Trolley pose measurement method, measurement controller, measurement system and shore crane

Abstract

The application provides a small vehicle pose measurement method, a measurement controller, a measurement system and a shore bridge, and solves the technical problem of low positioning accuracy of the small vehicle when running to the sea side in the prior art. The small vehicle pose measurement method provided by the application corrects the pose data of the shore bridge small vehicle by detecting the pitch angle of the shore bridge small vehicle in the running direction and the displacement change in the vertical direction when the shore bridge small vehicle runs to the sea side, and corrects the horizontal position data of the shore bridge small vehicle in the horizontal direction, that is, the corrected pose data of the shore bridge small vehicle includes the horizontal position data on the main beam, the pitch angle in the running direction and the height data, and the height data is the height data corrected by the displacement change, thereby improving the accuracy of the pose data of the shore bridge small vehicle when running on the sea side, and further improving the control accuracy in the hoisting process and the production efficiency.

Description

Technical Field

[0001] This application relates to the field of quay crane technology, specifically to a method for measuring the position and orientation of a trolley, a measurement controller, a measurement system, and a quay crane. Background Technology

[0002] In recent years, with the rapid development of port logistics, container transportation has accounted for an increasingly larger proportion of port loading and unloading. Container quay cranes (or simply quay cranes) are the most widely used container cranes along container terminals. Their main function is to load, unload, and transport standard containers between the sea and land sides, thus completing container transportation between the sea and land sides. With the rapid increase in container terminal throughput, the continuous growth in the size of container ships, the rising labor costs, and the increasing emphasis on environmental protection, the demand for automation of quay cranes at terminals is becoming increasingly stringent. Automated quay cranes have become one of the key technological equipment for achieving unmanned operation of container terminals.

[0003] When the quay crane remote control system performs automated operation planning and safety collision avoidance, it is necessary to locate the trolley. However, currently, the positioning accuracy of the trolley is low when it moves to the sea side. Summary of the Invention

[0004] In view of this, this application provides a method for measuring the pose of a trolley, a measurement controller, a measurement system, and a quay crane, which solves the technical problem of low positioning accuracy of the trolley when it moves to the sea side in the prior art.

[0005] As a first aspect of this application, this application provides a method for measuring the pose of a quay crane trolley, comprising: acquiring pitch angle data of the quay crane trolley when the quay crane trolley moves to the main beam on the sea side; acquiring measured height data of the quay crane trolley in the vertical direction, the vertical direction being perpendicular to the length extension direction of the main beam; acquiring displacement change of the quay crane trolley in the vertical direction; acquiring horizontal position data of the quay crane trolley in the horizontal direction, the horizontal direction being parallel to the length extension direction of the main beam; and correcting the measured height data of the quay crane trolley based on the displacement change of the quay crane trolley in the vertical direction to determine the height data of the quay crane trolley; wherein, the pose of the quay crane trolley includes the horizontal position data, height data, and pitch angle data of the quay crane trolley.

[0006] In one possible implementation, the quay crane includes a landside portal frame; a seaside portal frame; a main beam spanning the seaside portal frame and the landside portal frame; a quay crane trolley that moves along the main beam; a 2D laser and a tilt sensor mounted on the quay crane trolley; and a reference plate mounted under the main beam; wherein, acquiring the displacement change of the quay crane trolley in the vertical direction includes:

[0007] The process involves: obtaining a first vertical distance between the mounting platform of the 2D laser and the vertex of the reference plate; obtaining a first straight-line distance between the 2D laser and the vertex of the reference plate as measured by the 2D laser; obtaining a first measured emission angle of the vertex of the reference plate detected by the 2D laser; and calculating the displacement change of the quay crane trolley in the vertical direction based on the first vertical distance between the mounting platform of the 2D laser and the vertex of the reference plate, the first straight-line distance between the 2D laser and the vertex of the reference plate, and the first measured emission angle of the vertex of the reference plate; wherein obtaining the horizontal position data of the quay crane trolley in the horizontal direction includes: calculating the horizontal position data of the quay crane trolley in the horizontal direction based on the first straight-line distance between the 2D laser and the vertex of the reference plate and the first measured emission angle of the vertex of the reference plate.

[0008] In one possible implementation, obtaining the displacement change of the quay crane trolley in the vertical direction further includes: obtaining the initial installation deviation of the 2D laser in the vertical direction; and calculating the displacement change of the quay crane trolley in the vertical direction based on a first vertical distance between the mounting platform of the 2D laser and the vertex of the reference plate, a first straight-line distance between the 2D laser and the vertex of the reference plate, a first measured emission angle of the vertex of the reference plate, and the initial installation deviation of the 2D laser in the vertical direction; wherein, obtaining the horizontal position data of the quay crane trolley in the horizontal direction includes: calculating the horizontal position data of the quay crane trolley in the horizontal direction based on the first straight-line distance between the 2D laser and the vertex of the reference plate, the first measured emission angle of the vertex of the reference plate, and the initial installation deviation of the 2D laser in the vertical direction.

