Bridge Crane Spreaders Position Precision Positioning System Based on Single Machine Control

Abstract

The present invention relates to the technical field of the control of the positioning system of a bridge crane, specifically a precise positioning system for the position of the spreader of a bridge crane based on single-machine control. It consists of a trolley positioning system, a crab positioning system, and a hoisting positioning system. Among them: The trolley positioning system is mainly used to achieve high-precision positioning of the trolley on the horizontal track; the crab positioning system is mainly used to achieve high-precision positioning of the crab on the high-level moving track; the hoisting positioning system is mainly used to achieve high-precision positioning of the hoisting in the height direction; during the working process, the three systems cooperate closely to achieve high-precision actions of the end effector. The design of the present invention ensures that the position value will not be lost in case of power failure or failure, and there is no need for frequent calibration, and precise positioning of the mechanism can be achieved; taking the positioning system as a positioning module can save the operation cost of the enterprise, and the enterprise only needs to add the corresponding positioning module according to its own needs and actual technical indicators to realize the automation of the bridge crane.

Description

Technical Field

[0001] The present invention relates to the technical field of the control of a positioning system for a bridge crane, and more specifically, to a precise positioning system for the position of a spreader of a bridge crane based on single-machine control. Background Art

[0002] In the traditional positioning of the spreader of a bridge crane, the main method adopted is that the driver operates through a handle. On the one hand, the driver locates and grabs an object by communicating with the ground personnel in real time. On the other hand, the driver observes the wall on the opposite side during operation. Different colored ribbons are drawn on the wall, and each color of ribbon represents a certain distance. The position is determined by observing these ribbons. Obviously, although this method can help the crane to position, there are many problems. First, the efficiency is low. It cannot accurately reach the specified position and needs to repeatedly adjust the orientation. Second, the safety is not high. It is inconvenient for the driver and the ground staff to communicate, which is likely to cause accidents. Third, the cost is relatively high. When the efficiency is low, the production cost will naturally increase.

[0003] In the prior art, with the wide application of large-scale integrated manufacturing technology in recent years, the positioning methods of the spreader of a bridge crane can be mainly divided into two categories: relative positioning and absolute positioning. The relative positioning method means that when the initial attitude and position state of the control body are known, the continuous measurement of the movement state of the overhead crane itself is realized through sensors such as distance, speed, and acceleration. This positioning process is independent of the external environment. Its main advantage is that it is not easily affected by external conditions such as weather, but the sensors are prone to error accumulation and the accuracy is reduced. The absolute positioning method means that the position information data of the external environment is obtained through a test system, and the current position and pose of the moving platform are determined through methods such as feature extraction and geometric calculation. Therefore, it is not a completely independent positioning, but this method has higher accuracy, stronger adaptability, and more flexible positioning methods than the relative positioning method.

[0004] However, no matter which method of relative positioning or absolute positioning is used, during the use process, there are still problems such as the left and right deviation of the trolley, the slipping of the crab, the inability to verify and adjust the lifting height in real time, and the loss of the position value in case of power failure or failure. Frequent calibration is required, resulting in low operation efficiency, long time consumption, high enterprise operation cost, and inability to be flexibly expanded during product upgrading. Often, the entire set of bridge crane needs to be replaced. In view of this, we propose a precise positioning system for the position of a spreader of a bridge crane based on single-machine control. Summary of the Invention

[0005] The purpose of the present invention is to provide a precise positioning system for the position of a spreader of a bridge crane based on single-machine control to solve the problems raised in the above background art.

[0006] To solve the above technical problems, one of the objectives of the present invention is to provide a precise positioning system for the position of the spreader of a bridge crane based on single-machine control, which consists of a trolley positioning system, a crab positioning system, and a hoisting positioning system. Among them:

[0007] The trolley positioning system is mainly used to achieve high-precision positioning of the trolley on the horizontal track to ensure that the end effector can accurately move to the position of the target row;

[0008] The crab positioning system is mainly used to achieve high-precision positioning of the crab on the high-level moving track to ensure that the end effector can accurately move to the target positioning position;

[0009] The hoisting positioning system is mainly used to achieve high-precision positioning of the hoisting in the height direction to ensure that the end effector can accurately move to the position of the target layer;

[0010] During the working process, the three systems cooperate closely to achieve high-precision actions of the end effector.

[0011] As a further improvement of this technical solution, during the positioning process of the system, corresponding measurement sensors are also required to obtain the accurate positions of the trolley, crab, and hoisting module, which are used to achieve the precise positioning target; and then optimize the working trajectory of the crane according to the distance between the end effector and the target position to improve the working efficiency of the crane.

