A sling automatic box grabbing control method and system, a storage medium and an intelligent terminal

Abstract

The application relates to a lifting appliance automatic box grabbing control method and system, a storage medium and an intelligent terminal, and relates to the field of container handling technology.The method comprises the following steps: acquiring lifting appliance falling length information, lifting appliance scanning distance information and swing angle information; calculating vertical scanning distance information and horizontal scanning offset vector information; calculating lifting appliance vertical downward movement information and horizontal offset information; calculating lifting appliance distance from the ground height information; calculating theoretical lock hole distance information; screening lock hole vertical scanning distance information; calculating lock hole movement direction information; decomposing into trolley movement vector information and cart movement vector information; the trolley moves according to the trolley movement vector information, and the cart moves according to the cart movement vector information.The application has the advantages that the lifting appliance can automatically grab the box, manual operation is not needed, the positioning is accurate, the labor cost is saved, and the automation and intelligentization effect of container handling is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of container handling technology, in particular to a spreader automatic container grabbing control method and system, a storage medium and an intelligent terminal. BACKGROUND

[0002] The spreader is a special spreader for loading and unloading containers. It is connected with the top corner fittings of the container through the rotating locks at the four corners of the end beam. The driver controls the opening and closing of the rotating locks to perform container loading and unloading operations.

[0003] In the related art, the centering of the container and the spreader is assisted by the crane driver and the site command personnel. The crane driver adjusts the position of the spreader according to the command of the site command personnel to align the lock hole position of the spreader and the container, so as to lock.

[0004] According to the related art in the above, the inventors believe that this operation requires at least two personnel to be present at the same time, and the alignment completely needs the subjective recognition and judgment of the workers by the naked eye, which is high in labor cost and low in efficiency, and there is still room for improvement. SUMMARY

[0005] In order to improve the problem that the alignment completely needs the subjective recognition and judgment of the workers by the naked eye, which is high in labor cost and low in efficiency, the present application provides a spreader automatic container grabbing control method, system, storage medium and intelligent terminal.

[0006] In a first aspect, the present application provides a spreader automatic container grabbing control method, which adopts the following technical solution:

[0007] A spreader automatic container grabbing control method, comprising:

[0008] obtaining spreader falling length information, spreader scanning distance information and swing angle information;

[0009] calculating vertical scanning distance information and horizontal scanning offset vector information according to the spreader scanning distance information and the swing angle information;

[0010] calculating spreader vertical downward movement information and horizontal offset information according to the spreader falling length information and the swing angle information;

[0011] calculating spreader height from ground information according to the spreader vertical downward movement information and the preset trolley height information;

[0012] calculating the spreader height from ground information and the preset lock hole height information to obtain theoretical lock hole distance information;

[0013] screening out the vertical scanning distance information equal to the theoretical lock hole distance information, and defining the vertical scanning distance information as lock hole vertical scanning distance information;

[0014] calculating the sum of the horizontal scanning offset vector information and the horizontal offset information corresponding to the vertical scanning distance information of the locking hole, and defining the sum as the locking hole moving direction information;

[0015] decomposing the locking hole moving direction information into the cart moving vector information and the trolley moving vector information;

[0016] the cart moves according to the cart moving vector information and the trolley moves according to the trolley moving vector information.

[0017] By adopting the technical scheme, the laser scanner is installed on the lifting appliance, and then the shaking process during the falling process of the lifting appliance moving into the corresponding area is used to position the locking hole position corresponding to the container, so that the distance and direction of further fine adjustment of the cart and the trolley are determined, so that the lifting appliance can automatically grasp the container, without manual operation, the positioning is accurate, the labor cost is saved, and the automation and intelligence of the container handling are improved.

[0018] Optionally, the determination method of the cart moving according to the cart moving vector information and the trolley moving according to the trolley moving vector information comprises:

[0019] acquiring the lifting appliance number information corresponding to the four-rope lifting lifting appliance;

[0020] when the swing angle information is 0, judging whether the vertical scanning distance information corresponding to all the lifting appliance number information is equal to the theoretical locking hole distance information;

[0021] if yes, waiting until the trolley is stationary, and then lowering the lifting appliance into the locking hole;

[0022] if no, calculating the lifting appliance height information and the preset container top plate height information to obtain the theoretical container top distance information;

[0023] screening out the lifting appliance number information whose vertical scanning distance information is equal to the theoretical container top distance information when the swing angle information is 0, and defining the lifting appliance number information as the first lifting appliance number information;

[0024] judging whether the vertical scanning distance information detected by the first lifting appliance number information exists the theoretical locking hole distance information;

[0025] if yes, calculating the corresponding locking hole moving direction information according to the locking hole vertical scanning distance information corresponding to the first lifting appliance number information;

[0026] if no, screening out the moving direction information whose moving direction information detected by the first lifting appliance number information is the preset cart moving direction information and whose vertical distance information is the theoretical container top distance information, and defining the moving direction information as the first side direction information.

[0027] According to the first edge direction information and the preset lock hole distance from the wide side information, first checking distance information is calculated;

[0028] The trolley moving vector information equal to the first checking distance information in the lock hole moving direction information of the sling number information except the first sling number information is screened out, and the lock hole moving direction information is moved.

[0029] By adopting the above technical scheme, since the position of the scanned lock hole is a straight line if the sling falls on one side of the container, the distance value of the lock hole position along the moving direction of the trolley is determined according to the detection data of the sling above the container, so that the accurate trolley moving direction information is determined, and the trolley moving direction information is finally determined according to the detection data of the sling falling on one side of the container, thereby improving the accuracy and authenticity of the lock hole position.

[0030] Optionally, the method for obtaining the corresponding trolley moving vector information and trolley moving vector information according to the moving direction information corresponding to the first sling number information comprises:

[0031] It is judged whether there is vertical distance information not equal to the normal distance information when the swing angle information is 0, wherein the normal distance information comprises the sling height from the ground information, the theoretical box top distance information and the theoretical lock hole distance information;

[0032] If not, the corresponding trolley moving vector information and trolley moving vector information are obtained according to the moving direction information corresponding to the first sling number information;

[0033] If yes, the product between the container top plate height information and the preset different integer number information is calculated, and the product is defined as the multi-box top plate height information;

[0034] According to the multi-line top plate height information and the sling height from the ground information, multi-box top plate distance information is calculated;

[0035] According to the lock hole height information and the multi-box top plate height information, multi-box lock hole height information is calculated;

[0036] According to the multi-box lock hole height information and the sling height from the ground information, multi-box theoretical lock hole distance information is calculated;

[0037] When the swing angle information is 0, the sling number information with the smallest vertical distance information is screened out, and the sling number information is defined as the second sling number information;

[0038] It is judged whether the vertical scanning distance information detected by the second sling number information when the swing angle information is 0 is the multi-box theoretical lock hole distance information;

[0039] If the hole distance information is not the multi-container theoretical hole distance information, it is judged whether the multi-container theoretical hole distance information exists in the vertical scanning distance information detected by the second spreader number information;

[0040] If the hole distance information is not the multi-container theoretical hole distance information, it is judged whether the multi-container theoretical hole distance information exists in the vertical scanning distance information detected by the second spreader number information;

[0041] If the hole distance information is not the multi-container theoretical hole distance information, it is judged whether the multi-container theoretical hole distance information exists in the vertical scanning distance information detected by the second spreader number information;

[0042] If the hole distance information is not the multi-container theoretical hole distance information, it is judged whether the multi-container theoretical hole distance information exists in the vertical scanning distance information detected by the second spreader number information;

[0043] According to the second side direction information and the preset hole distance from the wide side information, the second checking distance information is calculated;

[0044] The spreader number information other than the second spreader number information is screened out, the spreader moving direction information of the second checking distance information is equal to the second checking distance information, and the spreader moving direction information is moved according to the spreader moving direction information.

[0045] According to the above technical scheme, when the container is a plurality of stacked containers, the most upper container is determined according to the obtained data and the multi-container top plate distance information and the multi-container hole height information, so that the system screens the most accurate data from a plurality of data and sequentially grasps the container from top to bottom, thereby improving the intelligence of the spreader.