[0009] In one possible implementation, obtaining the initial installation deviation of the 2D laser in the vertical direction includes: obtaining a second vertical distance between the mounting platform of the 2D laser and the vertex of the reference plate when the quay crane is moved to the main beam on the land side; obtaining a second straight-line distance between the 2D laser and the vertex of the reference plate as measured by the 2D laser; obtaining a second measured emission angle of the vertex of the reference plate detected by the 2D laser; and calculating the initial installation deviation of the 2D laser in the vertical direction based on the second vertical distance between the mounting platform of the 2D laser and the vertex of the reference plate, the second straight-line distance between the 2D laser and the vertex of the reference plate, and the second measured emission angle of the vertex of the reference plate.

[0010] As a second aspect of this application, this application provides a pose measurement controller for a quay crane trolley, comprising: a data acquisition module, configured to acquire pitch angle data of the quay crane trolley when the quay crane trolley moves to the main beam on the sea side; acquire measured height data of the quay crane trolley in the vertical direction, the vertical direction being perpendicular to the length extension direction of the main beam; a calculation module, configured to acquire displacement change of the quay crane trolley in the vertical direction, and acquire horizontal position data of the quay crane trolley in the horizontal direction, the horizontal direction being parallel to the length extension direction of the main beam; and a correction module, configured to correct the measured height data of the quay crane trolley based on the displacement change of the quay crane trolley in the horizontal direction, to determine the height data of the quay crane trolley; wherein, the pose of the quay crane trolley includes the horizontal position data, height data, and pitch angle data of the quay crane trolley.

[0011] As a third aspect of this application, this application provides a pose measurement system for a quay crane trolley, comprising a 2D laser mounted below the quay crane trolley; a tilt sensor mounted below the quay crane trolley for detecting the pitch angle of the quay crane trolley; a reference plate mounted under the main beam; and the aforementioned pose measurement controller, which is communicatively connected to the 2D laser and the tilt sensor.

[0012] In one possible implementation, the 2D laser and the tilt sensor are mounted on the same mounting platform.

[0013] In one possible implementation, the reference plate is mounted below the window cleaning platform of the quay crane.

[0014] In one possible implementation, the centerline of the reference plate coincides with the laser scan line of the 2D laser when the quay crane trolley is positioned on the main beam above the landside.

[0015] As a fourth aspect of this application, this application provides a quay crane, comprising: a landside portal frame; a seaside portal frame; a main beam spanning and fixed on the seaside portal frame and the landside portal frame; a quay crane trolley that moves along the main beam; and the aforementioned pose measurement system.

[0016] The position and orientation measurement method for the quay crane trolley provided in this application corrects the position and orientation data of the quay crane trolley by detecting the pitch angle in the traveling direction and the displacement change in the vertical direction when the quay crane trolley travels to the sea side. It also corrects the horizontal position data of the quay crane trolley. The corrected position and orientation data of the quay crane trolley includes the horizontal position data on the main beam, the pitch angle in the traveling direction, and the height data, with the height data being the height data corrected after displacement change. This solves the technical problem in the prior art where structural deformation of the main beam on the sea side causes a change in the position ΔZ of the quay crane trolley's center in the lifting direction and a pitch angle, resulting in inaccurate position and orientation data measurement. This method improves the accuracy of the position and orientation data of the quay crane trolley when traveling on the sea side, thereby improving the control precision during the lifting process and increasing production efficiency. Attached Figure Description

[0017] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments thereof in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain the application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0018] Figure 1 The diagram shown is a structural schematic of a quay bridge provided in one embodiment of this application.

[0019] Figure 2 The diagram shown is a structural schematic of a quay bridge according to another embodiment of this application.

[0020] Figure 3 The diagram shown is a flowchart illustrating a method for measuring the pose of a trolley used for a quay crane, according to an embodiment of this application.

[0021] Figure 4 The diagram shown is a flowchart illustrating a method for measuring the pose of a quay crane trolley according to another embodiment of this application.

[0022] Figure 5 The diagram shows the relationship between the 2D laser and the reference plate when the quay crane trolley travels to the main beam above the sea side.

[0023] Figure 6 The diagram shown is a flowchart illustrating a method for measuring the pose of a quay crane trolley according to another embodiment of this application.

[0024] Figure 7 The diagram shows the relationship between the 2D laser and the reference plate when the quay crane trolley travels to the main beam above the sea side.

[0025] Figure 8The diagram shown is a flowchart illustrating a method for measuring the pose of a quay crane trolley according to another embodiment of this application.

[0026] Figure 9 The diagram shows the relationship between the 2D laser and the reference plate when the quay crane trolley travels to the main beam above the land side.

[0027] Figure 10 The diagram shown is a schematic diagram of the working principle of a pose measurement controller for a quay crane trolley provided in another embodiment of this application.

[0028] Figure 11 The diagram shown is a schematic diagram of the working principle of a quay crane trolley posture measurement and control system according to another embodiment of this application.

[0029] Figure 12 The diagram shown is a schematic diagram of the working principle of an electronic device provided in an embodiment of this application.

