Lifting appliance working condition detection method, container crane and port automation system

Abstract

The application provides a sling working condition detection method, a container crane and a port automation system. The method comprises the following steps: transforming a radar coordinate system into a target coordinate system, and calibrating the position of a sling center in the target coordinate system; obtaining radar information and calculating the edge position information of the sling in the current working condition according to the position of the sling center; calculating the relative position between the edge position of the sling and the to-be-lifted article according to the radar information and the edge position information, and judging whether the sling is in a safe working condition. The radar information obtained by the radar can be converted into a target coordinate system which is constructed according to the sling working environment, and the position information of the vehicle, the to-be-lifted article and the sling is identified. Whether the sling is in a safe working condition is judged by determining the relative position between the sling edge and the to-be-lifted article, so that the safety of the sling work is improved.

Description

Technical Field

[0001] This application relates to the field of spreader control technology, specifically to a spreader condition detection method, a container crane, and a port automation system. Background Technology

[0002] Currently, when using lifting equipment for grabbing operations, the position and posture of the lifted items can easily change due to factors such as unbalanced load, wind, or improper operation, resulting in accidents such as scratching or crushing of boxes, which poses a safety problem. Summary of the Invention

[0003] In view of this, embodiments of this application provide a method, device, container crane, and port automation system for detecting the working condition of a spreader. This system can convert radar information acquired by radar into a target coordinate system adapted to the working environment of the spreader. The position information of the vehicle, the item to be lifted, and the spreader is identified in the target coordinate system, thereby determining the relative position of the edge of the spreader and the item to be lifted. Based on the relative position of the spreader and the item to be lifted, it is determined whether the spreader is in a safe working condition, thereby avoiding accidents such as scratches and collisions during the operation of the spreader, thus solving the problem of low safety of spreader operation in the prior art.

[0004] In a first aspect, embodiments of this application provide a method for detecting the working condition of a lifting device, including:

[0005] The radar coordinate system is transformed into the target coordinate system, and the position of the spreader center is calibrated in the target coordinate system; wherein, the target coordinate system is a coordinate system characterizing the working environment of the spreader;

[0006] The system acquires radar information and calculates the edge position information of the lifting device under the current working conditions based on the position of the center of the lifting device; wherein, the radar information includes the position information of the vehicle and the object to be lifted;

[0007] Based on the radar information and the edge position information, the relative position of the edge position of the lifting device and the object to be lifted is calculated, and it is determined whether the lifting device is in a safe working condition.

[0008] In the above implementation process, the radar information acquired by the radar can be converted into a target coordinate system adapted to the working environment of the lifting device. The position information of the vehicle, the object to be lifted and the lifting device are marked in the target coordinate system, thereby determining the relative position of the edge of the lifting device and the object to be lifted. Based on the relative position of the lifting device and the object to be lifted, it is determined whether the lifting device is in a safe working condition, thereby avoiding accidents such as scratches and collisions during the operation of the lifting device, which can improve the safety of the lifting device operation.

[0009] Optionally, the target coordinate system includes a first coordinate axis and a second coordinate axis, wherein the first coordinate axis is parallel to the normal vector of the fitted plane of the ground, and the second coordinate axis is parallel to the side of the object to be lifted.

[0010] Optionally, transforming the radar coordinate system into the target coordinate system, and calibrating the position of the lifting device center in the target coordinate system, may include:

[0011] Select at least three non-collinear fitting points on the ground, obtain the fitting plane based on the fitting points, calculate the normal vector of the fitting plane, and determine that the first coordinate axis of the target coordinate system is parallel to the normal vector of the fitting plane.

[0012] Two target points are selected on the plane of the object to be lifted relative to the radar side along the second coordinate axis. The angle between the straight line formed by the target points and the second coordinate axis is calculated. Based on the angle, the target coordinate system is adjusted so that the second coordinate axis of the target coordinate system is parallel to the side of the object to be lifted.

