Automated quay crane

Abstract

The present invention relates to the field of quay cranes, specifically an automated quay crane, the automated quay crane comprising: a connecting beam; a trolley, the trolley comprising a frame and a sling; two reflectors; a target detection system, the target detection system comprising a first servo rotation mechanism and a first laser positioning device to obtain a first deviation of the target container relative to a target standard position, and also calculate a second deviation of the sling relative to the sling standard position; a sling attitude detection system, collecting an image of the sling through the camera device to obtain the second deviation; a crane automatic control system, the crane automatic control system adjusting the position of the sling according to the first deviation obtained by the target detection system, so that the second deviation of the target detection system or the sling attitude detection system matches the first deviation. The automated quay crane of the present invention can improve redundancy and improve operating efficiency.

Description

Technical Field

[0001] The present invention relates to the field of quay cranes, and in particular to an automated quay crane. Background Art

[0002] The trolley of the double-trolley automated quay crane is equipped with a target detection system (TDS system) and a spreader posture detection system (SDS system). The target detection system is responsible for laser scanning of the operating target, and the spreader posture detection system realizes the calculation of the spreader posture and position through image recognition technology. The quay crane's crane automatic control system (ACCS system) organically combines the data of the target detection system and the spreader posture detection system, and realizes the fully automatic grabbing and releasing box operation of the gantry trolley for the transfer platform and AGV (automatic guided transport vehicle). When any of the target detection system and the spreader posture detection system is in a faulty state, the operation of the quay crane will switch to manual mode, and the fully automated operation cannot be completed, resulting in low operating efficiency of the quay crane. Summary of the invention

[0003] In view of the above-mentioned problems in the prior art, the object of the present invention is to provide an automated quay crane, which can improve redundancy, reduce the probability of failure of automated operation due to single system failure, and improve operating efficiency.

[0004] In order to solve the above problems, the present invention provides an automated quay crane, the automated quay crane comprising:

[0005] Contact beam;

[0006] A trolley, the trolley is connected to the connecting crossbeam and can move on the connecting crossbeam, the trolley comprises a frame and a sling connected and movable below the trolley;

[0007] Two reflective plates, the two reflective plates are arranged at two ends of the hanger facing the frame;

[0008] A target detection system, wherein the target detection system is arranged on the vehicle frame, and the target detection system comprises a first servo rotation mechanism and a first laser positioning device, wherein the first servo rotation mechanism is arranged on the vehicle frame, and the first laser positioning device is connected to the first servo rotation mechanism to be driven to rotate by the first servo rotation mechanism, and the target container is scanned by the first laser positioning device to obtain a first deviation of the target container relative to the target standard position, and the two reflective plates are scanned by the first laser positioning device to calculate a second deviation of the spreader relative to the spreader standard position according to the positions of the two reflective plates;

[0009] a spreader posture detection system, the spreader posture detection system is arranged on the frame and is spaced apart from the target detection system, the spreader posture detection system comprises a camera device, the camera device is arranged on the frame and faces the spreader, and an image of the spreader is captured by the camera device to obtain the second deviation;

[0010] A crane automatic control system, wherein the crane automatic control system is connected to the spreader, the target detection system and the spreader posture detection system to adjust the position of the spreader according to the first deviation obtained by the target detection system so that the second deviation of the target detection system or the spreader posture detection system matches the first deviation.

[0011] Furthermore, the spreader posture detection system also includes:

[0012] A light source is arranged on the hanger.

[0013] Furthermore, the automated quay crane further comprises a positioning system, which is arranged on the connecting beam and faces the lane of the automated guided transport vehicle, and the positioning system comprises:

[0014] a second servo rotating mechanism, the second servo rotating mechanism being arranged on the connecting crossbeam and facing the lane of the automatic guided transport vehicle;

[0015] a second laser positioning device, wherein the second laser positioning device is connected to the second servo rotating mechanism so as to be driven to rotate by the second servo rotating mechanism, and the first laser positioning device is used to scan the target container to obtain the first deviation.