[0030] Figure label:

[0031] 100-Trolley for quay crane; 200-Landside portal frame; 300-Seaside portal frame; 400-Main beam; 401-Front main beam; 402-Rear main beam; 600-2D laser; 700-Tilt sensor; 800-Reference plate; 900-Window cleaning platform;

[0032] 10 - Pose Measurement Controller; 11 - Data Acquisition Module; 12 - Calculation Module; 13 - Correction Module;

[0033] 60 - Electronic device; 61 - Processor; 62 - Memory; 63 - Input device; 64 - Output device Detailed Implementation

[0034] In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. All directional indications (such as up, down, left, right, front, back, top, bottom, etc.) in the embodiments of this application are only used to explain the relative positional relationships and movement of the components in a specific posture (as shown in the figures). If the specific posture changes, the directional indication will also change accordingly. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0035] Furthermore, the reference to "embodiment" herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0036] Application Overview

[0037] Figure 1 The image shown is a structural schematic diagram of a quay crane, as requested. Figure 1 As shown, the quay bridge includes: a landside portal frame, a seaside portal frame, and a main beam spanning and fixed to the seaside portal frame and the landside portal frame. The main beam includes a front main beam and a rear main beam, wherein the front main beam is located above the seaside portal frame and the rear main beam is located on the landside portal frame, that is, the front main beam is located on the seaside and the rear main beam is located on the landside.

[0038] When the quay crane is driven by a trolley to the sea side, specifically when the trolley is driven onto the front main beam, the structure of the front main beam will undergo structural deformation as it moves towards the sea side. Figure 1 As shown, structural deformation of the front main beam will cause a positional change ΔZ in the center of the quay crane trolley in the lifting direction (i.e., the direction perpendicular to the main beam, or the vertical direction). The quay crane trolley will also generate a pitch angle α in the running direction. Therefore, the measurement values ​​of the sensors installed on the quay crane trolley will also have a large error, resulting in a large error between the detected attitude data of the quay crane trolley and the actual attitude data of the quay crane trolley. This reduces the positioning accuracy of the quay crane trolley and thus reduces the hoisting efficiency of the quay crane.

[0039] Therefore, this application provides a method for measuring the pose of a quay crane trolley, a measurement controller, a measurement system, and a quay crane. When the quay crane trolley travels to the sea side, the pose data of the quay crane trolley is corrected by detecting the pitch angle in the travel direction and the displacement change in the vertical direction. The horizontal position data of the quay crane trolley in the horizontal direction is also corrected. That is, the corrected pose data of the quay crane trolley includes the horizontal position data on the main beam, the pitch angle in the travel direction, and the height data. The height data is the height data after the displacement change correction. This solves the technical problem in the prior art where the structure of the main beam on the sea side deforms, causing the center of the quay crane trolley to change position ΔZ in the lifting direction and pitch angle, resulting in inaccurate pose data measurement. This improves the accuracy of the pose data of the quay crane trolley when traveling on the sea side, thereby improving the control accuracy during the hoisting process and increasing production efficiency.

[0040] 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 of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0041] Exemplary quay bridge

[0042] Figure 2 The diagram shown is a structural schematic of a quay crane provided in another embodiment of this application. Figure 2 As shown, the quay crane includes: a landside portal frame 200; a seaside portal frame 300; a main beam 400 spanning and fixed on the seaside portal frame 300 and the landside portal frame 200; a quay crane trolley 100 that moves along the main beam 400; a 2D laser 600 and a tilt sensor 700 mounted on the quay crane trolley 100, wherein the tilt sensor 700 is used to detect the pitch angle of the quay crane trolley 100 when it travels on the main beam 400; and a reference plate 800 mounted under the main beam 400.

[0043] Specifically, the 2D laser 600 can perform planar scanning behind the quay crane trolley 100 to obtain scanning data, and determine the distance between the quay crane trolley 100 and the reference plate 800 based on the scanning data. For example, the 2D laser 600 can use a 2D pulsed laser scanning sensor to obtain point cloud data of the surface of an object behind the quay crane trolley 100 (such as the surface of the reference plate 800) by scanning the laser beam, and measure the shape, size, and position information of the object based on the point cloud data. Thus, the position data between the quay crane trolley 100 and the reference plate 800 can be determined based on the point cloud data of the surface of the reference plate 800.

[0044] Optionally, when selecting the specific installation positions of the reference plate 800 and the quay crane trolley 100, when the quay crane trolley 100 is located on the main beam 400 (i.e., the rear main beam 402) above the landside, the laser scanning line of the 2D laser 600 coincides with the center line of the reference plate 800.

[0045] Specifically, such as Figure 2 As shown, the quay crane also includes a window cleaning platform 900, which is a device used for cleaning the exterior walls and windows of the quay crane. It typically consists of a platform and several booms, allowing it to move along the exterior walls of the quay crane and providing a stable working platform for workers to safely perform cleaning and maintenance work. The window cleaning platform 900 is usually driven by an electric or hydraulic system and is equipped with safety devices such as safety belts and safety nets to ensure the safety of workers. Figure 2As shown, the reference plate 800 is installed on the side of the window cleaning platform 900 closest to the sea.