[0013] In the above implementation process, the radar information acquired by the radar can be converted into a target coordinate system adapted to the working environment of the lifting equipment. The position information of the vehicle, the object to be lifted, and the lifting equipment can be identified in the target coordinate system, thereby determining the relative position of the lifting equipment and the object to be lifted. This avoids the need to use multiple coordinate systems to calculate the relative position of the lifting equipment and the object to be lifted, thus saving computing resources. Based on the relative position of the lifting equipment and the object to be lifted, it can be determined whether the lifting equipment is in a safe working condition, thereby avoiding accidents such as scratches and collisions during the lifting equipment operation and improving the safety of the lifting equipment operation.

[0014] Optionally, the transformation of the radar coordinate system to the target coordinate system, and the calibration of the position of the lifting device center in the target coordinate system, may further include:

[0015] The deviation between the center of the lifting device and the radar is determined based on the two edge coordinates of the item to be lifted, and the position of the center of the lifting device is calibrated in the target coordinate system based on the deviation value.

[0016] In the above implementation process, the deviation between the center of the lifting device and the radar can be determined by the coordinates of the two edges of the object to be lifted. Then, the position of the center of the lifting device can be marked in the target coordinate system based on the deviation value. This can ensure that the data scanned by the radar is consistent with the actual physical position of the lifting device, thereby improving the accuracy of the calculation.

[0017] Optionally, the radar information can be point cloud data.

[0018] Optionally, acquiring radar information and calculating the edge position information of the spreader under the current working condition based on the position of the spreader center may include:

[0019] The radar information is acquired based on 2D radar, 3D radar, single-line radar, or image sensors.

[0020] Optionally, the method may further include:

[0021] A warning message is sent when the lifting device is not in a safe operating condition.

[0022] In the above implementation process, when the lifting equipment is calculated to be in a risky state, a warning message can be sent to the lifting equipment operator in a timely manner, so that the operator can adjust the working status of the lifting equipment or terminate the lifting equipment operation in a timely manner, thereby improving the safety of the lifting equipment operation.

[0023] Secondly, embodiments of this application provide a lifting device for detecting the working condition of a lifting device, which may include:

[0024] The transformation module is used to transform the radar coordinate system into the target coordinate system and to determine the position of the spreader center in the target coordinate system; wherein, the target coordinate system is a coordinate system characterizing the working environment of the spreader;

[0025] The calculation module is used to acquire radar information and calculate the edge position information of the lifting device under the current working conditions based on the position of the center of the lifting device; wherein, the radar information includes the position information of the vehicle and the object to be lifted;

[0026] The judgment module is used to calculate the relative position of the edge position of the lifting device and the item to be lifted based on the radar information and the edge position information, and to determine whether the lifting device is in a safe working condition.

[0027] Optionally, the target coordinate system includes a first coordinate axis and a second coordinate axis, wherein the first coordinate axis is parallel to the normal vector of the fitted plane of the ground, and the second coordinate axis is parallel to the side of the object to be lifted.

[0028] Optionally, the transformation module may be specifically used for:

[0029] Select at least three non-collinear fitting points on the ground, obtain the fitting plane based on the fitting points, calculate the normal vector of the fitting plane, and determine that the first coordinate axis of the target coordinate system is parallel to the normal vector of the fitting plane.

[0030] Two target points are selected on the plane of the object to be lifted relative to the radar side along the second coordinate axis. The angle between the straight line formed by the target points and the second coordinate axis is calculated. Based on the angle, the target coordinate system is adjusted so that the second coordinate axis of the target coordinate system is parallel to the side of the object to be lifted.

[0031] Optionally, the transformation module can also be specifically used for:

[0032] The deviation between the center of the lifting device and the radar is determined based on the two edge coordinates of the item to be lifted, and the position of the center of the lifting device is calibrated in the target coordinate system based on the deviation value.

[0033] Optionally, the radar information is point cloud data.

[0034] Optionally, the computing module may be specifically used for:

[0035] The radar information is acquired based on 2D radar, 3D radar, single-line radar, or image sensors.

[0036] Optionally, the spreader condition monitoring device may also include:

[0037] The warning module is used to send warning information when the lifting device is not in a safe operating condition.