[0016] The crane automatic control system is also connected to the positioning system to adjust the position of the spreader according to the first deviation obtained by the target detection system or the positioning system, so that the second deviation obtained by the target detection system or the spreader posture detection system matches the first deviation.

[0017] Furthermore, the automated quay crane further comprises a final container placement auxiliary system, the final container placement auxiliary system being connected to the spreader, and the final container placement auxiliary system comprising:

[0018] Six third laser positioning devices, the six third laser positioning devices are respectively arranged at four corners of the spreader, and the third deviation between the spreader and the target container is obtained by the six third laser positioning devices.

[0019] The crane automatic control system is also connected to six of the third laser positioning devices to adjust the position of the spreader according to the third deviation so that the third deviation is within the standard deviation range.

[0020] Furthermore, the automated quay crane also includes:

[0021] a micro-motion system connected to the spreader to adjust the position of the spreader and obtain the second deviation,

[0022] The crane automatic control system is connected to the micro-motion system to adjust the position of the spreader through the micro-motion system according to the first deviation obtained by the target detection system or the positioning system, so that the second deviation obtained by the target detection system, the spreader posture detection system or the micro-motion system matches the first deviation.

[0023] Furthermore, the crane automatic control system switches the currently used system to other available systems among the target detection system, the spreader posture detection system, the positioning system, the micro-motion system and the final container landing auxiliary system when the spreader fails to grab the target container.

[0024] Furthermore, the automatic control system of the crane prompts to request manual intervention after the spreader fails to grab the target container for a predetermined number of times.

[0025] Furthermore, the crane automatic control system switches between different operating modes according to the fault state or normal state of the target detection system, the spreader posture detection system, the positioning system, the micro-motion system and the final box landing assistance system, and different operating modes apply different target detection systems, the spreader posture detection systems, the positioning system, the micro-motion system and the final box landing assistance systems or system combinations.

[0026] Furthermore, the crane automatic control system prompts manual intervention for each operation based on that only one of the target detection system, the spreader posture detection system, the positioning system, the micro-motion system and the final box landing auxiliary system is in a normal state.

[0027] Further, the first deviation includes a first x-direction deviation, a first y-direction deviation, and a first angle θ deviation, and the second deviation includes a second x-direction deviation, a second y-direction deviation, and a second angle θ deviation.

[0028] Furthermore, the trolley includes a main trolley and an auxiliary trolley, and the target detection system and the hoisting device posture detection system are arranged on the auxiliary trolley.

[0029] Due to the above technical solution, the present invention has the following beneficial effects:

[0030] According to the automated quay crane of an embodiment of the present invention, a target detection system arranged on the frame drives the first laser positioning device to rotate through the first servo rotation system, scans the target container, obtains the first deviation of the target container relative to the target standard position, scans the reflector on the spreader, obtains the second deviation of the spreader relative to the spreader standard position, and a spreader posture detection system arranged on the frame and separated from the target detection system captures the image of the spreader through a camera to obtain the second deviation of the spreader relative to the spreader standard position. The crane automatic control system can adjust the position of the spreader according to the first deviation so that the second deviation matches the first deviation, so that the spreader can grab the target container at the first deviation position at the second deviation position after matching. Since the second deviation can be calculated by both the target detection system and the spreader posture detection system, the quay crane can still operate automatically even if the spreader posture detection system is in a fault state, which can improve redundancy, reduce the probability of failure to operate automatically due to single system failure, and improve operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the embodiments or prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 It is a schematic diagram of the installation of a target detection system and a spreader posture detection system in an automated quay crane according to an embodiment of the present invention;

[0033] Figure 2 yes Figure 1 A schematic diagram of the installation of a target detection system in automated security of an embodiment;

[0034] Figure 3 yes Figure 1 A schematic diagram of the installation of a spreader posture detection system in the automated safety of an embodiment;

[0035] Figure 4 is a schematic diagram of the installation of a positioning system in an automated quay crane according to an embodiment of the present invention;

[0036] Figure 5 This is a schematic diagram of the installation of a final container landing auxiliary system in an automated quay crane according to an embodiment of the present invention;

[0037] Figure 6 is a schematic diagram of operation modes 1 to 6 of an automatic control system for a crane according to an embodiment of the present invention;

[0038] Figure 7 yes Figure 6Schematic diagram of operating mode 7 to operating mode 11 of the optional modes of the automatic control system for a crane according to an embodiment.