[0046] Exemplary measurement method

[0047] As a second aspect of this application, this application also provides a method for measuring the pose of a quay crane trolley, used to measure the pose of the quay crane trolley 100 in the above-mentioned quay crane during operation. Figure 3 The diagram shown is a schematic flowchart of a method for measuring the pose of a quay crane trolley according to an embodiment of this application. Figure 3 As shown, the pose measurement method for the trolley used in this quay crane includes the following steps:

[0048] Step S100: When the quay crane trolley 100 moves to the main beam 400 on the sea side, obtain the pitch angle data of the quay crane trolley 100;

[0049] Specifically, when the trolley 100 of the quay crane travels to the main girder 400 (i.e., the front main girder 401) on the sea side, the main girder 400 on the sea side will undergo structural deformation, meaning the structure of the front main girder 401 will also undergo structural deformation, such as... Figure 2 As shown, structural deformation of the front main beam 401 will cause a positional change ΔZ in the center of the quay crane trolley 100 in the lifting direction (i.e., the direction perpendicular to the main beam 400, or the vertical direction). This will result in a pitch angle α in the running direction of the quay crane trolley 100. Step S200 involves detecting the pitch angle α generated by the quay crane trolley 100 in the running direction using a tilt sensor 700 installed on the quay crane trolley 100.

[0050] Step S200: Obtain the vertical height measurement data of the quay crane trolley 100, which is perpendicular to the length extension direction of the main beam 400;

[0051] Specifically, the vertical height data of the quay crane trolley 100 can be measured using a laser and a height sensor.

[0052] The vertical direction is perpendicular to the length extension direction of the main beam 400, and is also the lifting direction of the lifting device.

[0053] Step S300: Obtain the vertical displacement change of the trolley 100 for the quay crane;

[0054] As described above, when the trolley 100 of the quay crane travels to the main girder 400 (i.e., the front main girder 401) on the sea side, the main girder 400 on the sea side will undergo structural deformation, meaning the structure of the front main girder 401 will also undergo structural deformation. Figure 2As shown, structural deformation of the front main beam 401 will cause the center of the quay crane trolley 100 to change position ΔZ in the lifting direction (i.e., the direction perpendicular to the main beam 400, or the vertical direction). Therefore, by detecting the position change ΔZ in the vertical direction, the measured height data obtained in step S200 can be corrected.

[0055] Step S400: Obtain the horizontal position data of the quay crane trolley 100 in the horizontal direction, which is parallel to the length extension direction of the main beam 400. That is, the horizontal direction is perpendicular to the vertical direction.

[0056] Step S500: Correct the measured height data of the quay crane trolley 100 according to the displacement change, so as to determine the height data of the quay crane trolley 100;

[0057] The measured height data is corrected based on the displacement change obtained in step S300 to determine the height data of the quay crane trolley 100. This height data of the quay crane trolley 100 can accurately reflect the true height of the quay crane trolley 100.

[0058] The position and orientation of the quay crane trolley 100 include its horizontal position data, height data, and pitch angle data on the main beam 400.

[0059] The position and orientation measurement method for the quay crane trolley provided in this application corrects the position and orientation data of the quay crane trolley 100 when it travels to the sea side by detecting the pitch angle in the travel direction and the displacement change in the vertical direction. It also corrects the horizontal position data of the quay crane trolley in the horizontal direction. The corrected position and orientation data of the quay crane trolley 100 includes the horizontal position data on the main beam 400, the pitch angle in the travel direction, and the height data. The height data is the height data corrected after displacement change. This solves the technical problem in the prior art where structural deformation of the main beam 400 on the sea side causes a change in the center position ΔZ and pitch angle of the quay crane trolley 100 in the lifting direction, resulting in inaccurate position and orientation data measurement. This method improves the accuracy of the position and orientation data of the quay crane trolley 100 when it travels on the sea side, thereby improving the control precision during the lifting process and increasing production efficiency.

[0060] In one possible implementation, the vertical displacement change of the trolley 100 of the quay crane can be obtained in the following way: Figure 4 As shown, step S300 (obtaining the vertical displacement change of the quay crane trolley 100) specifically includes the following steps:

[0061] Step S301: Obtain the first vertical distance between the mounting platform of the 2D laser 600 and the vertex of the reference plate 800;

[0062] Figure 5 The diagram shows the relationship between the 2D laser 600 and the reference plate 800 when the quay crane trolley 100 travels to the main beam 400 above the sea side. Figure 5 As shown, the first vertical distance D between the platform of the 2D laser 600 and the vertex of the reference plate 800 is... l-b .

[0063] Specifically, after the 2D laser 600 is installed on the quay crane trolley 100, before the quay crane trolley 100 moves, the vertical distance between the mounting platform of the 2D laser 600 and the vertex of the reference plate 800 can be determined. This vertical distance is the first vertical distance D between the platform of the 2D laser 600 and the vertex of the reference plate 800. l-b .

[0064] Step S302: Obtain the first straight-line distance between the 2D laser 600 and the vertex of the reference plate 800 as measured by the 2D laser 600;

[0065] Specifically, the first linear distance d between the platform of the 2D laser 600 and the vertex of the reference plate 800 e The surface of the reference plate 800 can be scanned by the 2D laser 600 to obtain point cloud data of the surface of the reference plate 800, and calculations can be performed based on the point cloud data.