[0038] Thirdly, embodiments of this application provide a container crane, which includes a memory and a processor. The memory stores program instructions, and when the processor runs the program instructions, it executes the steps in any of the above implementation methods.

[0039] Fourthly, embodiments of this application provide a port automation system, which includes radar for detecting the location of vehicles and items to be lifted, and a container crane as described above.

[0040] In summary, the embodiments of this application provide a method for detecting the working condition of a lifting device. This method can convert radar information acquired by radar into a target coordinate system adapted to the working environment of the lifting device. The position information of the vehicle, the object to be lifted, and the lifting device are identified in the target coordinate system. This allows the method to determine the relative position between the edge of the lifting device and the object to be lifted. Based on the relative position between the lifting device and the object to be lifted, the method determines whether the lifting device is in a safe working condition, thereby avoiding accidents such as scratches and collisions during the operation of the lifting device and improving the safety of lifting device operation. Attached Figure Description

[0041] Figure 1 A schematic diagram illustrating the steps of the lifting device condition detection method provided in this application embodiment.

[0042] Figure 2 This is a schematic diagram of the radar installation location provided in an embodiment of this application.

[0043] Figure 3 This is a schematic diagram of the calibration spreader center provided in an embodiment of this application.

[0044] Figure 4 This is a schematic diagram of the lifting device for detecting the working condition of a lifting tool provided in an embodiment of this application. Detailed Implementation

[0045] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0046] One embodiment of this application provides a method for detecting the working condition of a lifting device. Please refer to [link / reference]. Figure 1 , Figure 1 A schematic diagram illustrating the steps of the lifting device condition detection method provided in this application embodiment. The implementation steps of this method may include:

[0047] In step S11, the radar coordinate system is transformed into the target coordinate system, and the position of the center of the lifting device is calibrated in the target coordinate system.

[0048] The target coordinate system is a coordinate system that characterizes the working environment of the lifting device.

[0049] In step S12, radar information is acquired and the edge position information of the spreader under the current working condition is calculated based on the position of the spreader center.

[0050] The radar information includes the location information of the vehicle and the item to be lifted.

[0051] In step S13, the relative position of the edge position of the lifting device and the item to be lifted is calculated based on the radar information and the edge position information, and it is determined whether the lifting device is in a safe working condition.

[0052] In this embodiment, the radar coordinate system can be a polar coordinate system, a rectangular coordinate system, or another coordinate system. The target coordinate system can be a rectangular coordinate system. The working environment of the spreader can be a yard crane. In the working environment of the yard crane, the item to be lifted can be a container, the spreader can be a container spreader, and the vehicle can be a container truck.

[0053] Radar information can be acquired through 2D radar, 3D radar, single-line radar, or image sensors, with equipment selection based on budget. The radar information acquired can be point cloud data, a three-dimensional spatial data representation method composed of a large number of discrete points, each with X, Y, and Z coordinates and possibly other attribute data. Please refer to [link to relevant documentation]. Figure 2 , Figure 2 This is a schematic diagram of the radar installation location provided in an embodiment of this application. The radar can be installed on the side of the vehicle's outriggers, on the vehicle frame, or in other locations that can scan the truck.

[0054] Specifically, for step S11, the target coordinate system includes a first coordinate axis and a second coordinate axis. The first coordinate axis is parallel to the normal vector of the fitted plane of the ground, and the second coordinate axis is parallel to the side of the item to be lifted. The side of the item to be lifted is the fixing surface of the spreader. For example, when using a spreader to grab a container, the side of the container can be the front and rear sides or the left and right sides of the container. The side of the container can include side walls and side corners. The spreader can be fixed to the side of the item to be lifted by a hook or other lifting equipment.

[0055] Specifically, this application embodiment uses the Z-axis as the first coordinate axis of the target coordinate system and the Y-axis as the second coordinate axis of the target coordinate system for explanation.