[0039] 110. Vehicle frame; 120. Lifting device; 210. Target detection system; 220. Lifting device posture detection system; 230. Positioning system; 240. Final box landing auxiliary system; 300. Automatic guided transport vehicle; 400. Connecting crossbeam; 500. Reflective plate. DETAILED DESCRIPTION

[0040] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0042] The following systems can be replaced with the following names.

[0043] APS system: Automated Guided Vehicle Positioning System, automatic guided vehicle positioning system (referred to as positioning system)

[0044] TDS system: Target Detecting System, target detection system

[0045] SDS system: Spreader Detecting System, spreader posture detection system

[0046] FLS system: Final Landing System, final landing assistance system

[0047] ACCS system: Automated Crane Control System, crane automatic control system

[0048] Below, reference Figures 1 to 5The automated quay crane of the present invention is described as being used to transport a target container from an automated guided transport vehicle 300 to a transfer platform, or to transport a target container from a transfer platform to an automated guided transport vehicle 300.

[0049] First, the connecting beam 400 and the trolley are described. The trolley is connected to the connecting beam 400 and can move on the connecting beam 400. The trolley includes a frame 110 and a sling 120 connected and movable below the trolley. A micro-motion system described later can be set on the sling 120, so that the sling 120 can move in the x direction (the direction in which the trolley moves), move in the y direction (the direction in which the trolley moves), and rotate at an angle θ (the angle of the sling 120).

[0050] Next, the two reflectors 500 and the target detection system 210 are described. The two reflectors 500 are arranged at both ends of the side of the spreader 120 facing the frame 110. The target detection system 210 is arranged on the frame 110, and the target detection system 210 includes a first servo rotation mechanism and a first laser positioning device. The first servo rotation mechanism is arranged on the frame 110, and the first laser positioning device is connected to the first servo rotation mechanism to be driven to rotate by the first servo rotation mechanism. The target container is scanned by the first laser positioning device to obtain a first deviation of the target container relative to the target standard position, and the two reflectors 500 are also scanned by the first laser positioning device to calculate the second deviation of the spreader 120 relative to the spreader 120 standard position according to the positions of the two reflectors 500. Among them, the spreader 120 standard position of the spreader 120 corresponds to the target standard of the target container, that is, the spreader 120 at the spreader 120 standard can grab or put down the target container at the target standard. The laser positioning device is a mature technology and will not be described in detail here.

[0051] Two reflectors 500 are provided on the side of the sling 120 facing the frame 110. The first laser positioning device scans the two reflectors 500 to obtain the positions of the two reflectors 500. The reflectors 500 are fixed on the sling 120, so that the current position of the sling 120 can be calculated, and the deviation from the standard position of the sling 120 (the standard position of the sling 120) can be calculated, and then the second deviation of the current position of the sling 120 relative to the standard position of the sling 120 can be calculated.

[0052] The first servo rotation mechanism drives the laser positioning device to achieve scanning and positioning in a wider area, scan the target container (the container to be moved), scan the position of the target container, and calculate the first deviation between the position of the target container and the target standard position (the standard position of the target container).

[0053] Next, the spreader posture detection system 220 is described. The spreader posture detection system 220 is arranged on the frame 110 and is separated from the target detection system 210. The spreader posture detection system 220 includes a camera device, which is arranged on the frame 110 and faces the spreader 120. The camera device collects an image of the spreader 120 to obtain a second deviation. Collecting images by the camera device to obtain the position of the spreader 120 is a mature technology and will not be described in detail here.

[0054] The second deviation of the current position of the spreader 120 relative to the standard position of the spreader 120 can be obtained through the spreader posture detection system 220 .

[0055] Optionally, the sling posture detection system 220 further includes a light source. The light source is disposed on the sling 120 .