[0046] Optionally, when the number of holes is several, the method for decomposing the hole moving direction information into the trolley moving vector information and the trolley moving vector information comprises:

[0047] The current hole number information and the current hole position information corresponding to the symmetrical hole pair are obtained, and the hole moving direction information corresponding to the current hole number information and the current hole position information is defined as the pre-hole moving direction information;

[0048] After moving according to the pre-hole moving direction information, the rope tension information of the adjacent spreader group is defined as the first rope group tension information, and the rope tension information of the other adjacent spreader group is defined as the second rope group tension information.

[0049] It is judged whether the first rope group tension information and the second rope group tension information are the same;

[0050] If the same, the pre-hole moving direction information is output as the hole moving direction information;

[0051] If not, the preset lock hole distance long side distance information and the current lock hole number information are matched and analyzed to determine the lock hole distance long side distance corresponding to the current lock hole number information, and the lock hole distance long side distance is defined as the current lock hole distance long side distance information.

[0052] The box object gravity information and the overall length centering information are calculated according to the first sling group tension information, the second sling group tension information, the current lock hole distance long side distance information, the preset empty box gravity information and the empty box length information.

[0053] The preset lock hole database corresponding to the lock hole number information and the lock hole position information and the overall length centering information are matched and analyzed to determine the lock hole number and the lock hole position corresponding to the overall length centering information, the lock hole number is defined as the actual lock hole number information, and the lock hole position corresponding to the actual lock hole number information is defined as the actual lock hole position information.

[0054] The pre-lock hole moving direction information is updated to the lock hole moving direction information according to the current lock hole position information and the actual lock hole position information.

[0055] By using the above technical scheme, when the objects in the box body are unevenly placed and the overall center of gravity is not at the center of the box body, the object gravity information and the position of the object in the container length direction are determined by randomly falling into a lock hole in advance and analyzing the data, so that the lock hole position information is determined according to the overall length centering information, so that the spreader can be horizontally lifted when inserted into the lock hole, and the stability of the spreader hoisting is improved.

[0056] Optionally, the method for lowering the spreader after updating the pre-lock hole moving direction information to the lock hole moving direction information according to the current lock hole position information and the actual lock hole position information comprises:

[0057] The larger sling tension information is defined as the first sling group tension information and the smaller sling tension information is defined as the second sling group tension information according to the overall length centering information.

[0058] The spreader number information corresponding to the first sling group tension information is obtained, one of the spreader number information is defined as the left spreader number information, and the other spreader number information is defined as the right spreader number information.

[0059] The left sling tension information and the right sling tension information of the left spreader number information and the right spreader number information when the spreader enters the actual lock hole position information are obtained.

[0060] Whether the left sling tension information and the right sling tension information are consistent is determined.

[0061] If consistent, the spreader is kept locked after descending;

[0062] If inconsistent, the overall width deviation information is calculated according to the left sling tension information, the right sling tension information, the object gravity information in the box and the preset empty box width information;

[0063] The actual left sling tension information and the actual right sling tension information are calculated according to the object gravity information in the box, the overall length deviation information, the overall width deviation information, the empty box gravity information and the second sling group tension information;

[0064] The actual left lock hole position information and the actual right lock hole position information are calculated according to the actual left sling tension information, the actual right sling tension information, the first sling group tension information, the actual lock hole position information, the object gravity information in the box, the overall length deviation information and the overall width deviation information;

[0065] After one of the actual left lock hole position information and the actual right lock hole position information is randomly selected to update the actual lock hole position information, the actual lock hole position information is updated to the other when the corresponding spreader number information falls into the lock hole.

[0066] Optionally, the method of updating the actual lock hole position information to the other when the corresponding spreader number information falls into the lock hole after one of the actual left lock hole position information and the actual right lock hole position information is randomly selected to update the actual lock hole position information comprises:

[0067] The larger one of the left sling tension information and the right sling tension information is defined as the left sling tension information;

[0068] The internal article information and the corresponding friction coefficient information are obtained;

[0069] The friction force information is calculated according to the object gravity information in the box and the friction coefficient information;

[0070] The box body inclination angle information is calculated according to the object gravity information in the box and the friction force information;

[0071] The left sling contraction length information is theoretically calculated according to the empty box width information, the lock hole height information and the box body inclination angle information;

[0072] The check sling tension information is calculated according to the object gravity information in the box, the empty box gravity information, the empty box width information, the lock hole height information and the box body inclination angle information;

[0073] After the left sling corresponding to the left sling tension information is inserted into the actual lock hole position information, the left sling tension information of the corresponding sling is obtained by contraction according to the left sling contraction length information, and the left sling tension information is defined as the first adjusted left sling tension information;

[0074] judging whether the tension value corresponding to the first adjusted left sling tension information is equal to the check sling tension information;

[0075] if greater, maintaining the contraction state;

[0076] if equal, releasing the contraction state and inserting the right sling tension information into the actual lock hole position information;

[0077] if less, releasing the contraction state and reacquiring the left sling tension information and the right sling tension information, and updating one of the actual left lock hole position information and the actual right lock hole position information to the actual lock hole position information, and then updating the actual lock hole position information to the other when the corresponding spreader number information falls into the lock hole.

[0078] Optionally, the method for the spreader to automatically grab the box when the tension value is less than the check sling tension information comprises:

[0079] acquiring the left sling tension information and the right sling tension information after contraction according to the left sling contraction length information, and recalculating the overall width centering information, which is defined as the changed overall width centering information;

[0080] calculating the single flip distance information according to the overall width centering information before contraction according to the left sling contraction length information and the changed overall width centering information;

[0081] calculating the continuous adjustment angle information according to the single flip distance information and the overall width centering information;

[0082] calculating the adjustment lock hole position information and the adjustment diameter information according to the empty box width information and the continuous adjustment angle information;

[0083] calculating the left sling adjustment length information according to the adjustment diameter information, the box body inclination angle information, and the theoretical lock hole distance information;

[0084] acquiring the left sling tension information corresponding to the sling, and defining the left sling tension information as the second adjusted left sling tension information;

[0085] inserting the sling corresponding to the first adjusted left sling tension information into the adjustment lock hole position information, and releasing the contraction state when the second adjusted left sling tension information is equal to the check sling tension information after contraction according to the left sling adjustment length information, and reacquiring the actual lock hole position information and inserting it into the corresponding actual lock hole position information.

[0086] In a second aspect, the present application provides a spreader automatic box grabbing control system, which adopts the following technical solution:

[0087] A spreader automatic box grabbing control system comprises:

[0088] The information acquisition module is configured to acquire the length information of the falling of the lifting appliance, the scanning distance information of the lifting appliance, and the swing angle information;

[0089] The processing module is connected to the information acquisition module and the calculation module, and is configured to store and process information.

[0090] The calculation module is configured to calculate the vertical scanning distance information and the horizontal scanning offset vector information according to the scanning distance information of the lifting appliance and the swing angle information.

[0091] The calculation module is configured to calculate the vertical downward movement information and the horizontal offset information of the lifting appliance according to the length information of the falling of the lifting appliance and the swing angle information.

[0092] The calculation module is configured to calculate the height information of the lifting appliance from the ground according to the vertical downward movement information of the lifting appliance and the preset height information of the trolley.

[0093] The calculation module is configured to calculate the theoretical locking hole distance information by calculating the height information of the lifting appliance from the ground and the preset height information of the locking hole.

[0094] The screening module is connected to the processing module, and is configured to screen the vertical scanning distance information equal to the theoretical locking hole distance information, and define the vertical scanning distance information as the locking hole vertical scanning distance information.

[0095] The calculation module is configured to calculate the sum of the horizontal scanning offset vector information and the horizontal offset information corresponding to the locking hole vertical scanning distance information, and define the sum as the locking hole movement direction information.

[0096] The processing module is configured to decompose the locking hole movement direction information into the trolley movement vector information and the trolley movement vector information.

[0097] The moving module is connected to the processing module, and is configured to control the trolley to move according to the trolley movement vector information and the trolley to move according to the trolley movement vector information.

[0098] In a third aspect, the present application provides an intelligent terminal, which adopts the following technical solution:

[0099] An intelligent terminal includes a memory and a processor, and the memory stores a computer program capable of being loaded and executed by the processor to perform any of the above-mentioned lifting appliance automatic box grabbing control methods.

[0100] In a fourth aspect, the present application provides a computer readable storage medium capable of storing a corresponding program and having the characteristics of accurate scanning.

[0101] A computer readable storage medium adopts the following technical solution:

[0102] A computer readable storage medium stores a computer program capable of being loaded and executed by a processor to perform any of the above-mentioned lifting appliance automatic box grabbing control methods.