[0056] Implementation methods for transforming the radar coordinate system to the target coordinate system may include:

[0057] At least three non-collinear fitting points are selected on the ground. The fitting plane is obtained based on the fitting points. The normal vector of the fitting plane is calculated. The first coordinate axis of the target coordinate system is determined to be parallel to the normal vector of the fitting plane. Two target points are selected in the direction of the second coordinate axis on the plane of the object to be lifted relative to the radar side. The angle between the straight line formed by the target points and the second coordinate axis is calculated. The target coordinate system is adjusted based on the angle so that the second coordinate axis of the target coordinate system is parallel to the side of the object to be lifted.

[0058] The number of fitting points can be three, or four or more depending on the accuracy requirements, to make the fitting plane more accurately represent the ground. Radar information acquired through radar can be point cloud data. Determining that the Z-axis of the target coordinate system is parallel to the normal vector of the fitting plane can be achieved by transforming the point cloud data of the entire environment. Coordinate transformations can include translation, rotation, scaling, and combined transformations, and can be implemented using translation matrices, rotation matrices, scaling matrices, and matrix multiplication, respectively.

[0059] By transforming the point cloud data into coordinates, two points can be selected on the plane of the container near the radar side, one near the radar and one far at the other along the Y-axis. The angle between the line formed by the two points and the Y-axis is calculated. Then, the entire point cloud is rotated around the Z-axis by a corresponding angle, so that the Y-axis of the target coordinate system is parallel to the side of the container. This completes the transformation and correction of the radar coordinate system, resulting in the target coordinate system. After determining two axes of the target coordinate system, the other axis is naturally determined as well.

[0060] Therefore, the embodiments of this application can convert radar information acquired by radar into a target coordinate system adapted to the working environment of the lifting device. The position information of the vehicle, the object to be lifted, and the lifting device can be identified in the target coordinate system, thereby determining the relative position of the lifting device and the object to be lifted. This avoids the need to use multiple coordinate systems to calculate the relative position of the lifting device and the object to be lifted, thus saving computing resources. Based on the relative position of the lifting device and the object to be lifted, it can be determined whether the lifting device is in a safe working condition, thereby avoiding accidents such as scratches and collisions during the operation of the lifting device and improving the safety of the lifting device operation.

[0061] In an optional embodiment, for step S11, the method of calibrating the position of the spreader center in the target coordinate system may include:

[0062] The deviation between the center of the lifting device and the radar is determined based on the two edge coordinates of the item to be lifted, and the position of the center of the lifting device is calibrated in the target coordinate system based on the deviation value.

[0063] Specifically, this explanation uses containers as an example of items to be retrieved; please refer to [link / reference]. Figure 3 , Figure 3 This is a schematic diagram illustrating the calibration of the spreader center according to an embodiment of this application. In practical applications, due to radar installation issues, there may be a deviation between the radar and the spreader center. The radar's position may not necessarily be the center of the spreader. Therefore, when the spreader can precisely grip the container, the Y-coordinates of the two edges of the container can be selected. Half of the sum of the two Y-coordinates is the deviation value between the spreader center and the radar. The Y-coordinate value of the spreader center can be calibrated using this deviation value and the radar's position.

[0064] Therefore, in this embodiment of the application, the deviation between the center of the lifting device and the radar is determined by the coordinates of the two edges of the item to be lifted, and the position of the center of the lifting device is marked in the target coordinate system based on the deviation value. This can help ensure that the data scanned by the radar is consistent with the actual physical position of the lifting device, thereby improving the accuracy of the calculation.

[0065] For step S12, after calibrating the Y-coordinate value of the spreader center, the edge position information of the spreader under the current working conditions can be calculated based on the spreader center and the spreader's extension and retraction dimensions. Then, by combining the edge position of the spreader with the position information of the item, it is determined whether the item is within the spreader's gripping range, or whether the item gripped by the spreader will come into contact with the item on the vehicle.