[0056] The sling 120 can be illuminated by the light source, so that the camera device can capture clearer photos of the sling 120, thereby increasing the accuracy of the second deviation.

[0057] Finally, the crane automatic control system is described. The crane automatic control system is connected to the spreader 120, the target detection system 210 and the spreader posture detection system 220 to adjust the position of the spreader 120 according to the first deviation obtained by the target detection system 210 so that the second deviation of the target detection system 210 or the spreader posture detection system 220 matches the first deviation.

[0058] Among them, the first deviation may include a first x-direction deviation, a first y-direction deviation, and a first angle θ deviation. That is, the deviation between the current position of the target container and the target standard position in the x-direction (moving direction of the large vehicle), the y-direction (moving direction of the small vehicle), and the angle θ (the angle of the target container). The second deviation may include a second x-direction deviation, a second y-direction deviation, and a second angle θ deviation. That is, the deviation between the current position of the sling 120 and the standard position of the sling 120 in the x-direction (moving direction of the large vehicle), the y-direction (moving direction of the small vehicle), and the angle θ (the angle of the sling 120).

[0059] The second deviation matches the first deviation, which means that the second deviation is consistent with the first deviation or is within a set deviation range, that is, the spreader 120 can grab the target container at the first deviation position at the matched second deviation position.

[0060] In the above automated quay crane, the target detection system 210 arranged on the frame 110 drives the first laser positioning device to rotate through the first servo rotation system, scans the target container, obtains the first deviation of the target container relative to the target standard position, scans the reflector 500 on the spreader 120, obtains the second deviation of the spreader 120 relative to the spreader 120 standard position, and the spreader posture detection system 220 arranged on the frame 110 and separated from the target detection system 210 collects the image of the spreader 120 through the camera to obtain the second deviation of the spreader 120 relative to the spreader 120 standard position. The crane automatic control system can adjust the position of the spreader 120 according to the first deviation, so that the second deviation matches the first deviation, so that the spreader 120 can grab the target container at the first deviation position at the second deviation position after matching. Since the second deviation can be calculated by both the target detection system 210 and the spreader posture detection system 220, even if the spreader posture detection system 220 is in a fault state, the quay crane can still operate automatically. In this way, the redundancy can be improved, the probability of failure to operate automatically due to single system failure is reduced, and the operation efficiency is improved.

[0061] According to some embodiments of the present invention, the automated quay crane further includes a positioning system 230. The positioning system is arranged on the connecting beam 400 and faces the lane of the automatic guided transport vehicle 300. The positioning system 230 includes: a second servo rotation mechanism, which is arranged on the connecting beam 400 and faces the lane of the automatic guided transport vehicle 300; a second laser positioning device, which is connected to the second servo rotation mechanism to be driven to rotate by the second servo rotation mechanism, and scans the target container through the first laser positioning device to obtain a first deviation. The crane automatic control system is also connected to the positioning system 230 to adjust the position of the spreader 120 according to the first deviation obtained by the target detection system 210 or the positioning system 230, so that the second deviation obtained by the target detection system 210 or the spreader posture detection system 220 matches the first deviation.

[0062] The second laser positioning device is driven to rotate by the second servo rotation mechanism disposed on the connecting beam 400 to scan the target container, thereby obtaining the first deviation.

[0063] A positioning system 230 is added to obtain the first deviation, that is, the first deviation can be obtained through both the target detection system 210 and the positioning system 230. As long as one of the target detection system 210 and the positioning system 230 is working properly, the first deviation can be obtained, thereby avoiding the situation where the automated operation cannot be performed due to a failure of the TDS or the positioning system. Moreover, the positioning system 230 set on the connecting beam 400 is in a stationary state, and the target detection system 210 set on the frame 110 is closer to the position of the target container, providing different ways to obtain the position of the target container, that is, some target containers can obtain position information more accurately through the target detection system 210, and some target containers can obtain position information more accurately through the positioning system 230. In this way, redundancy can be further increased, and operation accuracy and efficiency can be improved.

