An automated stacking control system and method for adjusting the rotation angle of containers

Abstract

This invention proposes an automated stacking control system for adjusting the rotation angle of containers, applied to gantry cranes. The system includes a first marker, a second marker, a third marker, a fourth marker, a first 3D laser scanner, a second 3D laser scanner, a first 2D laser scanner, a second 2D laser scanner, a programmable controller, and a data processing platform. The programmable controller is electrically connected to the first 3D laser scanner, the second 3D laser scanner, the first 2D laser scanner, and the second 2D laser scanner, and is also communicatively connected to the data processing platform. This invention further proposes an automated stacking control method for adjusting the rotation angle of containers, including: triggering a detection task; obtaining the deviation; deriving compensation parameters; and controlling the spreader to move left and right, rotate left and right, and move the trolley forward and backward according to the compensation parameters to eliminate the deviation. This invention improves the accuracy, safety, operational efficiency, and stacking neatness of the automated stacking control for adjusting the rotation angle of containers.

Description

Technical Field

[0001] This invention relates to the field of gantry crane technology, and more specifically to an automated stacking control system and method for adjusting the rotation angle of containers. Background Technology

[0002] In recent years, with the development of automated container terminals in China, the fully automated loading and unloading technology of rail-mounted gantry cranes has been widely applied, providing a complete automated loading and unloading solution for container yards. This system achieves fully automated loading and unloading through the coordinated operation of various crane mechanisms, automatic container alignment, and automatic container placement processes. Automatic stacking is the core and foundation of fully automated container yard loading and unloading. Traditionally, automatic stacking is achieved through the coordinated operation of a yard container contour scanning system, a spreader laser alignment system, and a spreader attitude detection system. However, with increased crane operating time and yard usage time, various factors gradually emerge that affect the accuracy of automated container stacking. For example, the laser in the spreader laser alignment system is prone to displacement due to impacts from container handling, leading to distortion of the alignment coordinate system. This results in frequent misalignment of containers during automated stacking in the yard, severely impacting the neatness of container stacking and the safety of fully automated container loading and unloading.

[0003] Currently, when stacking containers at cargo terminals, traditional rail-mounted container gantry cranes use a trolley, hoisting mechanism, and other components to move to the target container position, aligning the container on the spreader with the target container in the yard. During container placement, the spreader needs to maintain a certain level of stability and balance. Balance means that all planes of the spreader should remain horizontal or vertical, and the center of the spreader should coincide with the center of the trolley frame during hoisting to prevent tilting and collisions with adjacent containers or other items, ensuring safe and reliable operation. With the increasing automation and intelligence of port lifting equipment, there are higher requirements for in-depth status information, operational status, and real-time feedback. Traditional rail-mounted container gantry crane-based automated container stacking systems in yards suffer from a lack of data on unsuccessful stacking deviations and a simple model, leading to a gradual discrepancy between the actual performance and expected results. These systems also have the following drawbacks:

[0004] (1) Because a driver of a remote-controlled rail-mounted container gantry crane needs to operate multiple rail-mounted container gantry cranes at the same time, the driver's manual intervention to confirm the stacking situation results in a waste of time and resources.

[0005] (2) In traditional technical solutions, the laser alignment system for containers on the spreader mostly uses a single point laser on the spreader to achieve precise positioning of the container. However, the laser is installed on the spreader, and the installation environment is subject to severe impacts during normal operation. The single point laser on the spreader is displaced by vibration, and the steel wire rope is stretched, which will cause the coordinates established by the single point laser on the spreader to be distorted. The displacement of the spreader push rod cannot meet the travel required by the stacking image, resulting in inaccurate positioning of the container. This reduces the accuracy of automatic stacking of containers in the yard and frequently leads to incomplete automatic stacking.

[0006] (3) In the traditional technical solution, after stacking, the alignment is observed. If the two layers of boxes exceed the specified distance for left, right and front and back misalignment, there is a risk of the boxes tilting. The remote control operator of the rail crane observes the stacking situation through the vision system and does not meet the requirements. Then, manual intervention is carried out to re-stack, which greatly reduces the success rate of equipment stacking. However, manual intervention reduces the efficiency of operation. Therefore, the stacking of boxes in the yard also urgently needs technical innovations in precise positioning and stacking assistance. Summary of the Invention

[0007] In view of the defects and deficiencies in the existing technology, the present invention proposes an automated stacking control system and method for adjusting the rotation angle of containers to overcome the shortcomings in the above-mentioned background technology, thereby solving the technical problem of how to improve the accuracy, safety, operation efficiency and stacking neatness of automated stacking control for adjusting the rotation angle of containers.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] This invention proposes an automated stacking control system that adapts to the rotation angle of containers. It is applied to a gantry crane equipped with a spreader, a trolley, and a trolley frame. The trolley's travel direction is perpendicular to the trolley frame's travel direction. The gantry crane operates on target containers in the stacking area. The automated stacking control system includes a first marker, a second marker, a third marker, a fourth marker, a first 3D laser scanner, a second 3D laser scanner, a first 2D laser scanner, a second 2D laser scanner, a programmable controller, and a data processing platform. The programmable controller is electrically connected to the first 3D laser scanner, the second 3D laser scanner, the first 2D laser scanner, and the second 2D laser scanner, and also communicatively connected to the data processing platform.

[0010] The first marker is located at the right front of the top surface of the spreader when viewed from above; the second marker is located at the left rear of the top surface of the spreader; the third marker is located at the right rear of the top surface of the spreader; and the fourth marker is located at the left front of the top surface of the spreader.