[0066] The operating conditions can include container grabbing and releasing operations such as 40-foot, 20-foot front container, and 20-foot rear container operations. Edge position information refers to the edge coordinates of the spreader when it grabs the container after extension and retraction, used to characterize the grabbing range of the spreader. After calibrating the Y-coordinate value of the spreader center, since the spreader center and the spreader extension length are fixed, when the spreader extension length is 2L, the distance between the spreader edge position and the spreader center position is L. For example, if the spreader extension length is 20 feet, then 10 feet outward from the spreader center is the edge position of the spreader; if the spreader extension length is 40 feet, then 20 feet outward from the spreader center is the edge position of the spreader. By converting the above 10 feet and 20 feet into the corresponding distance in the coordinate system, the edge position of the spreader in the target coordinate system can be determined. By combining the edge position of the spreader with the position information of the item, it is determined whether the item is within the grabbing range of the spreader, or whether the item grabbed by the spreader will come into contact with items on the vehicle.

[0067] Therefore, the embodiments of this application can mark the position of the center of the lifting device in the target coordinate system, and then determine the edge position of the lifting device based on the marked center position and the extension length of the lifting device to characterize the gripping range of the lifting device. This allows for accurate determination of the relationship between the item and the edge position of the lifting device, determining whether the item is within the gripping range of the lifting device and whether there is a risk of smashing or scratching the box, thereby improving the safety of lifting device operations.

[0068] In an optional embodiment, for step S13, point cloud data can be acquired by radar, and a judgment result can be given by the terminal device. The calculation process includes obtaining the current edge position of the spreader based on the working condition of the spreader, and then determining the current distance between the spreader and the container on the truck based on the edge position of the spreader and the relative position of the container. It can also be determined whether the spreader will overlap with the container after maintaining the current working state, thereby determining whether there is a risk. The terminal device can be a computer or a configurator for engineering equipment.

[0069] If the calculation results indicate that the spreader is not in a safe operating condition, a warning message will be sent. Data can be sent from the terminal device to the Programmable Logic Controller (PLC), and the PLC will then send a warning signal to the spreader's display device to alert the spreader operator.

[0070] Therefore, the embodiments of this application can promptly send warning messages to the spreader operator when the spreader is calculated to be in a risky state, so that the operator can adjust the working status of the spreader or terminate the spreader operation in a timely manner, thereby improving the safety of spreader operation.

[0071] In summary, the embodiments of this application provide a method for detecting the working condition of a lifting device. This method can convert radar information acquired by radar into a target coordinate system adapted to the working environment of the lifting device. The position information of the vehicle, the object to be lifted, and the lifting device are identified in the target coordinate system. This allows the method to determine the relative position between the edge of the lifting device and the object to be lifted. Based on the relative position between the lifting device and the object to be lifted, the method determines whether the lifting device is in a safe working condition, thereby avoiding accidents such as scratches and collisions during the operation of the lifting device and improving the safety of lifting device operation.

[0072] Optionally, embodiments of this application provide a lifting device for detecting the working condition of a lifting device; please refer to [link / reference]. Figure 4 , Figure 4 This is a schematic diagram of the lifting device for testing the working condition of a lifting tool provided in an embodiment of this application. The lifting device for testing the working condition 40 may include:

[0073] The transformation module 41 is used to transform the radar coordinate system into the target coordinate system and to calibrate the position of the center of the lifting device in the target coordinate system; wherein, the target coordinate system is a coordinate system that characterizes the working environment of the lifting device;

[0074] The calculation module 42 is used to acquire radar information and calculate the edge position information of the lifting device under the current working conditions based on the position of the center of the lifting device; wherein, the radar information includes the position information of the vehicle and the object to be lifted;

[0075] The judgment module 43 is used to calculate the relative position of the edge position of the lifting device and the item to be lifted based on the radar information and the edge position information, and to determine whether the lifting device is in a safe working condition.

[0076] Therefore, the embodiments of this application can convert the radar information acquired by the radar into a target coordinate system adapted to the working environment of the lifting device. The position information of the vehicle, the object to be lifted, and the lifting device are identified in the target coordinate system, thereby determining the relative position of the lifting device and the object to be lifted. Based on the relative position of the lifting device and the object to be lifted, it can be determined whether the lifting device is in a safe working condition, thereby avoiding accidents such as scratches and collisions during the operation of the lifting device and improving the safety of the lifting device operation.