[0103] In summary, the present application includes at least one of the following beneficial technical effects:

[0104] 1. By installing a laser scanner on the spreader, the corresponding lock hole position of the container is positioned, so as to determine the distance and direction of further fine adjustment of the trolley and the car, so that the spreader can automatically grab the box, the positioning is accurate, the labor cost is saved, and the automation and intelligence of the container handling are improved. BRIEF DESCRIPTION OF DRAWINGS

[0105] Figure 1 is a flowchart of a spreader automatic box grabbing control method in an embodiment of the present application.

[0106] Figure 2 is a flowchart of a determination method in which the trolley moves according to the trolley movement vector information and the car moves according to the car movement vector information in an embodiment of the present application.

[0107] Figure 3 is a flowchart of a method for obtaining trolley movement vector information and car movement vector information in an embodiment of the present application.

[0108] Figure 4 is a flowchart of a method for decomposing the lock hole movement direction information in an embodiment of the present application.

[0109] Figure 5 is a top view of the load in the container in an embodiment of the present application.

[0110] Figure 6 is a side view of the load in the container in an embodiment of the present application.

[0111] Figure 7 is a flowchart of a method for lowering the spreader after updating the pre-lock hole movement direction information to the lock hole movement direction information according to the current lock hole position information and the actual lock hole position information in an embodiment of the present application.

[0112] Figure 8 is a flowchart of a method for updating to the actual lock hole position information in an embodiment of the present application.

[0113] Figure 9 is a flowchart of a method for automatically grabbing the box by the spreader in an embodiment of the present application.

[0114] Figure 10 is a module diagram of a spreader automatic box grabbing control method in an embodiment of the present application. DETAILED DESCRIPTION

[0115] In order to make the purpose, technical scheme and advantages of the present application more clear and explicit, the following will be combined with the accompanying drawings to further describe the present application. Figures 1-10The application will be further described in detail with reference to the embodiments and the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to explain the application and are not intended to limit the application.

[0116] The embodiments of the application will be further described in detail with reference to the accompanying drawings.

[0117] Referring to Figure 1 The embodiments of the application provide a sling automatic box grabbing control method, and a main flow of the sling automatic box grabbing control method is described as follows.

[0118] Step 100: Obtain the sling falling length information, the sling scanning distance information and the swing angle information.

[0119] The sling falling length information is the information of the length of the sling falling from the trolley. The sling falling length information can be calculated by the number of turns of the reel on the trolley and the rotation angle of the reel. The sling scanning distance information is the information of the distance of the feedback of the length of the sling rope along the length direction of the sling scanned by the laser scanner, which is obtained by the laser scanner. The swing angle information is the information of the angle of the sling and the sling rope in the horizontal direction and the vertical direction, which is obtained by image recognition in the horizontal direction and displacement angle sensor in the vertical direction.

[0120] Step 101: Calculate the vertical scanning distance information and the horizontal scanning offset vector information according to the sling scanning distance information and the swing angle information.

[0121] The vertical scanning distance information is the information of the distance value of the position scanned by the sling and the sling in the vertical direction. The calculation method is L2H=L2*cosθH, wherein L2 is the sling scanning distance information, and θH is the information of the angle in the vertical direction in the swing angle information.

[0122] The horizontal scanning offset vector information is the relative distance and direction of the position scanned by the sling and the sling in the horizontal direction. The calculation method is L2V=L2*sinθH. The direction is the information of the swing angle information in the horizontal direction.

[0123] Step 102: Calculate the sling vertical downward movement information and the horizontal offset information according to the sling falling length information and the swing angle information.

[0124] The sling vertical downward movement information is the distance information of the sling falling length information in the vertical direction. The calculation method is L1H=L1*cosθH, wherein L1 is the sling falling length information.

[0125] The horizontal offset information is the distance and direction of the falling length information of the spreader in the horizontal direction. The calculation method is L1V=L1*sinθH. The direction is the information of the swing angle information in the horizontal direction.

[0126] Step 103: Calculate the height information of the spreader from the ground according to the vertical falling information of the spreader and the preset height information of the trolley.

[0127] The height information of the trolley is the height information of the trolley from the ground. The height information of the spreader from the ground is the height information of the spreader from the ground. The calculation method is the height information of the trolley minus the vertical falling information of the spreader.

[0128] Step 104: Calculate the theoretical hole distance information by the height information of the spreader from the ground and the preset height information of the lock hole.

[0129] The height information of the lock hole is the height information of the lock hole position from the ground when the container is placed on the ground. The theoretical hole distance information is the distance value in the vertical direction converted from the data received when the spreader is placed at the height corresponding to the height information of the spreader from the ground and theoretically scans the lock hole.

[0130] Step 105: Screen out the vertical scanning distance information equal to the theoretical hole distance information, and define the vertical scanning distance information as the lock hole vertical scanning distance information.

[0131] The lock hole vertical scanning distance information is the vertical scanning distance information equal to the theoretical hole distance information after the calculation of the previous steps in the scanned data. The screening method is numerical comparison.

[0132] Step 106: Calculate the sum of the horizontal scanning offset vector information and the horizontal offset information corresponding to the lock hole vertical scanning distance information, and define the sum as the lock hole moving direction information.

[0133] The lock hole moving direction information is the direction and distance information of the position before the spreader falls. When the lock hole vertical scanning distance information is screened out, the spreader scans the lock hole at this time, then the lock hole, the spreader and the trolley falling rope on the spreader are in the same straight line, then the distance value of the falling position of the lock hole and the rope can be determined according to the length of the rope and the horizontal distance of the spreader scanning distance information from the lock hole. The distance value is the sum of the horizontal scanning offset vector information and the horizontal offset information. The corresponding direction is the direction of movement.

[0134] Step 107: Decompose the lock hole moving direction information into the trolley moving vector information and the trolley moving vector information.

[0135] The trolley moving vector information is information of a distance value and a direction of the trolley moving. The car moving vector information is information of a distance value and a direction of the car moving. The resolution method is in a form of a right triangle, and a sum of squares of the distance value corresponding to the trolley moving vector information and the distance value corresponding to the car moving vector information is equal to a square of the distance value corresponding to the lock hole moving direction information. As shown in FIG. 8, the direction of the trolley moving vector information and the direction of the car moving vector information are arranged perpendicularly. Figure 5

[0136] Step 108: The car moves according to the car moving vector information, and the trolley moves according to the trolley moving vector information.

[0137] When the car moving vector information and the trolley moving vector information are determined, the corresponding vehicles are moved, so that the spreader is just corresponding to the lock hole when the car and the trolley are stable after stopping for a period of time, facilitating the falling.

[0138] With reference to Figure 2 , the determination method of the car moving according to the car moving vector information and the trolley moving according to the trolley moving vector information comprises:

[0139] Step 200: Obtain the spreader number information corresponding to the spreader of the four-rope hoisting.

[0140] The spreader number information is information of a number of the spreader. In the embodiment, the number of the spreader is four, and the purpose of numbering is to distinguish each spreader and facilitate the finding of data abnormality.

[0141] Step 201: When the swing angle information is 0, determine whether the vertical scanning distance information corresponding to all the spreader number information is equal to the theoretical lock hole distance information.

[0142] The purpose of the determination is to determine whether the four spreaders are accurately aligned and can be fallen.

[0143] Step 2011: If yes, wait until the trolley is stationary, and then fall the spreader into the lock hole.

[0144] If yes, it indicates that the four spreaders are aligned at this time, and can be fallen.

[0145] Step 2012: If no, calculate the spreader height from the ground information and the preset container top plate height information to obtain the theoretical box top distance information.

[0146] ​The container roof height information is information of the height of the container roof from the ground, which is obtained by artificial measurement in advance. The theoretical roof distance information is information of the theoretical vertical distance between the spreader and the container roof when the spreader is at the height corresponding to the spreader-to-ground height information. The calculation method is to subtract the height value corresponding to the container roof height information from the spreader-to-ground height information.

[0147] Step 202: The spreader number information is screened out when the swing angle information is 0 and the vertical scanning distance information is equal to the theoretical roof distance information, and the spreader number information is defined as the first spreader number information.

