Method and device for dynamic calibration of crane position

Abstract

This application relates to a method and apparatus for dynamic calibration and standardization of crane position, comprising: acquiring reference coordinates, reflector length, scanning cycle duration, and crane operating speed within the scanning cycle; accumulating the displacement value on the reflector after laser triggering is effective based on the scanning cycle duration and the crane operating speed within the scanning cycle; when the difference between the displacement value and half the length of the reflector is less than or equal to the laser displacement value in the previous scanning cycle, calibrating and standardizing the crane position based on the reference coordinates within the current scanning cycle; wherein the reflector and the laser are mounted on the crane. This application effectively improves the crane position calibration and standardization process, achieving dynamic, automatic, and precise calibration and standardization, while achieving millimeter-level accuracy, which is beneficial for improving the accuracy of material tracking and management.

Description

Technical Field

[0001] This application relates to the field of crane automation control technology, and in particular to a crane position dynamic calibration and calibration method and device, computing equipment, computer-readable storage medium and computer program product. Background Technology

[0002] Cranes are primarily used in industrial production for material transfer, installation, and equipment lifting. With increasing industrial intelligence and smart warehousing and logistics management, precise material positioning and tracking are gradually being implemented in industrial warehouses. This positioning and tracking relies on the coordinates of the crane's trolley and crane. The accuracy of material location information depends on the accuracy of the crane's coordinates; therefore, cranes require regular position calibration and standardization during production operations.

[0003] Traditional crane position calibration and standardization methods mainly use limit switch type or fixed position type. These methods require the crane to stop working and go to the designated calibration position for calibration. At the same time, due to reasons such as the inability to stop the crane precisely on the marking line, the crane position calibration and standardization error will be large, generally at the centimeter level. Summary of the Invention

[0004] In view of the above-mentioned problems of the prior art, this application provides a method and apparatus for dynamic calibration and standardization of crane position, a computing device, a computer-readable storage medium and a computer program product, which effectively improves the process of crane position calibration and standardization and realizes dynamic automatic accurate calibration and standardization.

[0005] To achieve the above objectives, the first aspect of this application provides a method for dynamic calibration and verification of crane position, comprising:

[0006] Obtain the reference coordinates, reflector length, scanning cycle duration, and crane operating speed within the scanning cycle;

[0007] The displacement value on the reflector after the laser triggering is effective is accumulated based on the scanning cycle duration and the crane's operating speed within the scanning cycle;

[0008] When the difference between the displacement value and half the length of the reflector is less than or equal to the laser displacement value in the previous scanning cycle, the crane position is calibrated based on the reference coordinates in the current scanning cycle.

[0009] The reflector and laser are mounted on a crane.

[0010] This application utilizes the advantages of lasers, such as fast response time and high detection accuracy. By using laser reflection signals as trigger signals and scanning cycles and the real-time speed of the crane, under the premise of known reference coordinates, an algorithm is used to achieve dynamic, automatic, and precise calibration and standardization of the crane position. Compared with conventional parking calibration and limit calibration, this method can improve calibration efficiency and significantly improve accuracy.

[0011] To achieve the above objectives, a second aspect of this application provides a crane position dynamic calibration device, comprising:

[0012] The data acquisition module is used to acquire the reference coordinates, reflector length, scanning cycle duration, and crane operating speed within the scanning cycle.

[0013] The displacement calculation module is used to accumulate the displacement value on the reflector after the laser triggering is effective, based on the scanning cycle duration and the crane's operating speed within the scanning cycle.

[0014] The position calibration module is used to calibrate the crane position based on the reference coordinates in the current scanning cycle when the difference between the displacement value and half the length of the reflector is less than or equal to the laser displacement value in the previous scanning cycle.

[0015] The reflector and laser are mounted on a crane.

[0016] This application utilizes the advantages of lasers, such as fast response time and high detection accuracy. By using laser reflection signals as trigger signals and scanning cycles and the real-time speed of the crane, under the premise of known reference coordinates, an algorithm is used to achieve dynamic, automatic, and precise calibration and standardization of the crane position. Compared with conventional parking calibration and limit calibration, this method can improve calibration efficiency and significantly improve accuracy.

[0017] A third aspect of this application provides a dynamic calibration system for crane position, comprising:

[0018] The crane position dynamic calibration device described above;

[0019] Laser, used to generate laser light;

[0020] A reflector for reflecting the laser;

[0021] The laser and the reflector are mounted on a crane.