[0077] In an optional embodiment, the target coordinate system includes a first coordinate axis and a second coordinate axis, wherein the first coordinate axis is parallel to the normal vector of the fitted plane of the ground, and the second coordinate axis is parallel to the side of the object to be lifted.

[0078] In an optional embodiment, the transformation module 41 may be specifically used for:

[0079] Select at least three non-collinear fitting points on the ground, obtain the fitting plane based on the fitting points, calculate the normal vector of the fitting plane, and determine that the first coordinate axis of the target coordinate system is parallel to the normal vector of the fitting plane.

[0080] Two target points are selected on the plane of the object to be lifted relative to the radar side along the second coordinate axis. The angle between the straight line formed by the target points and the second coordinate axis is calculated. Based on the angle, the target coordinate system is adjusted so that the second coordinate axis of the target coordinate system is parallel to the side of the object to be lifted.

[0081] Therefore, the embodiments of this application can convert radar information acquired by radar into a target coordinate system adapted to the working environment of the lifting device. The position information of the vehicle, the object to be lifted, and the lifting device can be identified in the target coordinate system, thereby determining the relative position of the lifting device and the object to be lifted. This avoids the need to use multiple coordinate systems to calculate the relative position of the lifting device and the object to be lifted, thus saving computing resources. Based on the relative position of the lifting device and the object to be lifted, it can be determined whether the lifting device is in a safe working condition, thereby avoiding accidents such as scratches and collisions during the operation of the lifting device and improving the safety of the lifting device operation.

[0082] In an optional embodiment, the transformation module 41 may also be specifically used for:

[0083] The deviation between the center of the lifting device and the radar is determined based on the two edge coordinates of the item to be lifted, and the position of the center of the lifting device is calibrated in the target coordinate system based on the deviation value.

[0084] Therefore, in this embodiment of the application, the deviation between the center of the lifting device and the radar is determined by the two edge coordinates of the item to be lifted, and the position of the center of the lifting device is marked in the target coordinate system based on the deviation value. This can ensure that the data scanned by the radar is consistent with the actual physical position of the lifting device, thereby improving the accuracy of the calculation.

[0085] In an optional embodiment, the radar information is point cloud data.

[0086] In an optional embodiment, the calculation module 42 may be specifically used for:

[0087] The radar information is acquired based on 2D radar, 3D radar, single-line radar, or image sensors.

[0088] In an optional embodiment, the spreader condition detection device 40 may further include:

[0089] The warning module is used to send warning information when the lifting device is not in a safe operating condition.

[0090] Therefore, the embodiments of this application can promptly send warning messages to the spreader operator when the spreader is calculated to be in a risky state, so that the operator can adjust the working status of the spreader or terminate the spreader operation in a timely manner, thereby improving the safety of spreader operation.

[0091] Based on the same inventive concept, this application also provides a container crane, which includes a memory and a processor. The memory stores program instructions, and when the processor runs the program instructions, it executes the steps in any of the above implementation methods.

[0092] Based on the same inventive concept, this application also provides a port automation system, which includes radar for detecting the location of vehicles and items to be lifted, and a container crane as described in any of the above implementations.

[0093] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0094] Furthermore, 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.

[0095] Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0096] It can be replaced and can be implemented, wholly or partially, through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented, wholly or partially, in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated.

[0097] The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means.