[0148] The first spreader number information is the spreader number information when the vertical scanning distance information is equal to the theoretical roof distance information when the swing angle information is 0. Since the relative position of the four-rope spreader at the rope point on the trolley is fixed, when one is aligned and the others are aligned, and the path is artificially specified in advance, the spreader will enter the range of the container under the specified operation, so the spreader deviation is generally not large, and this method is a subsequent alignment operation, not a large-scale operation in the early stage.

[0149] When the spreader is at the roof of the container, the area scanned by the spreader is only the roof and the lock hole area, and the container side wall area will not be scanned. When the spreader is at the side of the container, the spreader will scan the container side wall, so there is a straight line on the container side wall whose vertical distance from the lock hole is the same, which interferes with the determination of the lock hole position. Therefore, the first spreader number information is selected as the spreader for analyzing the lock hole position.

[0150] Step 203: Determine whether the vertical scanning distance information detected by the first spreader number information exists theoretical lock hole distance information.

[0151] Since the spreader corresponding to the first spreader number information is above the roof, the area scanned by the spreader generally includes the roof area. However, when the position of the spreader lowering the rope and the lock hole form a certain angle, the lock hole may be hidden by the roof and cannot be scanned. The purpose of this judgment is to determine whether the lock hole can be scanned.

[0152] Step 2031: If it exists, calculate the corresponding lock hole moving direction information according to the lock hole vertical scanning distance information corresponding to the first spreader number information.

[0153] If it exists, it means that the spreader above the roof can scan the position of the lock hole, so the direction and distance of the movement of the trolley and the trolley are directly determined according to the calculation of the corresponding lock hole moving direction information according to the lock hole vertical scanning distance information corresponding to the first spreader number information. The steps of calculation are consistent with steps 100-108, and will not be repeated here.

[0154] Step 2032: If not, screening out the moving direction information with the maximum value from the moving direction information detected on the first sling number information when the moving direction information is the preset moving direction information of the trolley and the vertical distance information is the theoretical distance information of the container top, and defining the moving direction information as the first side direction information.

[0155] The first side direction information is the information of the direction and distance value of the sling corresponding to the first sling number information from the container side wall. The trolley moving direction information is the information of the moving direction of the trolley set by human, such as shown in Figure 4 and 5 When the directions of the two trolley moving direction information and the first side direction information are consistent and the vertical distance information at this time is the theoretical distance information of the container top, the range of the scanned container top at this time is within the range of the container top edge, and the value is the maximum. If not, it means that the hole position is blocked by the container top at this time, and another sling needs to be matched to determine.

[0156] Step 204: Calculating the first checking distance information according to the first side direction information and the preset distance information of the hole from the wide side.

[0157] The first checking distance information is the information of the distance value and direction of the sling from the hole in the direction corresponding to the trolley moving direction information. Since the positions of the sling and the hole are aligned, the position of each sling deviating from the corresponding hole is also fixed, and the distance in the trolley moving direction information is also the same. Therefore, at this time, the first checking distance information can be used to distinguish whether the sling is on one side of the container when scanning the position of a straight line on the container side wall or the hole.

[0158] Step 205: Screening out the hole moving direction information of the trolley moving vector information equal to the first checking distance information from the sling number information except the first sling number information, and moving according to the hole moving direction information.

[0159] The screening method is to decompose each hole moving direction information according to step 107, and then match the trolley moving vector information and the value corresponding to the first checking distance information. If they are the same, they will be screened out.

[0160] Referring to Figure 3 , the method for obtaining the corresponding trolley moving vector information and trolley moving vector information according to the moving direction information corresponding to the first sling number information comprises:

[0161] Step 300: Judging whether there is vertical distance information not equal to the regular distance information when the swing angle information is 0, wherein the regular distance information includes the sling height from the ground information, the theoretical distance information of the container top, and the theoretical distance information of the hole.

[0162] The conventional distance information is the information of the conventional vertical distance value, including the height information of the spreader from the ground, the distance information of the theoretical top of the container, and the distance information of the theoretical lock hole. The purpose of the judgment is to determine whether there is a stacked container. It should be noted that the analysis process does not exist in the case of unexpected concave or raised.

[0163] Step 3001: If there is, respectively calculate the product between the container top plate height information and the preset different integer number information, and define the product as the multi-container top plate height information.

[0164] The multi-container top plate height information is the information of the height of the top of the uppermost container after stacking multiple containers. The integer number information is the information of the number of containers. If there is, it means that there is a stacked container at this time. The calculation method is the product between the container top plate height information and the integer number information, and the multi-container top plate height information is multiple at this time.

[0165] Step 3002: If there is not, the corresponding trolley moving vector information and trolley moving vector information are obtained according to the moving direction information corresponding to the first spreader number information.

[0166] If there is not, it means that it is a single container at this time, and the corresponding trolley moving vector information and trolley moving vector information are obtained according to the moving direction information corresponding to the first spreader number information to control the trolley and the trolley.

[0167] Step 301: Calculate the multi-container top plate distance information according to the multi-line top plate height information and the height information of the spreader from the ground.

[0168] The multi-container top plate distance information is the vertical distance information of the uppermost container from the spreader after stacking multiple containers. The calculation method is to subtract the multi-line top plate height information from the height information of the spreader from the ground.

[0169] Step 302: Calculate the multi-container lock hole height information according to the lock hole height information and the multi-container top plate height information.

[0170] The multi-container lock hole height information is the information of the height of the lock hole from the ground of the uppermost container after stacking multiple containers. The calculation method is to subtract the single container top plate height information from the multi-container top plate height information and add the lock hole height information.

[0171] Step 303: Calculate the multi-container theoretical lock hole distance information according to the multi-container lock hole height information and the height information of the spreader from the ground.

[0172] The multi-container theoretical lock hole distance information is the vertical distance information of the lock hole on the uppermost container from the spreader after stacking multiple containers. The calculation method is to subtract the multi-container lock hole height information from the height information of the spreader from the ground.

[0173] Step 304: screening out the spreader number information with the minimum vertical distance information when the swing angle information is 0, and defining the spreader number information as the second spreader number information.

[0174] The screening purpose is to select the number of the spreader on the top plate of the uppermost container. It is consistent with step 202.

[0175] Step 305: judging whether the vertical scanning distance information detected by the second spreader number information when the swing angle information is 0 is the multi-container theoretical locking hole distance information.

[0176] The judgment purpose is to determine whether the position above the locking hole of the uppermost container.

[0177] Step 3051: if it is the multi-container theoretical locking hole distance information, then waiting until the trolley and the car are stationary and then lowering the spreader into the locking hole.

[0178] If it is, it means that the position above the locking hole of the uppermost container, so it can be directly lowered after the trolley and the car are stationary.

[0179] Step 3052: if it is not the multi-container theoretical locking hole distance information, then judging whether there is multi-container theoretical locking hole distance information in the vertical scanning distance information detected by the second spreader number information.

[0180] If not, it means that the uppermost container is not aligned at this time, and the judgment of whether there is multi-container theoretical locking hole distance information in the vertical scanning distance information detected by the second spreader number information is continued. The judgment purpose is consistent with step 203, which will not be repeated here.

[0181] Step 3061: if there is, then calculating the corresponding locking hole moving direction information according to the locking hole vertical scanning distance information corresponding to the second spreader number information.

[0182] If there is, it is consistent with step 2031, which will not be repeated here, except that the locking hole here is the locking hole of the uppermost container.

[0183] Step 3062: if there is not, then screening out the moving direction information with the maximum value when the moving direction information detected by the second spreader number information is the preset car moving direction information and the vertical distance information is the multi-container top plate distance information, and defining the moving direction information as the second side-by-side direction information.

[0184] If there is not, it is consistent with step 2032, which will not be repeated here, except that the second side-by-side direction information here is the moving direction information with the maximum value when the moving direction information detected by the second spreader number information is the preset car moving direction information and the vertical distance information is the multi-container top plate distance information.

[0185] Step 307: Calculate the second checking distance information according to the second side-by-side direction information and the preset distance between the lock hole and the wide side information.

[0186] The second checking distance information is the distance value and direction information between the spreader and the lock hole in the direction corresponding to the trolley movement direction information. Since the positions of the spreader and the lock hole are aligned, the position of each spreader deviating from the corresponding lock hole is also fixed, and the distance in the trolley movement direction information is also the same. Therefore, the second checking distance information can be used to distinguish whether the scanning is the position of a straight line on the side wall of the container or the lock hole when the spreader is on one side of the container.