[0064] Furthermore, the automated quay crane also includes a final container placement auxiliary system 240. The final container placement auxiliary system 240 is connected to the spreader 120, and includes: six third laser positioning devices, the six third laser positioning devices are respectively arranged at the four corners of the spreader 120, and the third deviation between the spreader 120 and the target container is obtained through the six third laser positioning devices. The crane automatic control system is also connected to the six third laser positioning devices to adjust the position of the spreader 120 according to the third deviation, so that the third deviation is within the standard deviation range. Among them, the third deviation of the standard deviation range can enable the spreader 120 to grab the deviation range of the target container.

[0065] The six third laser positioning devices of the final container landing auxiliary system 240 can scan toward the ground and measure the distances between the target containers and the spreader 120 at the six positions in real time, thereby obtaining the third deviation between the spreader 120 and the target container.

[0066] The crane automatic control system can grab the target container only through the final container-grabbing auxiliary system 240, that is, even if the target detection system 210, the spreader posture detection system 220 and the positioning system 230 are in a faulty state, the final container-grabbing auxiliary system 240 can be used for automated operation, thereby further improving redundancy and efficiency. Moreover, the final container-grabbing auxiliary system 240 directly calculates the third deviation between the spreader 120 and the target container, which is more efficient.

[0067] Furthermore, the automated quay crane also includes a micro-motion system. The micro-motion system is connected to the spreader 120 to adjust the position of the spreader 120 and obtain a second deviation, and the crane automatic control system is connected to the micro-motion system to adjust the position of the spreader 120 through the micro-motion system according to the first deviation obtained by the target detection system 210 or the positioning system 230, so that the second deviation obtained by the target detection system 210, the spreader posture detection system 220 or the micro-motion system matches the first deviation.

[0068] The micro-motion system may include a micro-motion encoder to record the data of the standard position of the spreader 120. When the micro-motion system adjusts the spreader 120, the position data of the micro-motion spreader 120 is synchronously recorded. The micro-motion data represents the data of the second deviation. Each time after grabbing a container, the micro-motion system can drive the spreader 120 to move to the standard position of the spreader 120, so as to facilitate the next adjustment of the spreader 120. The crane automatic control system adjusts the position of the spreader 120 through the micro-motion system, which can make the adjustment of the spreader 120 more precise.

[0069] On the basis of obtaining the second deviation by the target detection system 210 and the spreader posture detection system 220, a micro-motion system is added to obtain the second deviation, thereby increasing the diversity of the second deviation obtaining system. That is, only one of the target detection system 210, the spreader posture detection system 220 or the micro-motion system is in a normal state, and the second deviation can be obtained, thereby further increasing the redundancy.

[0070] Furthermore, when the spreader 120 fails to grab the target container, the crane automatic control system switches the currently used system to other available systems among the target detection system 210, the spreader posture detection system 220, the positioning system 230, the micro-motion system and the final container landing auxiliary system 240.

[0071] For example, the crane automatic control system uses the target detection system 210 to obtain the first deviation and the spreader posture detection system 220 to obtain the second deviation, and controls the spreader 120 to grab the target container. However, due to errors, the grabbing of the target container fails. The crane automatic control system can switch the positioning system to obtain the first deviation and switch the micro-motion system to obtain the second deviation, or directly switch the final container landing auxiliary system 240 to obtain the third deviation, and then grab the target container next time.

[0072] This can improve the efficiency of automatic work.

[0073] Furthermore, the automatic control system of the crane prompts to request manual intervention after the spreader 120 fails to grab the target container for a predetermined number of times.

[0074] For example, the crane automatic control system requests manual intervention when the spreader 120 fails to grab the target container two or three times.

[0075] This can avoid frequent system switching that results in failure to achieve automated operations, making it easier for relevant personnel to handle the issue in a timely manner.

[0076] Furthermore, the crane automatic control system switches between different operating modes according to the fault state or normal state of the target detection system 210, the spreader posture detection system 220, the positioning system 230, the micro-motion system and the final box landing assistance system 240. Different operating modes apply different target detection systems 210, spreader posture detection systems 220, positioning systems 230, micro-motion systems and the final box landing assistance system 240 or system combinations.