[0012] As a further improvement of this technical solution, the trolley positioning system adopted is an automated rail crane trolley positioning system based on an absolute position positioning plate, which is used for the positioning of the automated rail crane trolley. The trolley is positioned by adding the absolute position of the trolley and the relative position of the trolley to the ground absolute position reference;

[0013] This system includes several infrared light emitting components arranged on the ground, infrared light receiving components installed on the trolley, an absolute position encoder for the trolley, an incremental encoder, and a high-speed counting module; among them:

[0014] The absolute position encoder for the trolley adopts an absolute value encoder, and the absolute position encoder for the trolley is installed on the axle of the non-driving wheel of the trolley and rotates synchronously with the trolley wheel, which is used to record the position through a physical code disk;

[0015] The high-speed counting module is used for pulse counting of the incremental encoder to calculate the relative position of the automated rail crane trolley relative to the marked positioning plate.

[0016] As a further improvement of this technical solution, the installation and layout structure of each part of the trolley positioning system is:

[0017] A number of the infrared light emitting components are installed on the inner side of the track and the outer side of the yard, and one such infrared light emitting component is embedded in the ground at regular intervals for the position correction of the gantry crane trolley;

[0018] The infrared light receiving component is installed at the bottom of the gantry crane trolley, about 200 mm above the ground;

[0019] Two absolute trolley position encoders are respectively installed on both sides of the gantry crane for recording the absolute position serial numbers of the markers;

[0020] Two incremental encoders are respectively installed on both sides of the gantry crane for sending pulse signals to the high-speed counting module;

[0021] Meanwhile, the signal of the infrared light receiving component is connected to the digital input point with interrupt reception in the PLC;

[0022] The signal of the absolute trolley position encoder is connected to the SSI module in the PLC;

[0023] The signal of the incremental encoder is connected to the high-speed counting module in the PLC.

[0024] As a further improvement of this technical solution, the specific working principle of the trolley positioning system is as follows:

[0025] When the gantry crane trolley of the automated heavy container passes through the marker positioning plate, the opposed sensor transmits the detected signal to the absolute trolley position encoder, and the absolute trolley position encoder determines the serial number of the marker positioning plate;

[0026] And it sends pulse signals to the high-speed counting module through the incremental encoder. After high-speed calculation by the high-speed counting module, the left and right side deviations of the gantry crane trolley of the automated heavy container are determined, and the trolley driver is controlled by the central control module to adjust the gantry crane trolley of the automated track crane to ensure the positioning accuracy of the gantry crane trolley of the automated track crane.

[0027] As a further improvement of this technical solution, in the trolley positioning system, the position detection of the trolley adopts a linear encoder. Four absolute position points are installed on the girder along the direction of the trolley track and at the four corners of the trolley for realizing the precise positioning of the trolley (such as ensuring the error is within 5 mm);

[0028] Meanwhile, four absolute value wire-pulling encoders are installed in the trolley mechanism, one at each corner of the trolley, for calculating the absolute position of the trolley installation point from the side, and it is not affected by slipping;

[0029] Among them, the installation and layout structure of each part of the trolley positioning system is as follows:

[0030] Fix the absolute value wire-pulling encoder at 4 fixed positions, with one end connected to the trolley and the other end connected to the crane girder;

[0031] Connect the signal of the absolute value wire-pulling encoder to the SSI module in the PLC.

[0032] As a further improvement of this technical solution, the hoisting positioning of the hoisting positioning system adopts an absolute value encoder plus an anti-slip distance-keeping ranging laser for verification;

[0033] Among them, when using an absolute value encoder, the measured value is the rope length, which needs to be converted into the spreader height through calculation; although the measurement process is an indirect measurement method, the measurement accuracy is very high, and the measured value of the absolute value encoder is safe and reliable, and the installation is simple. The absolute value encoder is used as the main measurement method;

[0034] Install an absolute position encoder beside the hoisting drum. The absolute position encoder adopts an absolute value encoder to measure and position the hoisting height;

[0035] At the same time, install a laser displacement sensor to measure the hoisting height and verify it with the absolute position encoder;

[0036] Install mechanical and photoelectric switches at the end of the hoisting drum for hoisting height safety protection and verification of the hoisting position to ensure operation safety.