[0022] A fourth aspect of this application provides a computing device, including: a communication interface and at least one processor; wherein the at least one processor is configured to execute program instructions, which, when executed by the at least one processor, cause the computing device to perform any of the methods described in the first aspect above.

[0023] The fifth aspect of this application provides a computer-readable storage medium having program instructions stored thereon, which, when executed by a computer, cause the computer to perform any of the methods described in the first aspect above.

[0024] A sixth aspect of this application provides a computer program product comprising program instructions that, when executed by a computer, cause the computer to perform any of the methods described in the first aspect above. Attached Figure Description

[0025] Figure 1 This is a flowchart of the first embodiment of the crane position dynamic calibration method of this application;

[0026] Figure 2 This is a schematic diagram of the installation of the testing system in this application;

[0027] Figure 3 This is a schematic diagram of the laser detection principle of this application;

[0028] Figure 4 This is a schematic diagram of the displacement variation curve of this application with the scanning period;

[0029] Figure 5 This is a flowchart of the second embodiment of the crane position dynamic calibration method of this application;

[0030] Figure 6 This is a schematic diagram of the structure of the crane position dynamic calibration device of this application;

[0031] Figure 7 This is a schematic structural diagram of a computing device provided in an embodiment of this application.

[0032] It should be understood that the dimensions and shapes of the block diagrams in the above structural diagrams are for reference only and should not constitute an exclusive interpretation of the embodiments of this application. The relative positions and inclusion relationships between the block diagrams presented in the structural diagrams are only schematic representations of the structural relationships between the block diagrams, and are not intended to limit the physical connection methods of the embodiments of this application. Detailed Implementation

[0033] The technical solutions provided in this application will be further described below with reference to the accompanying drawings and embodiments. It should be understood that the system architecture and business scenarios provided in the embodiments of this application are mainly for illustrating possible implementations of the technical solutions of this application and should not be construed as the sole limitation on the technical solutions of this application. Those skilled in the art will recognize that the technical solutions provided in this application are equally applicable to similar technical problems as system architectures evolve and new business scenarios emerge.

[0034] It should be understood that the crane position dynamic calibration scheme provided in the embodiments of this application includes a crane position dynamic calibration method and apparatus. Since these technical solutions solve problems based on the same or similar principles, some repetitive details may not be repeated in the following descriptions of specific embodiments, but these specific embodiments should be considered as mutually referencing each other and can be combined with each other.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. In case of any inconsistency, the meaning set forth in this specification or derived from the content described herein shall prevail. Furthermore, the terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit the scope of this application.

[0036] Traditional crane position calibration and standardization methods primarily employ limit switch-based or fixed-position methods. These methods require the crane to stop operating and move to a designated calibration position. Furthermore, the inability to precisely stop at the marked line leads to significant calibration and standardization errors, typically on the order of centimeters. Therefore, this application leverages the advantages of lasers—fast response time and high detection accuracy—using laser reflection signals as trigger signals. By controlling the scanning cycle and acquiring the crane's real-time speed, and with known reference coordinates, an algorithm enables dynamic, automatic, and precise calibration and standardization of the crane's position. This method significantly improves both calibration efficiency and accuracy compared to conventional stop-and-go calibration and limit switch-based calibration.

[0037] The crane position dynamic calibration method provided in this application can be applied to any scenario where a crane is used for material transfer and the crane position needs to be calibrated.

[0038] like Figure 1 As shown in the figure, this application provides a method for dynamic calibration and verification of crane position. The following refers to... Figure 1 The flowchart shown illustrates the first embodiment of the crane position dynamic calibration method of this application. Wherein, as... Figure 1 As shown, in this first embodiment, the method includes:

[0039] S110: Obtain the reference coordinates, reflector length, scan cycle duration, and crane operating speed within the scan cycle.

[0040] In one embodiment, since the crane includes a corresponding trolley (i.e., the crane's bridge running mechanism) and a trolley (i.e., the running part of the hoisting mechanism), the calibration of the crane position can be the calibration of the trolley position, the calibration of the trolley position, or the calibration of both the trolley and the trolley.