[0077] For example Figure 6 and Figure 7 As shown, 11 operation modes are provided, and the crane automatic control system can be selected according to these modes. Operation mode 1 is that all systems are in normal state, operation mode 2 is that the spreader posture detection system 220 is in fault state, operation mode 3 is that the target detection system 210 is in fault state, operation mode 4 is that the positioning system is in fault state; operation mode 5 is that the final box-placement auxiliary system 240 is in fault state; operation mode 6 is that the target detection system 210 + the final box-placement auxiliary system 240 are in fault state; operation mode 7 is that the target detection system 210 + the positioning system 230 are in fault state; operation mode 8 is that the target detection system 210 + the spreader posture detection system 220 are in fault state; operation mode 9 is that the positioning system 230 + the final box-placement auxiliary system 240 are in fault state; operation mode 10 is that the positioning system 230 + the spreader posture detection system 220 are in fault state; operation mode 11 is that the final box-placement auxiliary system 240 + the spreader posture detection system 220 are in fault state.

[0078] This can significantly improve redundancy, increase automation utilization, and improve work efficiency.

[0079] Furthermore, the crane automatic control system prompts manual intervention for each operation based on the fact that only one of the target detection system 210, the spreader posture detection system 220, the positioning system 230, the micro-motion system and the final box landing auxiliary system 240 is in a normal state.

[0080] Only one of the spreader attitude detection system 220, the positioning system and the micro-motion system is in a normal state, and normal operation cannot be performed. Therefore, personnel can be quickly reminded to handle the faulty system, avoiding the crane automatic control system from wasting time.

[0081] According to some embodiments of the present invention, the trolley includes a main trolley and an auxiliary trolley, and the target detection system 210 and the spreader posture detection system 220 are arranged on the auxiliary trolley.

[0082] That is, the double-trolley automated quay crane, the auxiliary trolley's spreader 120 grabs the target container using the target detection system 210 and the spreader posture detection system 220. It should be noted that the above are only optional examples, and the double-trolley automated quay crane can also use the positioning system 230, the final container landing auxiliary system 240 and the micro-motion system, which should be understood within the scope of the present invention.

[0083] Next, the present invention is described by way of examples.

[0084] Take the grabbing of the target container in operation mode 1 as an example. After receiving the instruction of grabbing the target container from the AGV (automatic guided vehicle 300), the target detection system 210 and the positioning system 230 start to scan the status of the AGV on the operation lane, and obtain the first deviation (deviation of x, y, θ) of the container on the AGV relative to the target standard position. When the scanning result of any system in the positioning system 230 and the target detection system 210 is obtained, the spreader 120 can enter the automatic alignment stage (auto align).

[0085] At this time, the crane automatic control system will control the micro-motion system in real time to move the spreader 120 in the three directions of x, y, and θ until the second deviation obtained by the spreader posture detection system 220 matches the first deviation, and then enter the automatic landing (grabbing the target container) stage (auto landing).

[0086] Normally, the first automatic box placement is successful. In some special cases, when the automatic box placement fails, the crane automatic control system will control the spreader 120 to enter the second alignment and box placement stage. At this time, the crane automatic control system will use the positioning system 230 or another scanning result of the target detection system 210 to control the micro-motion mechanism to continue to try alignment and box placement. If the second alignment and box placement still fails, the third attempt will be made, that is, manual intervention MI will be requested to complete this operation instruction.