[0187] Step 308: Screen out the lock hole movement direction information whose trolley movement vector information is equal to the second checking distance information from the spreader number information except the second spreader number information, and move according to the lock hole movement direction information.

[0188] The screening method is to decompose each lock hole movement direction information according to step 107, and then match the trolley movement vector information and the value corresponding to the first checking distance information. If they are the same, they are screened out.

[0189] Reference Figure 4 When the number of lock holes is several, the method of decomposing the lock hole movement direction information into the trolley movement vector information and the trolley movement vector information includes:

[0190] Step 400: Obtain the current lock hole number information and the current lock hole position information corresponding to the symmetrical lock holes, and define the lock hole movement direction information corresponding thereto as the pre-lock hole movement direction information.

[0191] The current lock hole number information is the information of the number of lock holes. As shown in Figure 5 Each side has a plurality of lock holes, and the number is used to distinguish the position of the lock hole. The current lock hole position information is the information of the position of the symmetrical lock hole. The current lock hole position information and the current lock hole number information correspond one by one. The pre-lock hole movement direction information is the distance that needs to be moved when the spreader is inserted into the lock hole corresponding to the current lock hole position information. After selection, the corresponding lock hole movement direction information is determined as the pre-lock hole movement direction information. The purpose is to detect the same environment when detecting, and the difference is only in the container.

[0192] Step 401: After moving according to the pre-lock hole movement direction information, obtain the spreader number information parallel to each other along the length direction of the container after falling respectively, and obtain the rope tension information of the container after being pulled up, define the rope tension information of one group of adjacent spreaders as the first rope group tension information, and define the rope tension information of the other group of adjacent spreaders as the second rope group tension information.

[0193] The tension information for the first lifting rope group is the sum of the tensions detected on adjacent lifting ropes parallel to each other along the length of the container. The tension information for the second lifting rope group is the sum of the tensions detected on another set of adjacent lifting ropes parallel to each other along the length of the container. This can be detected using tension measuring instruments, such as a tension gauge. When one lifting rope just lifts the container, the rope reeling stops, and then the other lifting rope on the same side also lifts the container. The sum of the tensions of these two ropes is the tension information for either the first or second lifting rope group. This can be combined with any device for detecting the container's movement, such as a pressure detector or a displacement detector. The tension information for the first and second lifting rope groups does not explicitly indicate which group it is; it can be either one. The designation "first" and "second" is only for distinguishing the two groups and facilitating the determination of their positions.

[0194] Step 402: Determine whether the tension information of the first suspension rope group and the tension information of the second suspension rope group are the same.

[0195] The purpose of the judgment is to determine whether the container is in a horizontal state when it is lifted after being moved according to the pre-locking hole movement direction information.

[0196] Step 4021: If they are the same, output the pre-locking hole movement direction information as the locking hole movement direction information.

[0197] If they are the same, it means that the force required to lift the container from either side is the same, which further indicates that the container is in a horizontal state, the locking hole is accurately aligned, and the spreader is under balanced force. Therefore, the pre-locking hole movement direction information can be output as the locking hole movement direction information.

[0198] Step 4022: If they are not the same, then perform a matching analysis based on the keyhole distance from the long side information stored in the preset keyhole distance database and the current keyhole number information to determine the keyhole distance from the long side corresponding to the current keyhole number information, and define the keyhole distance from the long side as the current keyhole distance from the long side information.

[0199] The current distance from the keyhole to the long side refers to the distance from the current keyhole to the long side of the container. Figure 5 As shown, 'a' represents the keyhole number. It's important to note that the value of 'a' varies depending on the current keyhole number; any value can be selected, as long as it corresponds to the keyhole number. The database stores a mapping between the keyhole distance from the long side and the current keyhole number, recorded and stored by those skilled in the art based on practical considerations and methods convenient for their identification. When the system receives the current keyhole number, it automatically retrieves the corresponding distance from the long side from the database.

[0200] If not, it indicates that the container is not in a horizontal state at this time, and therefore the position of the locking hole that can make the container in a horizontal state needs to be determined.

[0201] Step 403: Calculate the object weight information in the container and the overall length deviation information from the center according to the first sling group tension information, the second sling group tension information, the current locking hole distance from the long side information, the preset empty container gravity information and the empty container length information.

[0202] The empty container gravity information is the information of the weight of the empty container. The empty container length information is the information of the length of the empty container. The object weight information in the container is the information of the weight of the object in the container. The overall length deviation information from the center is the information of the distance of the center of gravity corresponding to the total weight of the object in the container and the container deviating from the middle in the length direction. The force arm of each sling is determined according to the current locking hole distance from the long side information, and then the distance and the product of the tension and the gravity value of the empty container gravity information are added and subtracted to equal 0 according to the first sling group tension information, and then the distance and the product of the tension and the gravity value of the empty container gravity information are added and subtracted to equal 0 according to the second sling group tension information, two equations are combined to calculate a binary linear equation, and then the final solution is obtained, one of which is the object weight information in the container and the other is the overall length deviation information from the center, and then the two corresponding data and types are determined according to the actual situation.

[0203] Step 404: Match and analyze the overall length deviation information from the center according to the corresponding locking hole number information and the locking hole position information in the preset locking hole database to determine the locking hole number corresponding to the overall length deviation information from the center and the locking hole position, define the locking hole number as the actual locking hole number information, and define the locking hole position corresponding to the actual locking hole number information as the actual locking hole position information.

[0204] The actual locking hole number information is the information of the number of the locking hole that needs to be inserted into the spreader to ensure that the container is in a horizontal state when being lifted when the distance value of the center of gravity of the container from the middle of the length in the length direction is the overall length deviation information from the center. The actual locking hole position information is the information of the position of the locking hole corresponding to the actual locking hole number information. The mapping relationship of the locking hole number information, the locking hole position information and the overall length deviation information from the center is stored in the database, which is obtained by the workers in the field through experiments and data analysis and input into the database. When the system receives the overall length deviation information from the center, it automatically finds the corresponding locking hole number information and locking hole position information from the database and outputs according to the actual locking hole number information and the actual locking hole position information.

[0205] Step 405: Update the pre-locking hole moving direction information to the locking hole moving direction information according to the current locking hole position information and the actual locking hole position information.

[0206] In order to ensure balance, the distance and direction of the movement is the vector difference between the current lock hole position information and the actual lock hole position information, and then the corresponding lock hole movement direction information is updated to the lock hole movement direction information.

[0207] Referring to Figure 7 After updating the pre-lock hole movement direction information to the lock hole movement direction information according to the current lock hole position information and the actual lock hole position information, the method for lowering the spreader includes:

[0208] Step 500: defining the larger sling tension information as the first sling group tension information and the smaller sling tension information as the second sling group tension information according to the overall length deviation information.

[0209] The purpose of the definition here is to distinguish between larger and smaller, for example Figure 5 As shown in the figure, the overall length deviation information is towards the left, so the sum of the two sling tensions on the left is defined as the first sling group tension information, and the other group is the second sling group tension information.

[0210] Step 501: obtaining the spreader number information corresponding to the first sling group tension information, and defining one of the spreader number information as the left spreader number information and the other as the right spreader number information.

[0211] Here, when the first sling group tension information is known, the corresponding two spreader number information are also known, so one of them is arbitrarily taken as the left spreader number information and the other as the right spreader number information.

[0212] Step 502: obtaining the left sling tension information and the right sling tension information of the left spreader number information and the right spreader number information when the spreader enters the actual lock hole position information.

[0213] The method is the method in step 401, that is, when the sling on one side just lifts the container, stop winding, and then wait until the other sling on the same side also lifts the container, at this time, the two are respectively the left spreader number information and the right spreader number information. The left sling tension information is obtained by stopping winding when the left sling lifts the container, and then waiting until the left sling number information of the second sling group number information is lifted at the same time, at this time, the left sling tension information is detected, and the right sling tension information is obtained in the same way as the left sling tension information. At this time, any device for detecting the state of motion of the container can be used, such as a pressure detector or a displacement detector below.

[0214] Step 503: determining whether the left sling tension information and the right sling tension information are consistent.

[0215] The purpose of the judgment is to determine whether the object in the container is in the middle of the container width direction.

[0216] Step 5031: If consistent, the spreader is lowered and then locked.