[0066] Step S303: Obtain the first measured emission angle θ of the vertex of the reference plate 800 detected by the 2D laser 600. e ;

[0067] Specifically, the 2D laser 600 scans the surface of the reference plate 800 to obtain the point cloud data, and determines the first measurement emission angle θ based on the point cloud data. e .

[0068] Step S304: Based on the first vertical distance between the mounting platform of the 2D laser 600 and the vertex of the reference plate 800, and the first linear distance d between the 2D laser 600 and the vertex of the reference plate 800... e And the first measured emission angle θ at the vertex of reference plate 800 e Calculate the vertical displacement change ΔZ of the trolley 100 used for the quay crane.

[0069] Specifically, the formula for calculating the displacement change ΔZ is as follows: (Equation 1)

[0070] Formula (1)

[0071] In equation (i), ΔZ represents the displacement change, and D...l-b θ is the first vertical distance between the platform of the 2D laser 600 and the vertex of the reference plate 800; e The first measured emission angle of the vertex of the reference plate 800 detected by the 2D laser 600; d e The first straight-line distance between the platform of the 2D laser 600 and the vertex of the reference plate 800.

[0072] Step S400 (obtaining the horizontal position data of the quay crane trolley 100 in the horizontal direction) specifically includes the following steps:

[0073] Step S401: Based on the first linear distance d between the vertices of the 2D laser 600 and the reference plate 800 e The first measured emission angle θ at the vertex of reference plate 800 e Calculate the horizontal position data S of the trolley 100 of the quay crane in the horizontal direction.

[0074] Specifically, the formula for calculating the horizontal position data S of the trolley 100 of the quay crane in the horizontal direction is as follows: (II)

[0075] Formula (II)

[0076] In equation (ii), S represents the horizontal position data of the quay crane trolley 100 in the horizontal direction; θ e The first measured emission angle of the vertex of the reference plate 800 detected by the 2D laser 600; d e The first straight-line distance between the platform of the 2D laser 600 and the vertex of the reference plate 800.

[0077] In another possible implementation of this application, such as Figure 6 As shown, between steps S403 and S404, the displacement change of the quay crane trolley 100 in the vertical direction can be obtained in the following way: step S400 (obtaining the displacement change of the quay crane trolley 100 in the vertical direction) further includes the following steps:

[0078] Step S305: Obtain the initial installation deviation θ0 of the 2D laser 600 in the vertical direction;

[0079] Figure 7 The diagram shown illustrates the relationship between the 2D laser 600 and the reference plate 800. Figure 7 As shown, the initial installation deviation θ0 can be defined as the 2D laser 600 deviating to the right by θ0 in the vertical direction, which can be considered a positive initial installation deviation. It can also be understood that the initial installation deviation θ0 can be defined as the 2D laser 600 deviating to the left by θ0 in the vertical direction, which can be considered a negative initial installation deviation.

[0080] Step S306: Calculate the displacement change of the quay crane trolley 100 in the vertical direction based on the first vertical distance between the mounting platform of the 2D laser 600 and the vertex of the reference plate 800, the first straight-line distance between the 2D laser 600 and the vertex of the reference plate 800, the first measured emission angle of the vertex of the reference plate 800, and the initial installation deviation of the 2D laser 600 in the vertical direction.

[0081] Specifically, in combination Figure 7 As shown, the specific calculation formula for the displacement change ΔZ is as follows (Equation 3):

[0082] Formula (3)

[0083] In equation (iii), ΔZ represents the displacement change, and D... l-b θ is the first vertical distance between the platform of the 2D laser 600 and the vertex of the reference plate 800; e θ0 is the first measured emission angle of the vertex of the reference plate 800 detected by the 2D laser 600; θ0 is the initial installation deviation of the 2D laser 600 in the vertical direction; d e The first straight-line distance between the platform of the 2D laser 600 and the vertex of the reference plate 800.

[0084] Step S400 (obtaining the horizontal position data of the quay crane trolley 100 in the horizontal direction) specifically includes the following steps:

[0085] Step S402: Based on the first linear distance d between the vertices of the 2D laser 600 and the reference plate 800 e The first measured emission angle θ at the vertex of reference plate 800 e And the initial installation deviation θ0 of the 2D laser 600 in the vertical direction, calculate the horizontal position data S of the quay crane trolley 100 in the horizontal direction.

[0086] Specifically, the formula for calculating the horizontal position data S of the trolley 100 of the quay crane in the horizontal direction is as follows (four):

[0087] Formula (IV)

[0088] In equation (ii), S represents the horizontal position data of the quay crane trolley 100 in the horizontal direction; θ e The first measured emission angle of the vertex of the reference plate 800 detected by the 2D laser 600; d e θ is the first straight-line distance between the platform of the 2D laser 600 and the vertex of the reference plate 800; θ0 is the initial installation deviation of the 2D laser 600 in the vertical direction.

[0089] When calculating the vertical displacement and horizontal position data of the quay crane trolley 100, the initial installation deviation of the 2D laser 600 during installation was fully considered. This further improved the accuracy of the quay crane trolley 100's pose data, thereby increasing operational efficiency.