[0087] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An automated quay crane, used for transporting a target container from an automated guided transport vehicle to a transfer platform, or transporting a target container from a transfer platform to an automated guided transport vehicle, characterized in that: include: Contact beam; A trolley, the trolley is connected to the connecting crossbeam and can move on the connecting crossbeam, the trolley comprises a frame and a sling connected and movable below the trolley; Two reflective plates, the two reflective plates are arranged at two ends of the hanger facing the frame; A target detection system, wherein the target detection system is arranged on the vehicle frame, and the target detection system comprises a first servo rotation mechanism and a first laser positioning device, wherein the first servo rotation mechanism is arranged on the vehicle frame, and the first laser positioning device is connected to the first servo rotation mechanism to be driven to rotate by the first servo rotation mechanism, and the target container is scanned by the first laser positioning device to obtain a first deviation of the target container relative to the target standard position, and the two reflective plates are scanned by the first laser positioning device to calculate a second deviation of the spreader relative to the spreader standard position according to the positions of the two reflective plates; a spreader posture detection system, the spreader posture detection system is arranged on the frame and is spaced apart from the target detection system, the spreader posture detection system comprises a camera device, the camera device is arranged on the frame and faces the spreader, and an image of the spreader is captured by the camera device to obtain the second deviation; an automatic crane control system connected to the spreader, the target detection system, and the spreader posture detection system to adjust the position of the spreader according to the first deviation obtained by the target detection system so that the second deviation of the target detection system or the spreader posture detection system matches the first deviation; A positioning system, the positioning system is arranged on the connecting beam and faces the lane of the automatic guided transport vehicle, the positioning system comprises: a second servo rotating mechanism, the second servo rotating mechanism is arranged on the connecting beam and faces the lane of the automatic guided transport vehicle; a second laser positioning device, the second laser positioning device is connected to the second servo rotating mechanism to be driven to rotate by the second servo rotating mechanism, the target container is scanned by the first laser positioning device to obtain the first deviation, and the crane automatic control system is also connected to the positioning system to adjust the position of the spreader according to the first deviation obtained by the target detection system or the positioning system, so that the second deviation obtained by the target detection system or the spreader posture detection system matches the first deviation; A final container placement auxiliary system, the final container placement auxiliary system is connected to the spreader, and the final container placement auxiliary system comprises: six third laser positioning devices, the six third laser positioning devices are respectively arranged at the four corners of the spreader, and the third deviation between the spreader and the target container is obtained by the six third laser positioning devices. The crane automatic control system is also connected to the six third laser positioning devices to adjust the position of the spreader according to the third deviation so that the third deviation is within the standard deviation range; A micro-motion system is provided, wherein the micro-motion system is connected to the spreader to adjust the position of the spreader and obtain the second deviation. The crane automatic control system is connected to the micro-motion system to adjust the position of the spreader through the micro-motion system according to the first deviation obtained by the target detection system or the positioning system, so that the second deviation obtained by the target detection system, the spreader posture detection system or the micro-motion system matches the first deviation. In the event that the spreader fails to grab the target container, the crane automatic control system switches the currently used system from the target detection system, the spreader posture detection system, the positioning system, the micro-motion system and the final container landing auxiliary system to other available systems.

2. The automated quay crane according to claim 1, characterized in that: The spreader posture detection system also includes: A light source is arranged on the hanger.

3. The automated quay crane according to claim 1, characterized in that: The automatic control system of the crane prompts to request manual intervention after the spreader fails to grab the target container for a predetermined number of times.

4. The automated quay crane according to claim 3, characterized in that: The crane automatic control system switches between different operating modes according to the fault state or normal state of the target detection system, the spreader posture detection system, the positioning system, the micro-motion system and the final box landing assistance system. Different operating modes apply different target detection systems, the spreader posture detection systems, the positioning system, the micro-motion system and the final box landing assistance system or system combinations.

5. The automated quay crane according to claim 4, characterized in that: The crane automatic control system is based on the target detection system, the spreader posture detection system, the positioning system, the micro-motion system and the final box landing auxiliary system. Only one of the spreader posture detection system, the positioning system and the micro-motion system is in a normal state, and manual intervention is prompted for each operation.

6. The automated quay crane according to claim 1, characterized in that: The first deviation includes a first x-direction deviation, a first y-direction deviation, and a first angle θ deviation. The second deviation includes a second x-direction deviation, a second y-direction deviation, and a second angle θ deviation.

7. The automated quay crane according to any one of claims 1 to 6, characterized in that: The trolley comprises a main trolley and an auxiliary trolley, and the target detection system and the hoisting device posture detection system are arranged on the auxiliary trolley.

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