[0217] If yes, it means that the object in the container is in the middle of the container width direction at this time, and the left spreader group does not need to adjust the position to maintain the horizontal state of the container.

[0218] Step 5032: If inconsistent, the overall width deviation information is calculated according to the left sling tension information, the right sling tension information, the object in the container gravity information and the preset empty container width information.

[0219] The overall width deviation information is the information of the distance value of the deviation of the center of gravity of the object in the container and the empty container from the middle in the container width direction. The calculation method is to select the left sling tension information or the right sling tension information combined with the object in the container gravity information to obtain the moment with the bottom of the opposite side of the container width as the rotation axis, and then add or subtract to obtain 0, and the solution is the overall width deviation information. If inconsistent, it means that the object in the container is not in the middle of the width direction at this time, so the distance value of the deviation from the middle of the width is calculated.

[0220] Step 504: The actual left sling tension information and the actual right sling tension information are calculated according to the object in the container gravity information, the overall length deviation information, the overall width deviation information, the empty container gravity information and the second sling group tension information.

[0221] The actual left sling tension information and the actual right sling tension information are the actual left sling tension information and the right sling tension information required to maintain the horizontal state of the container. The calculation method here is to add or subtract the moment obtained by the actual left sling tension information, the actual right sling tension information, the object in the container gravity information and the distance from the middle position in the width direction as the force arm to obtain 0, and the sum of the left sling tension information and the actual right sling tension information is equal to the object in the container gravity information and the empty container gravity information, and the solution obtained by actually forming a binary linear equation set is the actual left sling tension information and the actual right sling tension information. As shown in Figure 6 The smaller one is the actual left sling tension information, and the larger one is the actual right sling tension information.

[0222] Step 505: The actual left lock hole position information and the actual right lock hole position information are calculated according to the actual left sling tension information, the actual right sling tension information, the first sling group tension information, the actual lock hole position information, the object in the container gravity information, the overall length deviation information and the overall width deviation information.

[0223] The actual left lock hole position information is inserted into the actual left lock hole position information, and then the actual right sling tension information is inserted into the actual right lock hole position information. The calculation method is that the actual left sling tension information, the actual right sling tension information, the first sling group tension information, and the box object gravity information are added and subtracted to the torque of the force arm with the center of the container as the rotating shaft. When the lower rope point is the actual lock hole position, the actual left sling tension information and the actual right sling tension information are respectively taken as the distance value of the actual left lock hole position information and the actual right lock hole position information from the actual lock hole position. The sum of the torque corresponding to the force arm is 0, and the actual left lock hole position information and the actual right lock hole position information are obtained by forming a binary linear equation set. The actual left lock hole position information is a point that deviates from the actual lock hole position more, and the other is the actual right lock hole position information.

[0224] Step 506: After one of the actual left lock hole position information and the actual right lock hole position information is updated as the actual lock hole position information, when the corresponding spreader number information falls into the lock hole, the actual lock hole position information is updated as the other.

[0225] When the two positions are known, the corresponding spreader can be lowered according to the corresponding lock hole position, and then restored to the original lock hole position information. The purpose of updating is to allow the spreader to be inserted into the corresponding lock hole.

[0226] Reference Figure 8 , the method for updating one of the actual left lock hole position information and the actual right lock hole position information as the actual lock hole position information after the corresponding spreader number information falls into the lock hole includes:

[0227] Step 600: define the larger one of the left sling tension information and the right sling tension information as the left sling tension information.

[0228] The actual left sling tension information is the larger sling tension of the left sling tension information and the right sling tension information. The purpose of the definition is to distinguish between the two, as shown in Figure 6 When the weight is on that side, the corresponding sling tension value is larger.

[0229] Step 601: obtain the internal object information and the corresponding friction coefficient information.

[0230] The friction coefficient information is the friction coefficient information between the internal object information in the current state and the inner wall of the container, which is obtained by recording and storing the results observed by the staff when putting the object into the corresponding position and state.

[0231] Step 602: Calculate the friction force information according to the gravity information of the object in the container and the friction coefficient information.

[0232] The friction force information is the information of the maximum friction force generated when the object contacts the inside of the container, and here the sliding friction force is used as the reference, that is, the friction force generated during the sliding of the object. The calculation method is to multiply the two.

[0233] Step 603: Calculate the container tilt angle information according to the gravity information of the object in the container and the friction force information.

[0234] The container tilt angle information is the angle information of the tilt of the container required to make the container slide under the condition that the gravity value and the sliding friction force value of the object in the container have been determined. The calculation method is Gcosθ=F, where G is the gravity information of the object in the container and F is the friction force information.

[0235] Step 604: Theoretically calculate the left sling contraction length information according to the empty container width information, the lock hole height information, and the container tilt angle information.

[0236] The left sling contraction length information is the distance value of the container being lifted and showing the container tilt angle information when the container is contracted according to the left sling contraction length information.

[0237] Step 605: Calculate the check sling tension information according to the gravity information of the object in the container, the gravity information of the empty container, the empty container width information, the lock hole height information, and the container tilt angle information.

[0238] The check sling tension information is the information of the tension that the sling needs to maintain to keep balance when the center of gravity of the object in the container moves to the middle line of the container in the width direction. The calculation method is that the sum of the moments corresponding to the check sling tension information, the gravity information of the object in the container, and the gravity information of the empty container with the other side of the container as the force arm shaft is equal to 0, and the solution formed is the check sling tension information.

[0239] Step 606: After inserting the sling corresponding to the left sling tension information into the actual lock hole position information and contracting according to the left sling contraction length information, the left sling tension information of the corresponding sling is obtained, and the left sling tension information is defined as the first adjustment left sling tension information.

[0240] The first adjustment left sling tension information is the real-time value of the change in tension on the left sling caused by the movement of the object when the sling is inserted into the actual lock hole position information and contracted according to the left sling contraction length information.

[0241] Step 607: Determine whether the tension value corresponding to the first adjustment left sling tension information obtained in real time is equal to the check sling tension information.

[0242] The purpose of the judgment is to determine whether the object has moved to the middle position.

[0243] Step 6071: If greater, maintain the retracted state.

[0244] If greater, it means that the moment generated by the object information in the container at this time is larger, so the force arm corresponding to the object information in the container at this time is larger, and the object has not moved to the middle position.

[0245] Step 6072: If equal, remove the retracted state and insert the sling corresponding to the right sling tension information into the actual lock hole position information.

[0246] If equal, it means that the object has moved to the middle position at this time, so there is no need to adjust the lock hole position corresponding to the first sling group tension information, and the container will not be affected by the size difference between the left and right slings due to the asymmetric position of the acting position.

[0247] Step 6073: If less, remove the retracted state and reacquire the left sling tension information and the right sling tension information, and randomly select one of the actual left lock hole position information and the actual right lock hole position information to update the actual lock hole position information, and then update the actual lock hole position information to the other when the corresponding spreader number information falls into the lock hole.

[0248] If less, it means that the center of gravity of the object at this time is too high and it has turned over to the other side, so it cannot reach the width center line at this time, so still update the actual lock hole position information to one of the actual left lock hole position information and the actual right lock hole position information, and then update the actual lock hole position information to the other when the corresponding spreader number information falls into the lock hole.

[0249] Reference Figure 9 If less, the method for the spreader to automatically grab the container after checking the sling tension information includes:

[0250] Step 700: Acquire the left sling tension information and the right sling tension information after retraction according to the left sling retraction length information, and recalculate the overall width deviation information, which is defined as the changed overall width deviation information.

[0251] The purpose of reacquiring is to determine the position reached by the object information in the container after turning over and the center of gravity line after turning over. Since the direction of turning over is the width direction, the distance of the center of gravity in the length direction does not change. The changed overall width deviation information is the information of the deviation distance value of the container object after turning over from the width center line. The calculation method is the same as step 5032, and will not be repeated here.

[0252] It is noted here that the tension detection instrument can react instantaneously, i.e. when the object is only turned to one side and reaches the opposite side, the tension detection instrument immediately detects that it is less than, and immediately opens the left sling corresponding to the sling tension information, and the container is immediately righted so that the object is not easily turned a second time.

[0253] Step 701: Calculate the single turning distance information according to the overall width centering information before contraction according to the left sling contraction length information and the changed overall width centering information.

[0254] The single turning distance information is the distance value of the center of gravity of the object in the container after the left sling is contracted according to the contraction length information and turned once, and the calculation method is to add them together.