[0041] When calibrating the position of the crane trolley: the aforementioned reflector can be a reflector corresponding to the crane trolley, and the laser can be a laser corresponding to the crane trolley. The reflector is installed on the rail guardrail corresponding to the crane trolley, and the laser is installed on the end beam of the crane trolley, as shown below. Figure 2 As shown, the bottom laser and reflector correspond to the large vehicle.

[0042] Since the reflector is installed on the rail fence corresponding to the crane trolley, it is fixed to the ground. Therefore, the reflector's position is fixed, meaning its X-coordinate is fixed and can be used to calibrate the trolley's position. The reference coordinates are the coordinates of the reflector's center, which need to be determined beforehand using the warehouse area's coordinate system. The crane's speed is the speed of the trolley.

[0043] When calibrating the position of the trolley: the aforementioned reflector can also be a reflector corresponding to the crane trolley, and the laser is a laser corresponding to the crane trolley. The reflector is installed on the side of the crane trolley, and the laser is installed on the track beam corresponding to the crane trolley, such as... Figure 2 As shown, the topmost laser and reflector correspond to the small car.

[0044] Since the laser is installed on the track beam corresponding to the crane trolley, the position of the laser is fixed, that is, it can be regarded as a fixed Y coordinate, which can be used to calibrate the position of the trolley. Therefore, the reference coordinate is the coordinate of the center of the laser; the speed of the crane is the speed of the trolley.

[0045] When the positions of both the trolley and the crane are calibrated: the aforementioned reflectors are the reflectors corresponding to the crane's main trolley and the crane's trolley, and the lasers are the lasers corresponding to the crane's main trolley and the crane's trolley. An installation diagram is shown below. Figure 2 As shown, the bottom laser and reflector correspond to the large vehicle, while the top laser and reflector correspond to the small vehicle.

[0046] The reference coordinates are the coordinates of the center of the reflector corresponding to the trolley and the coordinates of the center of the laser corresponding to the trolley; the speed of the crane is the speed of the trolley and the trolley.

[0047] The aforementioned lasers can be tested using the SICK DL100 laser detector.

[0048] This method can be applied to PLC controllers, using a Siemens S7-1500 PLC as the controller for the crane's trolley and crane carriages for automated crane control. By pre-calibrating the fixed coordinate positions of the trolley's reflector center or the crane carriage's laser, during the crane's dynamic operation, the scanning cycle of the PLC controller and the real-time speed of the crane's trolley or crane carriage are collected. After algorithmic calculation, the time and precise coordinate values ​​at which the laser beam reaches the center position of the reflector are obtained. Therefore, the scanning cycle mentioned above refers to the scanning cycle of the PLC controller.

[0049] S120: Accumulate the displacement value on the reflector after the laser triggering is effective based on the scanning cycle duration and the crane's operating speed within the scanning cycle.

[0050] In one embodiment, the emergence and development of PLCs (Programmable Logic Controllers) have led to increasingly higher levels of automation control. Due to their powerful analog signal processing capabilities, digital computing capabilities, human-machine interface capabilities, and network communication capabilities, PLCs allow for the incorporation of more sophisticated control algorithms into automation control, thereby achieving more powerful functions. Simultaneously, the advent of lasers, with their rapid response characteristics and high precision, makes signal detection more real-time and accurate, thus providing a basis for algorithm implementation. The control algorithm in this method utilizes an automatic precision calibration algorithm within the PLC controller.

[0051] Its control algorithm principle is as follows Figure 3 As shown:

[0052] The crane's trolley and crane both operate in both directions, thus enabling bidirectional dynamic calibration and verification. Since the principles and algorithms for bidirectional operation are consistent, we will focus on studying one of the operating directions.

[0053] The step of accumulating the displacement value on the reflector after the laser triggering is effective, based on the scanning cycle duration and the crane's operating speed within the scanning cycle, includes:

[0054] After the laser trigger of the laser is effective, the displacement of the crane in that scanning cycle is calculated based on the duration of each scanning cycle and the operating speed of the crane in that scanning cycle.

[0055] The displacement of the crane is accumulated to obtain the displacement value of the laser on the reflector.

[0056] The crane displacement within each scanning cycle is calculated based on the duration of each scanning cycle and the crane's operating speed within that cycle, including:

[0057] S ΔTi =V ΔTi ×ΔTi

[0058] Among them, S ΔTi V represents the crane displacement during the i-th scan cycle; ΔTi ΔTi represents the crane's operating speed during the i-th scan cycle; ΔTi represents the duration of the i-th scan cycle.