[0037] Among them, the absolute position encoder of the crane and the absolute position encoder both adopt absolute value encoders; the absolute value encoder records the position through a physical code disk, and each position has a definite value. The position value will not be lost in case of power failure or failure, and there is no need for frequent calibration. Moreover, the position of the code disk is uniquely determined and there is no need for other devices to record the pulse quantity, so the position record is real-time and accurate.

[0038] As a further improvement of this technical solution, the installation and layout structure composed of each part of the hoisting positioning system is as follows:

[0039] Install the absolute position encoder behind the motor;

[0040] Install the laser displacement sensor on the top crossbeam;

[0041] Connect the signal of the absolute position encoder to the SSI module;

[0042] Connect the signal of the laser displacement sensor to the modulus input module.

[0043] A second object of the present invention is to provide a system operation platform device, including a processor, a memory, and a computer program stored in the memory and running on the processor. The processor is used to implement the above-mentioned accurate positioning system for the position of the spreader of the overhead crane based on single-machine control when executing the computer program.

[0044] A third object of the present invention is to provide a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the above-mentioned accurate positioning system for the position of the spreader of the overhead crane based on single-machine control.

[0045] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0046] 1. In the accurate positioning system for the position of the spreader of the overhead crane based on single-machine control, the left and right deviation of the trolley can be effectively adjusted to achieve accurate positioning of the trolley; the trolley positioning system can avoid the influence of slipping and reduce the cumulative error of the encoder; it can compare and verify the lifting positioning height and adjust it in real time.

[0047] 2. In the accurate positioning system for the position of the spreader of the overhead crane based on single-machine control, the position value will not be lost in case of power failure or failure, and there is no need for frequent calibration. The positions of the trolley, the crab, and the hoisting mechanism can be read in real time to achieve accurate positioning of the mechanism.

[0048] 3. In the accurate positioning system for the position of the spreader of the overhead crane based on single-machine control, taking the positioning system as a positioning module can save the operation cost of the enterprise. The enterprise does not need to replace the whole overhead crane, but only needs to add the corresponding positioning module according to its own needs and actual technical indicators to realize the automation of the overhead crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a block diagram of the overall system composition of the positioning module of the exemplary single-machine control system in the present invention;

[0050] Figure 2 It is an architecture diagram of the trolley positioning system in the present invention;

[0051] Figure 3 It is an architecture diagram of the crab positioning system in the present invention;

[0052] Figure 4 It is a functional diagram of the encoder in the exemplary crab positioning system in the present invention;

[0053] Figure 5 It is a partial architecture diagram of the hoisting positioning system in the present invention;

[0054] Figure 6Schematic diagram of an exemplary spreader and baffle structure in the present invention;

[0055] Figure 7 Dimension diagram of an exemplary positioning system controller in the present invention;

[0056] Figure 8 Dimension diagram of an exemplary power supply module of the positioning system in the present invention;

[0057] Figure 9 Schematic diagram of an exemplary electronic computer platform device structure in the present invention.

[0058] The meanings of each label in the figure are as follows:

[0059] 100, trolley positioning system; 101, infrared light emitting component; 102, infrared light receiving component; 103, trolley absolute position encoder; 104, incremental encoder; 105, high-speed counting module;

[0060] 200, hoist positioning system; 201, linear encoder; 202, absolute value wire-pulling encoder;

[0061] 300, lifting positioning system; 301, absolute position encoder; 302, laser displacement sensor; 303, mechanical and optoelectronic switch. Detailed implementation manners

[0062] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0063] As Figures 1-9 shown, this embodiment provides a precise positioning system for the spreader position of a bridge crane based on single-machine control, which is composed of a trolley positioning system 100, a hoist positioning system 200, and a lifting positioning system 300. Its main function is to realize the automation and intelligence of the positioning of the bridge crane, where:

[0064] The trolley positioning system 100 is mainly used to achieve high-precision positioning of the trolley on the horizontal track to ensure that the end effector can accurately move to the position of the target row;

[0065] The hoist positioning system 200 is mainly used to achieve high-precision positioning of the hoist on the high-level moving track to ensure that the end effector can accurately move to the target positioning position;

[0066] The lifting positioning system 300 is mainly used to achieve high-precision positioning of the lifting in the height direction to ensure that the end effector can accurately move to the position of the target layer;

[0067] During the working process, the three systems cooperate closely to achieve high-precision movement of the end effector.