[0090] Optional, such as Figure 8 As shown, the calculation method for the initial installation deviation may include the following steps, namely step S405 (obtaining the initial installation deviation of the 2D laser 600 in the vertical direction), which may specifically include the following steps:

[0091] Step S4051: When the quay crane is moved by the trolley 100 to the main beam 400 on the land side, the second vertical distance between the mounting platform of the 2D laser 600 and the vertex of the reference plate 800 is obtained.

[0092] Figure 9 The diagram shown illustrates the relationship between the 2D laser 600 and the reference plate 800 when the trolley 100 of the quay crane is traveling on the main beam 400 on the landside, specifically on the rear main beam 402. Figure 9 As shown, the second vertical distance between the platform of the 2D laser 600 and the vertex of the reference plate 800 .

[0093] Specifically, after the 2D laser 600 is installed on the quay crane trolley 100, before the quay crane trolley 100 moves, the vertical distance between the mounting platform of the 2D laser 600 and the vertex of the reference plate 800 can be determined. This vertical distance is the second vertical distance between the platform of the 2D laser 600 and the vertex of the reference plate 800. .

[0094] Step S4052: Obtain the second straight-line distance between the 2D laser 600 and the vertex of the reference plate 800 as measured by the 2D laser 600;

[0095] Specifically, the second linear distance between the platform of the 2D laser 600 and the vertex of the reference plate 800 The surface of the reference plate 800 can be scanned by the 2D laser 600 to obtain point cloud data of the surface of the reference plate 800, and calculations can be performed based on the point cloud data.

[0096] Step S4053: Obtain the second measured emission angle of the vertex of the reference plate 800 detected by the 2D laser 600;

[0097] Specifically, the 2D laser 600 scans the surface of the reference plate 800 to obtain point cloud data, and determines the second measurement emission angle based on the point cloud data. .

[0098] Step S4054: Calculate the initial installation deviation of the 2D laser 600 in the vertical direction based on the second vertical distance between the mounting platform of the 2D laser 600 and the vertex of the reference plate 800, the second straight-line distance between the 2D laser 600 and the vertex of the reference plate 800, and the second measured emission angle of the vertex of the reference plate 800.

[0099] Similarly, when the quay crane trolley 100 travels onto the main beam 400 on the land side, the vertical displacement change ΔZ of the quay crane trolley 100 is as follows. The calculation method is as follows:

[0100] Formula (5)

[0101] Since it is on the land side, the structural deformation of the main girder 400 can be ignored, that is, the pitch deformation of the main girder 400 can be ignored, and the displacement change ΔZ of the quay crane trolley 100 in the vertical direction can be ignored. When the value is 0, Equation (VI) can be obtained from Equation (V), and Equation (VII) can be obtained from Equation (VI). The initial installation deviation θ0 of the 2D laser 600 in the vertical direction can be calculated from Equation (VII).

[0102] Formula (VI)

[0103] Formula (VII)

[0104] In equations (5), (6), and (7), The vertical displacement of the quay crane trolley 100 when it travels onto the main beam 400 on the land side; The second vertical distance between the platform of the 2D laser 600 and the vertex of the reference plate 800 when the trolley 100 of the quay crane travels to the main beam 400 on the landside; When the trolley 100 of the quay crane travels to the main beam 400 on the landside, the second straight-line distance between the 2D laser 600 and the vertex of the reference plate 800 is measured by the 2D laser 600. The initial installation deviation of the 2D laser 600 in the vertical direction; The second measured emission angle is the vertex of the reference plate 800 detected by the 2D laser 600.

[0105] Exemplary Pose Measurement Controller

[0106] As a third aspect of this application, this application also provides a pose measurement controller for a quay crane trolley. Figure 10 The diagram shown is a schematic diagram of the working principle of the pose measurement controller provided in this application. Figure 10 As shown, the pose measurement controller 10 includes:

[0107] The data acquisition module 11 is used to acquire the pitch angle data of the quay crane trolley when it moves to the main beam on the sea side; and to acquire the measured height data of the quay crane trolley in the vertical direction, which is perpendicular to the length extension direction of the main beam.

[0108] Specifically, the pitch angle data of the quay crane trolley can be detected by tilt sensor, and the vertical height data of the quay crane trolley can be detected by height sensor.

[0109] The data acquisition module 11 is used to perform steps S100-S200 in the above-described method for measuring the pose of a quay crane trolley.

[0110] At this time, the data acquisition module 11 is in communication connection with the tilt sensor and the height sensor.

[0111] The calculation module 12 is used to acquire the vertical displacement of the quay crane trolley and to calculate the horizontal position data of the quay crane trolley 100 in the horizontal direction, which is parallel to the length extension direction of the main beam 400. That is, the horizontal direction is perpendicular to the vertical direction.

[0112] The calculation module 12 is used to perform steps S300-S400 in the above-described method for measuring the pose of a quay crane trolley.

[0113] Correction module 13 is used to correct the measured height data of the quay crane trolley according to the displacement change, so as to determine the height data of the quay crane trolley;

[0114] That is, the correction module 13 is used to perform step S500 in the pose measurement method of the quay crane trolley described above.

[0115] Specifically, the correction module 13 is communicatively connected to the calculation module 12 and the data acquisition module 11, respectively.