[0059] After the laser trigger is effective, the displacement of the crane is accumulated to obtain the displacement value of the laser on the reflector, including:

[0060]

[0061] Where Slaser is the displacement value of the laser on the reflector; S... ΔTi Let represent the crane displacement during the i-th scan cycle.

[0062] For the position calibration of the large vehicle:

[0063] Based on the duration ΔTi of the previous scan cycle i of the PLC controller and the real-time speed V of the crane trolley in the previous scan cycle i... 大ΔTi Calculate the crane displacement in the previous scan cycle i:

[0064] S University ΔTi =V large ΔTi ×ΔTi

[0065] The PLC controller has a scan cycle of about 10ms. Within this time, the speed change of the crane is extremely small, even during acceleration and deceleration. Therefore, the operation of the crane within a scan cycle is regarded as uniform speed operation.

[0066] The displacement values ​​are accumulated to calculate the forward displacement of the laser beam from the moment the laser becomes effective:

[0067] From the moment the laser beam contacts the reflector and the signal becomes valid, the displacement value of the previous scan cycle is calculated for each scan cycle, and all the displacement values ​​of the trolley are accumulated:

[0068]

[0069] The distance the laser beam travels on the reflector is obtained by summing the results.

[0070] For the position calibration of the car:

[0071] Based on the duration ΔTi of the previous scan cycle i of the PLC controller and the real-time speed V of the crane trolley in the previous scan cycle i... 小ΔTiCalculate the crane displacement in the previous scan cycle i:

[0072] S small ΔTi =V small ΔTi ×ΔTi

[0073] The displacement values ​​are accumulated to calculate the forward displacement of the laser beam from the moment the laser becomes effective:

[0074] From the moment the laser beam contacts the reflector and the signal becomes valid, the displacement value of the vehicle in the previous scanning cycle is calculated after each scanning cycle, and all the vehicle displacement values ​​are accumulated:

[0075]

[0076] The distance the laser beam travels on the reflector is obtained by summing the results.

[0077] S130: When the difference between the displacement value and half the length of the reflector is less than or equal to the laser displacement value in the previous scanning cycle, the crane position is calibrated based on the reference coordinates in the current scanning cycle.

[0078] In one embodiment, the distance the laser beam travels and the distance the vehicle's reflector travels are compared in real time. and the car reflector The difference, that is, in the nth scanning cycle, is determined when the difference between the distance the laser beam moves on the reflector in the first n-1 scanning cycles and half of the distance on the reflector is less than or equal to the displacement value in the n-1th scanning cycle, i.e.:

[0079]

[0080]

[0081] This indicates that the laser displacement value will reach and exceed the center point of the reflector during the nth scanning cycle. Simultaneously, since program calibration and coordinate value setting also require one cycle, the coordinate values ​​of the reference reflector or laser are calibrated onto the laser or reflector to be calibrated during the nth cycle, thus completing the dynamic calibration and setting of the crane's trolley and crane positions. The laser beam displacement variation curve with scanning cycle is shown below. Figure 4 As shown.

[0082] In one embodiment, the method further includes:

[0083] Set the calibration period;

[0084] When the scanning cycle reaches the calibration cycle, the crane position is calibrated based on the reference coordinates.

[0085] Specifically, the calibration cycle can be set on the crane control panel, or the function can be enabled or disabled at any time.

[0086] This application solves the problem of automatic and accurate position calibration of the crane during dynamic operation by pre-calibrating the center of the trolley reflector and the fixed coordinate position of the trolley laser. It collects the scanning cycle of the PLC controller and the real-time speed of the crane's trolley and trolley during operation, and calculates the time and precise coordinates when the laser beam reaches the center of the reflector through algorithmic calculation. This avoids the problems of low efficiency and low accuracy caused by calibration during operation stoppages, effectively improving the crane position calibration process and achieving dynamic automatic and accurate calibration. Simultaneously, it enables millimeter-level accuracy, which is beneficial for improving the accuracy of material tracking management.