[0068] Among them, during the positioning process of the bridge crane spreader position precise positioning system based on single-machine control, corresponding measurement sensors are also required to obtain the accurate positions of the trolley, the hoist module, and the gantry crane for achieving the precise positioning target; and then optimize the working trajectory of the crane according to the distance between the end effector and the target position to improve the working efficiency of the crane.

[0069] In this embodiment, the trolley positioning system 100 adopts an automated gantry crane trolley positioning system based on an absolute position positioning plate, which is used for positioning the trolley of the automated gantry crane. The trolley is positioned by adding the absolute position of the trolley and the relative position of the trolley to the ground absolute position reference. By adopting this method, the left-right deviation of the trolley can be effectively adjusted;

[0070] This system includes several infrared light emitting components 101 arranged on the ground, infrared light receiving components 102 installed on the trolley, a trolley absolute position encoder 103, an incremental encoder 104, and a high-speed counting module 105; where:

[0071] The trolley absolute position encoder 103 adopts an absolute value encoder. The trolley absolute position encoder 103 is installed on the axle of the non-driven wheel of the trolley and rotates synchronously with the trolley wheel, and is used to record the position through a physical code disk;

[0072] The high-speed counting module 105 is used for pulse counting of the incremental encoder 104 to calculate the relative position of the automated gantry crane trolley relative to the marked positioning plate.

[0073] Furthermore, as Figure 2 shown, the installation layout structure composed of each part of the trolley positioning system 100 is:

[0074] Several infrared light emitting components 101 are installed on the inner side of the track and the outside of the yard, and an infrared light emitting component 101 is embedded in the ground at intervals for correcting the position of the automated gantry crane trolley;

[0075] The infrared light receiving component 102 is installed at the bottom of the gantry crane trolley, about 200 mm from the ground;

[0076] Two trolley absolute position encoders 103 are respectively installed on both sides of the gantry crane for recording the marked absolute position serial numbers;

[0077] Two incremental encoders 104 are respectively installed on both sides of the gantry crane, and are used to send pulse signals to the high-speed counting module 105;

[0078] Meanwhile, the signal of the infrared light receiving component 102 is connected to the digital input point with interrupt reception in the PLC;

[0079] The signal of the gantry absolute position encoder 103 is connected to the SSI module in the PLC;

[0080] The signal of the incremental encoder 104 is connected to the high-speed counting module in the PLC.

[0081] Specifically, the specific working principle of the gantry positioning system 100 is as follows:

[0082] When the gantry of the automated full-container gantry crane passes through the marker positioning plate, the opposed sensor transmits the detected signal to the gantry absolute position encoder 103, and the gantry absolute position encoder 103 determines the marker positioning plate serial number;

[0083] And it sends pulse signals to the high-speed counting module 105 through the incremental encoder 104. After high-speed calculation by the high-speed counting module 105, it determines the left and right side deviations of the gantry of the automated full-container gantry crane, and controls the gantry driver to adjust the gantry of the automated gantry crane through the central control module to ensure the positioning accuracy of the gantry of the automated gantry crane.

[0084] In this embodiment, in the trolley positioning system 200, the position detection of the trolley adopts a linear encoder 201. Four absolute position points are installed on the girder along the trolley track direction and at the four corners of the trolley, which are used to achieve precise positioning of the trolley (such as ensuring the error is within 5 mm);

[0085] Meanwhile, four absolute value wire-pulling encoders 202 are installed in the trolley mechanism, one is installed at each corner of the trolley, which is used to calculate the absolute position of the trolley installation point from the side, and it is not affected by slipping;

[0086] Specifically, during the operation of the trolley positioning system 200, the absolute position of the trolley can also be obtained through the magnetic scale and compared with the reading of the encoder to correct the absolute position of the trolley, which can avoid the influence of slipping, thereby reducing the cumulative error of the encoder and achieving precise positioning of the trolley.

[0087] Among them, as Figures 3-4 shown, the installation and layout structure of each part of the trolley positioning system 200 is as follows:

[0088] Fix the absolute value wire-pulling encoder 202 at 4 fixed positions, with one end connected to the trolley and the other end connected to the gantry crossbeam;

[0089] The signal of the absolute value wire-pulling encoder 202 is connected to the SSI module in the PLC.

[0090] In this embodiment, for the hoisting positioning system 300, the hoisting positioning is performed by using an absolute value encoder and a non-slip distance-keeping ranging laser for verification.

[0091] Among them, when using an absolute value encoder, the measured value is the rope length, which needs to be converted into the spreader height through calculation. Although the measurement process is an indirect measurement method, the measurement accuracy is very high, and the measured value of the absolute value encoder is safe and reliable, and the installation is simple. The absolute value encoder is used as the main measurement method.