[0098] In this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0099] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for detecting the working condition of a lifting device, characterized in that, include: The radar coordinate system is transformed into the target coordinate system, and the position of the lifting device center is calibrated in the target coordinate system; wherein, the radar coordinate system is a coordinate system describing the position of the radar detection vehicle and the object to be lifted, and the target coordinate system is a coordinate system characterizing the working environment of the lifting device; The system acquires radar information and calculates the edge position information of the lifting device under the current working conditions based on the position of the center of the lifting device and the extension length of the lifting device; wherein, the radar information includes the position information of the vehicle and the item to be lifted, and the edge position information is used to characterize the gripping range of the lifting device; The relative position of the edge position of the lifting device to the object to be lifted is calculated based on the radar information and the edge position information, and it is determined whether the lifting device is in a safe working condition. The target coordinate system includes a first coordinate axis and a second coordinate axis. The first coordinate axis is parallel to the normal vector of the fitted plane of the ground, and the second coordinate axis is parallel to the side of the object to be lifted. The transformation of the radar coordinate system to the target coordinate system and the calibration of the center position of the lifting device in the target coordinate system include: Select at least three non-collinear fitting points on the ground, obtain the fitting plane based on the fitting points, calculate the normal vector of the fitting plane, and determine that the first coordinate axis of the target coordinate system is parallel to the normal vector of the fitting plane. Two target points are selected along the second coordinate axis on the plane of the object to be lifted relative to the radar side. The angle between the straight line formed by the target points and the second coordinate axis is calculated. Based on the angle, the target coordinate system is adjusted so that the second coordinate axis of the target coordinate system is parallel to the side of the object to be lifted. The transformation of the radar coordinate system to the target coordinate system and the calibration of the position of the lifting device center in the target coordinate system further include: The deviation between the center of the lifting device and the radar is determined based on the two edge coordinates of the item to be lifted, and the position of the center of the lifting device is calibrated in the target coordinate system based on the deviation value. The radar is set on the vehicle outrigger side and the frame position in the bridge lane.

2. The method according to claim 1, characterized in that, The acquisition of radar information and the calculation of the edge position information of the lifting device under the current working condition based on the position of the center of the lifting device include: The radar information is acquired based on 2D radar, 3D radar, single-line radar, or image sensors.

3. The method according to any one of claims 1-2, characterized in that, The method further includes: A warning message is sent when the lifting device is not in a safe operating condition.

4. A device for detecting the working condition of a lifting device, characterized in that, include: The transformation module is used to transform the radar coordinate system into the target coordinate system and to determine the position of the spreader center in the target coordinate system; wherein, the target coordinate system is a coordinate system characterizing the working environment of the spreader; The calculation module is used to acquire radar information and calculate the edge position information of the lifting device under the current working conditions based on the position of the center of the lifting device and the extension length of the lifting device; wherein, the radar information includes the position information of the vehicle and the object to be lifted, and the edge position information is used to characterize the gripping range of the lifting device; The judgment module is used to calculate the relative position of the edge position of the lifting device and the object to be lifted based on the radar information and the edge position information, and to determine whether the lifting device is in a safe working condition. The target coordinate system includes a first coordinate axis and a second coordinate axis. The first coordinate axis is parallel to the normal vector of the fitting plane on the ground, and the second coordinate axis is parallel to the side of the object to be lifted. The radar coordinate system is transformed into the target coordinate system. The transformation module calibrates the position of the lifting device center in the target coordinate system, selects at least three non-collinear fitting points on the ground, obtains the fitting plane based on the fitting points, calculates the normal vector of the fitting plane, and determines the relative position of the first coordinate axis of the target coordinate system to the edge position of the object to be lifted. The normal vector of the fitting plane is parallel; two target points are selected on the plane of the object to be lifted relative to the radar side in the direction of the second coordinate axis, and the angle between the straight line formed by the target points and the second coordinate axis is calculated. Based on the angle, the target coordinate system is adjusted so that the second coordinate axis of the target coordinate system is parallel to the side of the object to be lifted. The radar coordinate system is transformed into the target coordinate system. The transformation module is also used to calibrate the position of the lifting device center in the target coordinate system: the deviation value between the lifting device center and the radar is determined based on the two edge coordinates of the object to be lifted, so as to calibrate the position of the lifting device center in the target coordinate system based on the deviation value. The radar is set on the vehicle outrigger side and the frame position in the bridge lane.

5. A container crane, characterized in that, The container crane includes a memory and a processor. The memory stores program instructions, and when the processor runs the program instructions, it performs the steps of the method according to any one of claims 1-3.

6. A port automation system, characterized in that, The port automation system includes radar for detecting the location of vehicles and items to be lifted, and the container crane as described in claim 5.

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