[0087] like Figure 5 As shown, the second embodiment of this application provides a specific example of a dynamic calibration method for crane position. This method is applied to a PLC controller, using a Siemens S7-1500 PLC controller as the crane's trolley and overhead trolley controller for automated crane control. A SICKDL100 detection laser and reflector are installed on the trolley end beam and track rail fence, respectively; a trolley detection laser and reflector are installed on the trolley track beam and trolley side. Figure 5 As shown, the specific steps of this method are as follows:

[0088] S10: Obtain the coordinates X of the (large vehicle) reference reflector or the (small vehicle) laser. 基准 Or Y 基准 And the width value L1 of the large vehicle reflector and the width value L2 of the small vehicle reflector.

[0089] S20: Obtain the duration ΔTi of the previous scan cycle i of the PLC controller;

[0090] S30: Obtain the real-time speed V of the crane trolley and crane in the previous scan cycle i. 大ΔTi and V 小ΔTi ;

[0091] Specifically, the real-time operating speed V_max of the crane's trolley and crane in one scan cycle is obtained through communication between the PLC controller and the transmission system. ΔTi and V small ΔTi .

[0092] S40: Calculate the crane displacement S_max in the previous scan cycle i. ΔTi S small ΔTi :

[0093] In this system, one scan cycle of the PLC system lasts approximately 10ms. Within this duration, the speed change of the crane during acceleration and deceleration is extremely small. Therefore, the crane's operation within one scan cycle is considered as uniform speed operation. Thus, the crane displacement in the previous scan cycle i is:

[0094] The displacement value of the vehicle in the previous scan cycle i:

[0095] S University ΔTi =V large ΔTi ×ΔTi

[0096] The displacement value of the trolley in the previous scan cycle i:

[0097] S small ΔTi =V small ΔTi ×ΔTi

[0098] S50: Accumulate the displacement values ​​and calculate the forward displacement value S_laser of the laser beam starting from the effective laser position.

[0099] From the moment the laser beam first contacts the reflector and the signal becomes valid, the displacement value advanced in the previous scan cycle is calculated for each scan cycle. All displacement values ​​are accumulated to obtain the distance the laser beam has moved on the reflector.

[0100]

[0101]

[0102] S60: Calculate the difference between the cumulative displacement value and L / 2, and compare it with S. ΔT(n-1) If the comparison is less than or equal to the value, position calibration is performed; if the value is greater than the value, continue to step S50.

[0103] Among them, the distance the laser beam travels and the distance the large vehicle's reflector are compared. and the car reflector The difference, when the difference in the nth period is less than or equal to the displacement value in the (n-1)th period, that is:

[0104]

[0105]

[0106] This indicates that the displacement value will reach and exceed the center point of the reflector during the nth scanning cycle. Simultaneously, since program calibration and coordinate value setting also require one cycle, the coordinate value X of the reference reflector or laser will be adjusted during the nth cycle. 基准 Or Y 基准 Once calibrated onto the laser or reflector to be calibrated, the dynamic calibration and standardization of the crane's trolley and carriage positions are completed.

[0107] like Figure 6 As shown, this application provides a crane position dynamic calibration device, which can be used to implement the crane position dynamic calibration method in the above embodiments, such as... Figure 6 As shown, the crane position dynamic calibration device 400 has a data acquisition module 410, a data calculation module 420 and a calibration module 430.

[0108] The data acquisition module is used to acquire the reference coordinates, reflector length, scanning cycle duration, and crane operating speed within the scanning cycle.

[0109] The displacement calculation module is used to accumulate the displacement value on the reflector after the laser triggering is effective, based on the scanning cycle duration and the crane's operating speed within the scanning cycle.

[0110] The position calibration module is used to calibrate the crane position based on the reference coordinates in the current scanning cycle when the difference between the displacement value and half the length of the reflector is less than or equal to the laser displacement value in the previous scanning cycle.

[0111] The reflector and laser are mounted on a crane.

[0112] This application provides a crane position dynamic calibration system, which includes: a crane position dynamic calibration device;

[0113] Laser, used to generate laser light;

[0114] A reflector for reflecting the laser;

[0115] The laser and the reflector are mounted on a crane.

[0116] In one embodiment, the crane position dynamic calibration device in the system is the PLC controller described above. The installation positions of the laser and reflector are as follows: Figure 2 As shown.