[0092] An absolute position encoder 301 is installed beside the hoisting drum. The absolute position encoder 301 uses an absolute value encoder to measure and position the hoisting height.

[0093] At the same time, a laser displacement sensor 302 is installed to measure the hoisting height and verify it with the absolute position encoder 301.

[0094] Specifically, as Figure 6 shown, a feature plate is installed on the spreader, and the real-time height is measured by a laser scanner and compared with the hoisting height obtained by the encoder to verify the height accuracy.

[0095] Another mechanical and photoelectric switch 303 is provided at the end of the hoisting drum for hoisting height safety protection and verification of the hoisting position to ensure operation safety.

[0096] Among them, both the trolley absolute position encoder 103 and the absolute position encoder 301 use absolute value encoders. The absolute value encoder records the position through a physical code disk, and each position has a definite value. The position value will not be lost in case of power failure or failure, and there is no need for frequent calibration. Moreover, the position of the code disk is uniquely determined, and there is no need for other devices to record the pulse quantity, so the position record is real-time and accurate.

[0097] And the method of using an absolute value encoder for auxiliary positioning is adopted. The position value will not be lost in case of power failure or failure, and the position record is real-time and accurate.

[0098] Furthermore, as Figure 5 shown, the installation and layout structure of each part of the hoisting positioning system 300 is as follows:

[0099] An absolute position encoder 301 is installed behind the motor;

[0100] A laser displacement sensor 302 is installed on the top crossbeam;

[0101] The signal of the absolute position encoder 301 is connected to the SSI module;

[0102] The signal of the laser displacement sensor 302 is connected to the modulus input module.

[0103] In addition, as Figures 7-8 shown, in the accurate positioning system for the position of the spreader of the overhead crane based on single-machine control in this embodiment, a controller, a power supply module, etc. are also required. For the convenience of installation, among them, the size of the positioning system controller is preferably 480 mm in length, 425 mm in width, and 172 mm in height, and the size of the positioning system power supply module is preferably 125 mm in length, 40 mm in width, and 114 mm in height.

[0104] As Figure 9 shown, this embodiment also provides a system operation platform device, which includes a processor, a memory, and a computer program stored in the memory and running on the processor.

[0105] The processor includes one or more processing cores. The processor is connected to the memory through a bus. The memory is used to store program instructions. When the processor executes the program instructions in the memory, the above-mentioned accurate positioning system for the position of the spreader of the overhead crane based on single-machine control is realized.

[0106] Optionally, the memory can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disc.

[0107] In addition, the present invention also provides a computer-readable storage medium, and the computer-readable storage medium stores a computer program. When the computer program is executed by the processor, the above-mentioned accurate positioning system for the position of the spreader of the overhead crane based on single-machine control is realized.

[0108] Optionally, the present invention also provides a computer program product containing instructions. When it runs on a computer, it enables the computer to execute the above-mentioned accurate positioning system for the position of the spreader of the overhead crane based on single-machine control in various aspects.

[0109] Those of ordinary skill in the art can understand that all or part of the steps to implement the above embodiments can be completed by hardware, or can be completed by a program instructing relevant hardware. The program can be stored in a computer-readable storage medium. The above-mentioned storage medium can be a read-only memory, a magnetic disk or an optical disc, etc.