[0116] The position and orientation of the quay crane trolley include its horizontal position data, height data, and pitch angle data on the main beam.

[0117] The position measurement controller for the quay crane trolley provided in this application corrects the position data of the quay crane trolley by detecting the pitch angle in the traveling direction and the displacement changes in the vertical direction when the quay crane trolley travels to the sea side. It also corrects the horizontal position data of the quay crane trolley in the horizontal direction. That is, the corrected position data of the quay crane trolley includes the horizontal position data on the main beam, the pitch angle in the traveling direction, and the height data. The height data is the height data after the displacement change correction. This improves the accuracy of the position data of the quay crane trolley when traveling on the sea side, thereby improving the control accuracy during the hoisting process and improving production efficiency.

[0118] Exemplary System

[0119] As a fourth aspect of this application, this application also provides a position measurement system for a quay crane trolley. Figure 11 The diagram shown is a schematic diagram of the working principle of the pose measurement controller provided in this application. Figure 2 as well as Figure 11 As shown, the pose measurement and control system includes:

[0120] 2D laser 600, the 2D laser 600 is installed under the trolley of the quay crane;

[0121] Tilt sensor 700 is installed below the quay crane trolley and is used to detect the pitch angle of the quay crane trolley.

[0122] Reference plate 800 installed under the main beam;

[0123] as well as

[0124] The pose measurement controller 10 described above is communicatively connected to the 2D laser 600 and the tilt sensor 700.

[0125] Exemplary electronic devices

[0126] Below, for reference Figure 12 This describes an electronic device according to embodiments of the present application. Figure 12 The diagram shown is a structural schematic of an electronic device provided in an embodiment of this application.

[0127] like Figure 12 As shown, the electronic device 60 includes one or more processors 61 and a memory 62.

[0128] The processor 61 may be a central processing unit (CPU) or other form of processing unit with information processing and / or information execution capabilities, and may control other components in the electronic device 60 to perform desired functions.

[0129] The memory 62 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program information may be stored on the computer-readable storage medium, and the processor 601 may run the program information to implement the pose measurement method for the quay crane trolley of the various embodiments of this application described above, or other desired functions.

[0130] In one example, the electronic device 60 may also include an input device 63 and an output device 64, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0131] The input device 63 may include, for example, a keyboard, a mouse, etc.

[0132] The output device 64 can output various information to the outside. The output device 64 may include, for example, a display, a communication network, and remote output devices connected thereto.

[0133] Of course, for the sake of simplicity, Figure 12 Only some of the components of the electronic device 60 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device 60 may include any other suitable components depending on the specific application.

[0134] In addition to the methods and devices described above, embodiments of this application may also be computer program products, which include computer program information that, when run by a processor, causes the processor to perform the steps in the pose measurement method for a quay crane trolley according to various embodiments of this application as described in this specification.

[0135] Computer program products can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0136] Furthermore, embodiments of this application may also be computer-readable storage media storing computer program information thereon, which, when run by a processor, causes the processor to execute the steps in the pose measurement method for a quay crane trolley according to various embodiments of this application.

[0137] Computer-readable storage media may take the form of any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0138] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0139] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0140] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. Such disassembly and / or recombination should be considered as equivalent to the present application.

[0141] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features of the invention herein.

[0142] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Any modifications or equivalent substitutions made within the spirit and principles of the present application shall be included within the protection scope of the present application.

Claims

1. A method for measuring the pose of a trolley used for a quay crane, characterized in that, The quay crane includes a landside portal frame, a seaside portal frame, a main beam spanning and fixed to the seaside portal frame and the landside portal frame, a 2D laser and tilt sensor mounted on the quay crane trolley, and a reference plate mounted under the main beam. The quay crane trolley moves along the main beam. The method includes: When the quay crane trolley moves to the main beam on the sea side, the pitch angle data of the quay crane trolley is obtained; Obtain the measured height data of the trolley for the quay crane in the vertical direction, wherein the vertical direction is perpendicular to the length extension direction of the main beam; The displacement change of the trolley used for the quay crane in the vertical direction is obtained; Acquire the horizontal position data of the trolley used for the quay crane in the horizontal direction, wherein the horizontal direction is parallel to the length extension direction of the main beam; and The measured height data of the quay crane trolley is corrected based on the displacement change of the quay crane trolley in the vertical direction to determine the height data of the quay crane trolley; wherein, the pose of the quay crane trolley includes the horizontal position data, height data, and pitch angle data of the quay crane trolley. The step of obtaining the displacement change of the trolley used for the quay crane in the vertical direction includes: Obtain the first vertical distance between the mounting platform of the 2D laser and the vertex of the reference plate; Obtain the first straight-line distance between the 2D laser and the vertex of the reference plate, as measured by the 2D laser. Obtain the first measured emission angle of the vertex of the reference plate detected by the 2D laser; and The displacement change of the quay crane trolley in the vertical direction is calculated based on the first vertical distance between the mounting platform of the 2D laser and the vertex of the reference plate, the first linear distance between the 2D laser and the vertex of the reference plate, and the first measured emission angle of the vertex of the reference plate. The step of obtaining the horizontal position data of the quay crane trolley in the horizontal direction includes: The horizontal position data of the quay crane trolley in the horizontal direction is calculated based on the first straight-line distance between the 2D laser and the vertex of the reference plate and the first measured emission angle of the vertex of the reference plate.