[0255] Step 702: Calculate the continue adjustment angle information according to the single turning distance information and the overall width centering information.

[0256] The continue adjustment angle information is the information of the turning angle that needs to be adjusted after the object is restored to the position corresponding to the original overall width centering information. When turning at this angle, the turning distance is the single turning distance information, which just falls into the middle of the width. The calculation method is continue adjustment angle information cosθ' = X / Y, where X is the overall width centering information and Y is the single turning distance information.

[0257] Step 703: Calculate the adjustment lock hole position information and the adjustment diameter information according to the empty container width information and the continue adjustment angle information.

[0258] The adjustment lock hole position information is the information of the lock hole position where the left sling is inserted when the object in the container is turned to the middle of the width. The adjustment diameter information is the information of the diameter when the point on the diameter of the position corresponding to the adjustment lock hole position information is rotated with the point on the bottom of the container farthest from the position of the left sling as the center of rotation. The calculation method is adjustment diameter information D = B / cosθ', where B is the empty container width information.

[0259] Step 704: Calculate the left sling adjustment length information according to the adjustment diameter information, the container inclination angle information and the theoretical lock hole distance information.

[0260] The left sling adjustment length information is the length information of the adjustment contraction of the left sling. The calculation method is the same as step 604, which will not be repeated here. The difference is that the diameter of rotation is different, i.e. the difference between the adjustment so far information and the empty container width information.

[0261] Step 705: Obtain the left sling tension information corresponding to the sling, and define the left sling tension information as the second adjustment left sling tension information.

[0262] The second adjustment left sling tension information is a real-time value of the tension change on the left sling caused by the object movement when the left sling is contracted according to the left sling adjustment length information after the sling is inserted into the adjustment lock hole position information.

[0263] Step 706: The sling corresponding to the first adjustment left sling tension information is inserted into the adjustment lock hole position information, and after contraction according to the left sling adjustment length information, the second adjustment left sling tension information is equal to the check sling tension information, the contraction state is released, the actual lock hole position information is reacquired, and the corresponding actual lock hole position information is inserted.

[0264] The steps here are consistent with step 6072, and will not be repeated here, except that the sliding here becomes flipping.

[0265] Based on the same inventive concept, the present application provides a kind of automatic box control system of grab of lifting appliance, comprising:

[0266] Referring to Figure 10 A kind of automatic box control system of grab of lifting appliance, comprising:

[0267] Information acquisition module 803, for obtaining sling drop length information, sling scanning distance information and swing angle information;

[0268] Processing module 801, information acquisition module 803 and calculation module 802 are connected, for information storage and processing;

[0269] Calculation module 802, for calculating vertical scanning distance information and horizontal scanning offset vector information according to sling scanning distance information and swing angle information;

[0270] Update module 804, processing module 801 is connected, for updating lock hole moving direction information;

[0271] Calculation module 802 calculates sling vertical down information and horizontal offset information according to sling drop length information and swing angle information;

[0272] Calculation module 802 calculates sling height information from ground according to sling vertical down information and the preset trolley height information;

[0273] Calculation module 802 calculates theoretical lock hole distance information by calculating sling height information from ground and preset lock hole height information;

[0274] Screening module 805, processing module 801 is connected, for screening vertical scanning distance information equal to theoretical lock hole distance information, and the vertical scanning distance information is defined as lock hole vertical scanning distance information;

[0275] The computing module 802 calculates the sum of the horizontal scanning offset vector information and the horizontal offset information corresponding to the lock hole vertical scanning distance information, and defines the sum as the lock hole moving direction information;

[0276] The processing module 801 decomposes the lock hole moving direction information into the large truck moving vector information and the small truck moving vector information;

[0277] The moving module 806, connected with the processing module 801, is used for controlling the large truck to move according to the large truck moving vector information and the small truck to move according to the small truck moving vector information.

[0278] The embodiment of the present application provides a computer readable storage medium, which stores a computer program capable of being loaded and executed by a processor to execute a kind of automatic control method of grab box of hoist.

[0279] The computer storage medium includes, for example, U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), various media capable of storing program codes such as magnetic disk or optical disk.

[0280] Based on the same inventive concept, the embodiment of the present application provides an intelligent terminal, which comprises a memory and a processor, and the memory stores a computer program capable of being loaded and executed by the processor to execute a kind of automatic control method of grab box of hoist.

Claims

1. A method for controlling the automatic box-grabbing function of a lifting device, characterized in that, include: Acquire information on the lifting device's descent length, scanning distance, and swing angle; calculate the vertical scanning distance and horizontal scanning offset vector based on the lifting device's scanning distance and swing angle; calculate the lifting device's vertical downward movement and horizontal offset based on the lifting device's descent length and swing angle; calculate the lifting device's height above the ground based on the lifting device's vertical downward movement and the preset trolley height; calculate the theoretical lock hole distance based on the lifting device's height above the ground and the preset lock hole height; filter out the vertical scanning distance information that is equal to the theoretical lock hole distance information, and define this vertical scanning distance information as the lock hole vertical scanning distance information; Calculate the sum of the horizontal scan offset vector information and the horizontal offset information corresponding to the vertical scan distance information of the keyhole, and define this sum as the keyhole movement direction information; decompose the keyhole movement direction information into the main vehicle movement vector information and the trolley movement vector information; the main vehicle moves according to the main vehicle movement vector information and the trolley moves according to the trolley movement vector information; The method for determining whether the trolley moves according to the trolley's movement vector information and the gantry moves according to the gantry's movement vector information includes: obtaining the spreader number information corresponding to the four-rope lifting spreader; when the swing angle information is 0, determining whether the vertical scanning distance information corresponding to all spreader number information is equal to the theoretical lock hole distance information; if equal, then waiting for the gantry to settle before lowering the spreader into the lock hole; if not equal, then calculating the spreader's height above the ground information and the preset container top plate height information to obtain the theoretical container top distance information; filtering out the spreader number information whose vertical scanning distance information is equal to the theoretical container top distance information when the swing angle information is 0, defining this spreader number information as the first spreader number information; determining the vertical scanning distance detected by the first spreader number information. If theoretical keyhole distance information exists in the tracing distance information, then the corresponding keyhole movement direction information is calculated according to the vertical scanning distance information of the keyhole corresponding to the first lifting device number information; if not, the movement direction information detected on the first lifting device number information that is the largest value when it is the preset trolley movement direction information and the vertical distance information is the theoretical box top distance information is selected, and this movement direction information is defined as the first side-adjacent direction information; the first verification distance information is calculated based on the first side-adjacent direction information and the preset keyhole distance from the wide side information; the keyhole movement direction information in the lifting device number information other than the first lifting device number information where the trolley movement vector information is equal to the first verification distance information is selected, and movement is performed according to the keyhole movement direction information.

2. The automatic box-grabbing control method for a lifting device according to claim 1, characterized in that, The method for obtaining the corresponding trolley movement vector information and trolley movement vector information based on the movement direction information corresponding to the first spreader number information includes: determining whether there is vertical distance information that is not equal to the conventional distance information when the swing angle information is 0, wherein the conventional distance information includes the spreader height from the ground information, the theoretical container top distance information, and the theoretical lock hole distance information; if not, obtaining the corresponding trolley movement vector information and trolley movement vector information based on the movement direction information corresponding to the first spreader number information; if so, calculating the product between the container top plate height information and the preset different integer number information, defining the product as the multi-container top plate height information; calculating the multi-container top plate distance information based on the multi-line top plate height information and the spreader height from the ground information; calculating the multi-container lock hole height information based on the lock hole height information and the multi-container top plate height information; calculating the multi-container theoretical lock hole distance information based on the multi-container lock hole height information and the spreader height from the ground information; selecting the spreader number information with the smallest vertical distance information when the swing angle information is 0, defining the spreader number information as the second spreader number information; determining... When the swing angle information is 0, determine whether the vertical scanning distance information detected by the second lifting device number information is the theoretical lock hole distance information for multiple boxes; if it is the theoretical lock hole distance information for multiple boxes, wait until the trolley is stationary and then lower the lifting device into the lock hole; if it is not the theoretical lock hole distance information for multiple boxes, determine whether the vertical scanning distance information detected by the second lifting device number information contains the theoretical lock hole distance information for multiple boxes; if it exists, calculate the corresponding lock hole movement direction information according to the vertical scanning distance information of the lock hole corresponding to the second lifting device number information; if it does not exist, select the movement direction information detected on the second lifting device number information that is the preset trolley movement direction information and the vertical distance information is the distance information of the top plate of multiple boxes with the largest value, and define this movement direction information as the second side-adjacent direction information; calculate the second verification distance information according to the second side-adjacent direction information and the preset lock hole distance from the wide side information; select the lock hole movement direction information in the lifting device number information other than the second lifting device number information where the trolley movement vector information is equal to the second verification distance information and move according to the lock hole movement direction information.