[0117] Figure 7 This is a schematic structural diagram of a computing device 900 provided in an embodiment of this application. This computing device can serve as a dynamic calibration device for crane position, executing various optional embodiments of the above-described dynamic calibration method for crane position. The computing device can be a terminal, or a chip or chip system within the terminal. Figure 7 As shown, the computing device 900 includes: a processor 910, a memory 920, and a communication interface 930.

[0118] It should be understood that Figure 7The communication interface 930 in the computing device 900 shown can be used to communicate with other devices, and may specifically include one or more transceiver circuits or interface circuits.

[0119] The processor 910 can be connected to the memory 920. The memory 920 can be used to store the program code and data. Therefore, the memory 920 can be a storage unit inside the processor 910, an external storage unit independent of the processor 910, or a component that includes both the storage unit inside the processor 910 and the external storage unit independent of the processor 910.

[0120] Optionally, the computing device 900 may also include a bus. The memory 920 and communication interface 930 can be connected to the processor 910 via the bus. The bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 The symbol is represented by a line without an arrow, but this does not mean that there is only one bus or one type of bus.

[0121] It should be understood that in the embodiments of this application, the processor 910 may be a central processing unit (CPU). The processor may also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor. Alternatively, the processor 910 may employ one or more integrated circuits to execute relevant programs to implement the technical solutions provided in the embodiments of this application.

[0122] The memory 920 may include read-only memory and random access memory, and provides instructions and data to the processor 910. A portion of the processor 910 may also include non-volatile random access memory. For example, the processor 910 may also store device type information.

[0123] When the computing device 900 is running, the processor 910 executes computer execution instructions stored in the memory 920 to perform any of the operational steps of the above method and any of the optional embodiments thereof.

[0124] It should be understood that the computing device 900 according to the embodiments of this application can correspond to the corresponding subject in executing the methods according to the various embodiments of this application, and the above and other operations and / or functions of each module in the computing device 900 are respectively for implementing the corresponding processes of the methods of this embodiment. For the sake of brevity, they will not be described in detail here.

[0125] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0126] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0127] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0128] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0129] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0130] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0131] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, is used to perform the above-described method, which includes at least one of the schemes described in the above embodiments.

[0132] The computer storage medium in this application embodiment can be any combination of one or more computer-readable media. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0133] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0134] The program code contained on a computer-readable medium may be transmitted using any suitable medium, including, but not limited to, wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0135] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0136] Furthermore, the terms "first, second, third, etc." or similar terms such as module A, module B, and module C used in the specification and claims are only used to distinguish similar objects and do not represent a specific ordering of objects. It is understood that, where permissible, a specific order or sequence may be interchanged so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0137] In the above description, the labels of the steps involved, such as S110, S120, etc., do not mean that the steps will necessarily be executed. The order of the steps can be interchanged or executed simultaneously if permitted.

[0138] The term "comprising" as used in the specification and claims should not be construed as limiting itself to what follows; it does not exclude other elements or steps. Therefore, it should be interpreted as specifying the presence of the mentioned feature, integral, step, or component, but does not exclude the presence or addition of one or more other features, integrals, steps, or components, or groups thereof. Thus, the statement "device comprising means A and B" should not be limited to a device consisting solely of components A and B.

[0139] The terms "an embodiment" or "an embodiment" as used in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in at least one embodiment of this application. Therefore, the terms "in one embodiment" or "in an embodiment" appearing throughout this specification do not necessarily refer to the same embodiment, but may refer to the same embodiment. Furthermore, in one or more embodiments, the particular features, structures, or characteristics can be combined in any suitable manner, as will be apparent to those skilled in the art from this disclosure.

[0140] Note that the above are merely preferred embodiments and the technical principles employed in this application. Those skilled in the art will understand that this application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this application, all of which fall within the scope of protection of this application.