2. The method for measuring the pose of a trolley used for a quay crane according to claim 1, characterized in that, The method for obtaining the displacement change of the trolley used for the quay crane in the vertical direction further includes: Obtain the initial installation deviation of the 2D laser in the vertical direction; and The displacement change of the quay crane trolley in the vertical direction is calculated based on the first vertical distance between the mounting platform of the 2D laser and the vertex of the reference plate, the first straight-line distance between the 2D laser and the vertex of the reference plate, the first measured emission angle of the vertex of the reference plate, and the initial installation deviation of the 2D laser in the vertical direction. The step of obtaining the horizontal position data of the quay crane trolley in the horizontal direction includes: The horizontal position data of the quay crane trolley in the horizontal direction are calculated based on the first straight-line distance between the 2D laser and the vertex of the reference plate, the first measured emission angle of the vertex of the reference plate, and the initial installation deviation of the 2D laser in the vertical direction.

3. The method for measuring the pose of a trolley used for a quay crane according to claim 2, characterized in that, Obtaining the initial installation deviation of the 2D laser in the vertical direction includes: When the quay crane moves to the main beam on the landside using a trolley, the second vertical distance between the mounting platform of the 2D laser and the vertex of the reference plate is obtained; Obtain the second straight-line distance between the 2D laser and the vertex of the reference plate, as measured by the 2D laser. Obtain the second measured emission angle of the vertex of the reference plate detected by the 2D laser; and The initial installation deviation of the 2D laser in the vertical direction is calculated based on the second vertical distance between the mounting platform of the 2D laser and the vertex of the reference plate, the second linear distance between the 2D laser and the vertex of the reference plate, and the second measured emission angle of the vertex of the reference plate.

4. A pose measurement controller for a trolley used in a quay crane, characterized in that, The quay crane includes a landside portal frame, a seaside portal frame, a main beam spanning and fixed to the seaside portal frame and the landside portal frame, a 2D laser and tilt sensor mounted on the quay crane trolley, and a reference plate mounted under the main beam; including: The data acquisition module is used to acquire the pitch angle data of the quay crane trolley when the quay crane trolley moves to the main beam on the sea side; and to acquire the measured height data of the quay crane trolley in the vertical direction, wherein the vertical direction is perpendicular to the length extension direction of the main beam. The calculation module is used to acquire the displacement change of the quay crane trolley in the vertical direction and the horizontal position data of the quay crane trolley in the horizontal direction, wherein the horizontal direction is parallel to the length extension direction of the main beam; and The correction module is used to correct the measured height data of the quay crane trolley based on the displacement change of the quay crane trolley in the horizontal direction, so as to determine the height data of the quay crane trolley. The pose of the quay crane trolley includes its horizontal position data, height data, and pitch angle data. The quay crane includes a landside portal frame, a seaside portal frame, a main beam spanning and fixed on the seaside portal frame and the landside portal frame, a 2D laser and tilt sensor installed on the quay crane trolley, and a reference plate installed under the main beam. The step of obtaining the displacement change of the trolley used for the quay crane in the vertical direction includes: Obtain the first vertical distance between the mounting platform of the 2D laser and the vertex of the reference plate; Obtain the first straight-line distance between the 2D laser and the vertex of the reference plate, as measured by the 2D laser. Obtain the first measured emission angle of the vertex of the reference plate detected by the 2D laser; and The displacement change of the quay crane trolley in the vertical direction is calculated based on the first vertical distance between the mounting platform of the 2D laser and the vertex of the reference plate, the first linear distance between the 2D laser and the vertex of the reference plate, and the first measured emission angle of the vertex of the reference plate. The step of obtaining the horizontal position data of the quay crane trolley in the horizontal direction includes: The horizontal position data of the quay crane trolley in the horizontal direction is calculated based on the first straight-line distance between the 2D laser and the vertex of the reference plate and the first measured emission angle of the vertex of the reference plate.

5. A pose measurement system for a gantry crane trolley, characterized in that, include: A 2D laser is installed below the trolley of the quay crane; An inclination sensor is installed below the quay crane trolley and is used to detect the pitch angle of the quay crane trolley. Reference plate installed under the main beam; as well as The pose measurement controller according to claim 4 is communicatively connected to the 2D laser and the tilt sensor respectively.

6. The pose measurement system according to claim 5, characterized in that, The 2D laser and the tilt sensor are mounted on the same mounting platform.

7. The pose measurement system according to claim 6, characterized in that, The reference plate is installed below the window cleaning platform of the quay crane.

8. The pose measurement system according to claim 5, characterized in that, The centerline of the reference plate coincides with the laser scanning line of the 2D laser when the quay crane trolley is positioned on the main beam above the landside.

9. A quay crane, characterized in that, include: Landside door frame; Seaside door frame; A main beam spanning and fixed to the sea-side portal frame and the land-side portal frame; A trolley for the quay crane moves along the main beam; as well as The pose measurement system according to any one of claims 6-8.

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