3. The automatic box-grabbing control method for a lifting device according to claim 1, characterized in that, When there are several keyholes, the method for decomposing the keyhole movement direction information into trolley movement vector information and trolley movement vector information includes: obtaining the current keyhole number information and current keyhole position information corresponding to symmetrical keyholes, and defining the corresponding keyhole movement direction information as pre-keyhole movement direction information; after moving according to the pre-keyhole movement direction information, obtaining the lifting rope tension information of the lifting devices that are parallel to each other along the length of the container after they are lowered, defining the lifting rope tension information of one group of adjacent lifting devices as the first lifting rope group tension information, and defining the lifting rope tension information of another group of adjacent lifting devices as the second lifting rope group tension information; determining whether the first lifting rope group tension information and the second lifting rope group tension information are the same; if they are the same, outputting the pre-keyhole movement direction information as keyhole movement direction information; if they are not the same, determining the keyhole distance length stored in the preset keyhole distance database. The system performs matching analysis between the edge distance information and the current keyhole number information to determine the distance from the long side of the keyhole corresponding to the current keyhole number information, and defines this distance from the long side of the keyhole as the current distance from the long side of the keyhole information. Based on the tension information of the first and second suspension rope groups, the current distance from the long side of the keyhole information, the preset empty box weight information, and the empty box length information, the system calculates the weight information of the object inside the box and the overall length offset information. Based on the corresponding keyhole number information, keyhole position information, and overall length offset information in the preset keyhole database, the system performs matching analysis to determine the keyhole number and keyhole position corresponding to the overall length offset information, defines this keyhole number as the actual keyhole number information, and defines the keyhole position corresponding to the actual keyhole number information as the actual keyhole position information. Finally, the pre-locking hole movement direction information is updated to the keyhole movement direction information based on the current keyhole position information and the actual keyhole position information.

4. The automatic box-grabbing control method for a lifting device according to claim 3, characterized in that, The method for lowering the lifting device after updating the pre-locking hole movement direction information to the locking hole movement direction information based on the current locking hole position information and the actual locking hole position information includes: defining the larger lifting rope tension information as the first lifting rope group tension information and the smaller lifting rope tension information as the second lifting rope group tension information based on the overall length offset information; obtaining the lifting device number information corresponding to the tension information of the first lifting rope group, defining one lifting device number information as the left lifting device number information and the other lifting device number information as the right lifting device number information; obtaining the left and right lifting rope tension information of the respective lifting devices when the left and right lifting devices enter the actual locking hole position information; determining whether the left and right lifting rope tension information are consistent; if consistent, the lifting device remains locked after lowering; if inconsistent, the tension information of the left lifting rope is adjusted according to the tension information of the left lifting rope. The overall width offset information is calculated based on the following: the weight of the object inside the box, the tension of the right lifting rope, the weight of the object inside the box, and the preset width of the empty box. The actual left and right lifting rope tension information is calculated based on the weight of the object inside the box, the overall length offset information, the overall width offset information, the weight of the empty box, and the tension of the second lifting rope group. The actual left and right locking hole positions are calculated based on the actual left and right lifting rope tension information, the tension of the first lifting rope group, the actual locking hole position information, the weight of the object inside the box, the overall length offset information, and the overall width offset information. One of the actual left and right locking hole positions is arbitrarily selected and updated as the actual locking hole position information. When the corresponding lifting device number falls into the locking hole, the actual locking hole position information is updated to the other.

5. The automatic box-grabbing control method for a lifting device according to claim 4, characterized in that, The method for updating the actual lock hole position information by arbitrarily selecting one of the actual left lock hole position information and the actual right lock hole position information, and then updating the actual lock hole position information to the other when the corresponding lifting device number information falls into the lock hole, includes: defining the larger of the left and right lifting rope tension information as the left lifting rope tension information; obtaining the internal item information and the corresponding friction coefficient information; calculating the friction force information based on the weight information of the objects inside the box and the friction coefficient information; calculating the box tilt angle information based on the weight information of the objects inside the box and the friction force information; theoretically calculating the left lifting rope retraction length information based on the empty box width information, lock hole height information, and box tilt angle information; and calculating the verification lifting rope tension information based on the weight information of the objects inside the box, the empty box weight information, the empty box width information, lock hole height information, and box tilt angle information. The process involves: inserting the left rope tension information into the actual lock hole position and then contracting it according to the left rope contraction length information to obtain the corresponding left rope tension information. This left rope tension information is defined as the first adjusted left rope tension information. The process then determines whether the tension value corresponding to the real-time obtained first adjusted left rope tension information is equal to the checked rope tension information. If it is greater, the contraction state is maintained. If it is equal, the contraction state is released, and the right rope tension information is inserted into the actual lock hole position. If it is less, the contraction state is released, and the left and right rope tension information are re-obtained. One of the actual left and right lock hole position information is arbitrarily selected and updated as the actual lock hole position information. When the corresponding lifting device number falls into the lock hole, the actual lock hole position information is updated to the other.

6. The automatic box-grabbing control method for a lifting device according to claim 5, characterized in that, If the lifting device automatically grabs the box after verifying the lifting rope tension information, the method includes: obtaining the tension information of the left and right lifting ropes after contraction according to the left lifting rope contraction length information and recalculating the overall width offset information, defining this overall width offset information as the variable overall width offset information; calculating the single flipping distance information based on the overall width offset information before contraction according to the left lifting rope contraction length information and the variable overall width offset information; calculating the continued adjustment angle information based on the single flipping distance information and the overall width offset information; and calculating the empty box width information and the continued adjustment angle information. Adjust the keyhole position information and adjustment diameter information; calculate the left suspension rope adjustment length information based on the adjustment diameter information, box tilt angle information, and theoretical keyhole distance information; obtain the left suspension rope tension information of the corresponding suspension rope, and define the left suspension rope tension information as the second adjustment left suspension rope tension information; insert the suspension rope corresponding to the first adjustment left suspension rope tension information into the keyhole position information, and after contracting according to the left suspension rope adjustment length information, release the contraction state when the second adjustment left suspension rope tension information equals the verification suspension rope tension information, and re-obtain the actual keyhole position information and insert it into the corresponding actual keyhole position information.

7. An automatic container gripping control system for a lifting device, characterized in that, The automatic container grabbing control system for the spreader is used to execute the automatic container grabbing control method for the spreader as described in any one of claims 1 to 6, comprising: an information acquisition module for acquiring information on the spreader's descent length, the spreader's scanning distance, and the swing angle; a processing module connected to the information acquisition module and the calculation module for storing and processing the information; a calculation module for calculating vertical scanning distance information and horizontal scanning offset vector information based on the spreader's scanning distance information and the swing angle information; the calculation module for calculating vertical downward movement information and horizontal offset information of the spreader based on the spreader's descent length information and the swing angle information; the calculation module for calculating the spreader's height above the ground information based on the spreader's vertical downward movement information and the preset trolley height information; and a calculation module... The module calculates the theoretical keyhole distance information by combining the information on the height of the spreader above the ground with the preset keyhole height information. The filtering module, connected to the processing module, filters out the vertical scanning distance information that is equal to the theoretical keyhole distance information and defines this vertical scanning distance information as the keyhole vertical scanning distance information. The calculation module calculates the sum of the horizontal scanning offset vector information and the horizontal offset information corresponding to the keyhole vertical scanning distance information and defines this sum as the keyhole movement direction information. The processing module decomposes the keyhole movement direction information into the trolley movement vector information and the trolley movement vector information. The movement module, connected to the processing module, controls the trolley to move according to the trolley movement vector information and the trolley to move according to the trolley movement vector information.

8. A smart terminal, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as any one of the automatic container grabbing control methods of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, It stores a computer program that can be loaded by a processor and executed as any one of the automatic container grabbing control methods for spreaders as claimed in claims 1 to 6.

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