift compensation value, the current track inclination data and the M real-time track inclination data, obtaining the inclination temperature drift compensation value of the current parking position according to the debugging track inclination data of the current parking position and the track inclination data, further comprising: Performing statistical mean calculation on the N real-time orbital inclination data to generate a first inclination statistical mean; Performing statistical mean calculation on the P real-time orbital inclination data to generate a second inclination statistical mean; and Performing statistical mean calculation on the current orbit inclination data to generate a third inclination statistical mean; Wherein, obtaining the inclination temperature drift compensation value of the current parking position according to the initial inclination temperature drift compensation value, the current track inclination data and the M real-time track inclination data includes: The inclination temperature drift compensation value of the current parking position is obtained according to the initial inclination temperature drift compensation value, the first inclination statistical mean value, the second inclination statistical mean value, and the third inclination statistical mean value.

4. The method for detecting zero position of a sling according to claim 1, characterized in that: According to the initial track inclination data of the initial parking position when the trolley is first enabled and the debugging track inclination data of the initial parking position, the initial inclination temperature drift compensation value at the initial parking position is obtained, including: Performing statistical mean calculation on the initial track inclination data of the initial parking position when the trolley is first enabled to generate a statistical mean of the initial inclination; and According to the statistical mean value of the first inclination angle and the debugging track inclination angle data of the first parking position, the initial inclination angle temperature drift compensation value at the first parking position is obtained.

5. The method for detecting zero position of a spreader according to claim 1, characterized in that: Before obtaining the inclination temperature drift compensation value of the current parking position according to the debugging track inclination data of the current parking position and the track inclination data, the spreader zero position detection method further includes: Detect the current ambient temperature of the inclinometer; Obtaining the relationship between the zero position of the inclinometer and the ambient temperature; and According to the relationship between the zero position of the inclinometer and the ambient temperature and the current ambient temperature, a temperature drift correction value of the inclinometer at the current ambient temperature is obtained; Wherein, obtaining the hanger zero position value of the hanger corresponding to the trolley according to the inclination temperature drift compensation value and the actual track inclination data includes: A spreader zero position value of a spreader corresponding to the trolley is acquired according to the inclination temperature drift compensation value, the temperature drift correction value and the actual track inclination data.

6. The method for detecting zero position of a spreader according to claim 1, characterized in that: The container truck zero position marking lane is the container truck lane corresponding to the current parking position.

7. A zero position detection device for a sling, characterized in that: include: An acquisition module is used to obtain track inclination data of the current parking position of the trolley on the track; An inclination temperature drift compensation value calculation module is used to obtain the inclination temperature drift compensation value of the current parking position according to the debugging track inclination data of the current parking position and the track inclination data; as well as A spreader zero position value determination module, used for obtaining a spreader zero position value of a spreader corresponding to the trolley according to the inclination temperature drift compensation value and actual track inclination data; The actual track inclination data is: the actual track inclination data of the actual parking position of the trolley corresponding to the zero-position marking lane of the container truck when the container is placed on the zero-position marking lane of the container truck; The step of obtaining the inclination temperature drift compensation value of the current parking position according to the debugging track inclination data of the current parking position and the track inclination data comprises: When the trolley is enabled for the first time, according to the initial track inclination data of the first parking position when the trolley is first enabled and the debugging track inclination data of the first parking position, the initial inclination temperature drift compensation value at the first parking position is obtained; When the trolley is continuously enabled, obtaining an initial tilt angle temperature drift compensation value when the trolley is first parked at the current parking position; Obtaining current track inclination data when the trolley is currently parked at the current parking position; Acquire M real-time track inclination data when the trolley stops at the current parking position M times before the current moment, wherein the track inclination data includes the current track inclination data and the M real-time track inclination data; and The inclination temperature drift compensation value of the current parking position is obtained according to the initial inclination temperature drift compensation value, the current track inclination data and the M real-time track inclination data.

8. A crane, characterized in that: include: track; A trolley, the trolley being movable along the track; a spreader located below the trolley; An inclinometer, the inclinometer is used to detect the inclination data of the track; as well as The sling zero position detection device as described in claim 7, wherein the sling zero position detection device is communicatively connected to the inclinometer.

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