[0110] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and the above embodiments and the descriptions in the specification are only preferred examples of the present invention and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A precise positioning system for the position of the spreader of a bridge crane based on single-machine control, characterized in that, It consists of a gantry positioning system (100), a trolley positioning system (200), and a hoisting positioning system (300), where: The gantry positioning system (100) is used to achieve high-precision positioning of the gantry on the horizontal track to ensure that the end effector can accurately move to the position of the target row; The gantry positioning system (100) adopts an automated gantry crane positioning system based on an absolute position positioning plate for positioning the automated gantry crane. The gantry is positioned by adding the absolute position of the gantry and the relative position of the gantry to the ground absolute position reference; This system includes several infrared light emitting components (101) arranged on the ground, infrared light receiving components (102) installed on the gantry, a gantry absolute position encoder (103), an incremental encoder (104), and a high-speed counting module (105); where: The gantry absolute position encoder (103) adopts an absolute value encoder. The gantry absolute position encoder (103) is installed on the axle of the non-driven wheel of the gantry and rotates synchronously with the gantry wheel, and is used to record the position through a physical code disk; The high-speed counting module (105) is used for pulse counting of the incremental encoder (104) to calculate the relative position of the automated gantry crane relative to the marker positioning plate; The trolley positioning system (200) is used to achieve high-precision positioning of the trolley on the high-rise moving track to ensure that the end effector can accurately move to the target positioning position; In the trolley positioning system (200), the position detection of the trolley adopts a linear encoder (201). Four absolute position points are installed on the girder along the direction of the trolley track and at the four corners of the trolley to achieve precise positioning of the trolley; At the same time, four absolute value wire-pulling encoders (202) are installed in the trolley mechanism, one at each corner of the trolley, to calculate the absolute position of the trolley installation point from the side, and it is not affected by slipping; Among them, the installation layout structure of each part of the trolley positioning system (200) is: Fix the absolute value wire-pulling encoder (202) at 4 fixed positions, with one end connected to the trolley and the other end connected to the gantry crossbeam; The signal of the absolute value wire-pulling encoder (202) is connected to the SSI module in the PLC; The hoisting positioning system (300) is used to achieve high-precision positioning of the hoisting in the height direction to ensure that the end effector can accurately move to the position of the target floor; The hoisting positioning of the hoisting positioning system (300) adopts an absolute value encoder plus an anti-slip distance-keeping ranging laser for calibration; An absolute position encoder (301) is installed beside the hoisting drum. The absolute position encoder (301) adopts an absolute value encoder to measure and position the hoisting height; At the same time, a laser displacement sensor (302) is installed to measure the hoisting height and verify it with the absolute position encoder (301); A mechanical and photoelectric switch (303) is additionally provided at the end of the hoisting drum for hoisting height safety protection and verification of the hoisting position to ensure operation safety; During the working process, the three systems cooperate closely to achieve high-precision movement of the end effector.

2. The accurate positioning system for the position of the spreader of the overhead crane based on single-machine control according to claim 1, characterized in that, During the positioning process, the system also uses corresponding measurement sensors to obtain the accurate positions of the trolley, hoist module, and gantry, for achieving the accurate positioning goal; and then optimizes the working trajectory of the crane according to the distance between the end effector and the target position, so as to improve the working efficiency of the crane.

3. The accurate positioning system for the position of the spreader of the overhead crane based on single-machine control according to claim 1, characterized in that, The installation and layout structure composed of each part of the gantry positioning system (100) is as follows: A plurality of the infrared light emitting components (101) are installed on the inner side of the track and the outer side of the yard, and one of the infrared light emitting components (101) is embedded in the ground at intervals for the position correction of the gantry of the automated rail-mounted crane. The infrared light receiving component (102) is installed at the bottom of the gantry of the rail-mounted crane, 200 mm from the ground. Two of the gantry absolute position encoders (103) are respectively installed on both sides of the rail-mounted crane for recording the serial numbers of the absolute positions of the marks. Two of the incremental encoders (104) are respectively installed on both sides of the rail-mounted crane for sending pulse signals to the high-speed counting module (105). Meanwhile, the signal of the infrared light receiving component (102) is connected to the digital input point with interrupt reception in the PLC. The signal of the gantry absolute position encoder (103) is connected to the SSI module in the PLC. The signal of the incremental encoder (104) is connected to the high-speed counting module in the PLC.

4. The accurate positioning system for the position of the spreader of the overhead crane based on single-machine control according to claim 1, characterized in that, The specific working principle of the gantry positioning system (100) is as follows: When the gantry of the automated loaded container rail-mounted crane passes through the mark positioning plate, the opposed sensor transmits the detected signal to the gantry absolute position encoder (103), and the gantry absolute position encoder (103) determines the serial number of the mark positioning plate. And the incremental encoder (104) sends pulse signals to the high-speed counting module (105). After high-speed calculation by the high-speed counting module (105), the left and right side deviations of the gantry of the automated loaded container rail-mounted crane are determined, and the gantry driver is controlled by the central control module to adjust the gantry of the automated rail-mounted crane to ensure the positioning accuracy of the gantry of the automated rail-mounted crane.

5. The precise positioning system for the spreader position of a bridge crane based on single-machine control according to claim 1, characterized in that, The installation and layout structure composed of each part of the hoist positioning system (300) is as follows: The absolute position encoder (301) is installed behind the motor. The laser displacement sensor (302) is installed on the top crossbeam. The signal of the absolute position encoder (301) is connected to the SSI module. The signal of the laser displacement sensor (302) is connected to the modulus input module.

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