Claims

1. A method for dynamic calibration and verification of crane position, characterized in that, include: Obtain the reference coordinates, reflector length, scanning cycle duration, and crane operating speed within the scanning cycle; The displacement value on the reflector after the laser triggering is effective is accumulated based on the scanning cycle duration and the crane's operating speed within the scanning cycle; When the difference between the displacement value and half the length of the reflector is less than or equal to the laser displacement value in the previous scanning cycle, the crane position is calibrated based on the reference coordinates in the current scanning cycle. The crane includes a corresponding trolley and a gantry. When calibrating the position of the trolley, the reflector is the reflector corresponding to the trolley of the crane, and the laser is the laser corresponding to the trolley of the crane; The reflector is installed on the rail fence corresponding to the crane trolley; The laser is mounted on the end beam of the crane trolley. The reference coordinates are the coordinates of the center of the reflector; The speed of the crane is the speed of the trolley; When calibrating the position of the trolley, the reflector is the reflector corresponding to the crane trolley, and the laser is the laser corresponding to the crane trolley; The reflector is installed on the side of the crane trolley; The laser is mounted on the track beam corresponding to the crane trolley; The reference coordinates are the coordinates of the center of the laser; The speed of the crane is the same as the speed of the trolley.

2. The method according to claim 1, characterized in that, The step of accumulating the displacement value on the reflector after the laser triggering is effective, based on the scanning cycle duration and the crane's operating speed within the scanning cycle, includes: After the laser trigger of the laser is effective, the displacement of the crane in that scanning cycle is calculated based on the duration of each scanning cycle and the operating speed of the crane in that scanning cycle. The displacement of the crane is accumulated to obtain the displacement value of the laser on the reflector.

3. The method according to claim 1, characterized in that, The crane displacement within each scanning cycle is calculated based on the duration of each scanning cycle and the crane's operating speed within that cycle, including: ； in, For the first Crane displacement within one scan cycle; For the first The crane's operating speed within each scan cycle; The duration of the i-th scan cycle; After the laser trigger is effective, the displacement of the crane is accumulated to obtain the displacement value of the laser on the reflector, including: ； in, This represents the displacement of the laser beam on the reflector. For the first Crane displacement within a scan cycle.

4. The method according to claim 1, characterized in that, Also includes: Set the calibration period; When the scanning cycle reaches the calibration cycle, the crane position is calibrated based on the reference coordinates.

5. The method according to claim 1, characterized in that, The method is applied to a PLC controller; the scan cycle is the scan cycle of the PLC controller.

6. A dynamic calibration and calibration device for crane position, characterized in that, include: The data acquisition module is used to acquire the reference coordinates, reflector length, scanning cycle duration, and crane operating speed within the scanning cycle. The displacement calculation module is used to accumulate the displacement value on the reflector after the laser triggering is effective, based on the scanning cycle duration and the crane's operating speed within the scanning cycle. The position calibration module is used to calibrate the crane position based on the reference coordinates in the current scanning cycle when the difference between the displacement value and half the length of the reflector is less than or equal to the laser displacement value in the previous scanning cycle. The crane includes a corresponding trolley and a gantry. When calibrating the position of the trolley, the reflector is the reflector corresponding to the trolley of the crane, and the laser is the laser corresponding to the trolley of the crane; The reflector is installed on the rail fence corresponding to the crane trolley; The laser is mounted on the end beam of the crane trolley. The reference coordinates are the coordinates of the center of the reflector; The speed of the crane is the speed of the trolley; When calibrating the position of the trolley, the reflector is the reflector corresponding to the crane trolley, and the laser is the laser corresponding to the crane trolley; The reflector is installed on the side of the crane trolley; The laser is mounted on the track beam corresponding to the crane trolley; The reference coordinates are the coordinates of the center of the laser; The speed of the crane is the same as the speed of the trolley.

7. A dynamic calibration system for crane position, characterized in that, include: The crane position dynamic calibration device as described in claim 6; Laser, used to generate laser light; A reflector for reflecting the laser; The crane includes a corresponding trolley and a gantry. When calibrating the position of the trolley, the reflector is the reflector corresponding to the trolley of the crane, and the laser is the laser corresponding to the trolley of the crane; The reflector is installed on the rail fence corresponding to the crane trolley; The laser is mounted on the end beam of the crane trolley. The reference coordinates are the coordinates of the center of the reflector; The speed of the crane is the speed of the trolley; When calibrating the position of the trolley, the reflector is the reflector corresponding to the crane trolley, and the laser is the laser corresponding to the crane trolley; The reflector is installed on the side of the crane trolley; The laser is mounted on the track beam corresponding to the crane trolley; The reference coordinates are the coordinates of the center of the laser; The speed of the crane is the same as the speed of the trolley.

8. A computing device, characterized in that, include: processor, and A memory having stored program instructions that, when executed by the processor, cause the processor to perform the method according to any one of claims 1 to 5.

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