[0011] The first 3D laser scanner is located at the middle of the front side of the vehicle frame on the bottom surface of the vehicle frame in the direction of travel when viewed from above. The second 3D laser scanner is located at the middle of the rear side of the vehicle frame on the bottom surface of the vehicle frame in the direction of travel when viewed from above. The first 2D laser scanner is located at the right side of the front side of the vehicle frame on the bottom surface of the vehicle frame in the direction of travel when viewed from above. The second 2D laser scanner is located at the left side of the rear side of the vehicle frame on the bottom surface of the vehicle frame in the direction of travel when viewed from above.

[0012] The first 3D laser scanner is used to perform 3D scanning on the feature points of the right long side of the top surface of the fourth marker and the target container in the stacking area, thereby obtaining the corresponding marker location information and the target container location information in the stacking area.

[0013] The second 3D laser scanner is used to perform 3D scanning on the feature points of the left long side of the top surface of the third marker and the target container in the stacking area, thereby obtaining the corresponding marker position information and the target container position information in the stacking area.

[0014] The first 2D laser scanner is used to perform real-time 2D scanning of the first marker and the feature points on the right short side of the top surface of the target container in the stacking area, thereby obtaining the corresponding marker position information and the position information of the target container in the stacking area.

[0015] The second 2D laser scanner is used to perform real-time 2D scanning of the feature points on the left short side of the top surface of the second marker and the target container in the stacking area, thereby obtaining the corresponding marker position information and the target container position information in the stacking area.

[0016] The program controller is used to acquire and analyze the position information of each marker from each laser scanner, and to send control signals to adjust the attitude of the spreader.

[0017] The data processing platform is equipped with a database; the data processing platform is used to store, analyze and manage application data related to automatic stacking; the database is used to store stacking deviation values.

[0018] Furthermore, the data processing platform is also equipped with an automatically stacked machine learning model.

[0019] Furthermore, the data processing platform includes a database software module, a feature comparison software module, and a feature extraction software module;

[0020] The database software module is used to store and manage critical status data for automated stacking;

[0021] The feature comparison software module is used for data analysis and comparison;

[0022] The feature extraction software module is used to extract valid feature data.

[0023] Furthermore, the automated stacking control system also includes a trolley mechanism unit, a lifting mechanism unit, and a micro-motion unit for mounting the spreader; the programmable controller is electrically connected to the trolley mechanism unit, the lifting mechanism unit, and the micro-motion unit for mounting the spreader, respectively.

[0024] The trolley mechanism unit is used to execute the actual displacement of the trolley frame;

[0025] The hoisting mechanism unit is used to execute the displacement of the spreader in the hoisting direction;

[0026] The micro-motion unit on the lifting device is used to perform displacement of the lifting device in the forward, backward, left, and right directions.

[0027] Furthermore, the execution process of the data processing platform includes the following three steps:

[0028] S11 stores, analyzes, and manages critical status data for automated stacking;

[0029] S12, preprocess the real-time sampled data and extract effective feature data;

[0030] S13, while scanning the container stacking status, store the stacking deviation value in the automatic stacking history database.

[0031] Furthermore, the execution process of the data processing platform also includes the following three items:

[0032] S14, Establish an automated stacking machine learning model;

[0033] S15, combine the historical database of successful automatic stacking with the stacking deviation value to calculate the accurate compensation data difference;

[0034] S16, perform a comparison and verification of the position information of the container on the spreader with the target container in the stacking area, thereby triggering the automated stacking control system to perform secondary automatic stacking.

[0035] This invention further proposes an automated stacking control method for adjusting the rotation angle of containers, applied to the automated stacking control system for adjusting the rotation angle of containers as described in any of the preceding claims. The method includes the following steps:

[0036] S1, each laser scanner, combined with the position information of the spreader, trolley and trolley frame, triggers the detection task of the target container in the yard and the target container on the spreader;

[0037] S2, obtain the trolley direction deviation between the container on the spreader and the target container in the yard, the trolley direction deviation between the container on the spreader and the target container in the yard, and the rotation angle deviation between the container on the spreader and the target container in the yard.

[0038] S3 transmits the data to the program controller, which then calculates the compensation parameters.

[0039] S4 controls the spreader to move left and right, rotate left and right, and move the trolley forward and backward based on the compensation parameters obtained from S3. This eliminates the deviation of the trolley direction between the container on the spreader and the target container in the yard, the deviation of the trolley direction between the container on the spreader and the target container in the yard, and the deviation of the rotation angle between the container on the spreader and the target container in the yard, thereby achieving automated stacking control.

[0040] Furthermore, the method includes the following steps:

[0041] S5, compare and verify the position information of the container on the spreader and the target container in the yard. If any of the following deviations exceeds a set value range: the deviation of the trolley direction between the container on the spreader and the target container in the yard, the deviation of the trolley direction between the container on the spreader and the target container in the yard, or the deviation of the rotation angle between the container on the spreader and the target container in the yard, then execute S2.

[0042] Furthermore, in S1, the following actions are performed: storing, analyzing, and managing the critical state data of the automated stacking;

[0043] In S2, the following steps are performed: preprocess the real-time sampled data to extract effective feature data;

[0044] In S3, the following steps are executed: The data is compared with the historical database information of automatic stacking success, the accurate compensation data difference is calculated, and the feedback is sent to the program controller.

[0045] In S4, the following steps are executed: Perform the first stacking, scan the container stacking status, store the stacking deviation value in the automatic stacking history database, and establish an automatic stacking machine learning model.

[0046] In S5, the following steps are performed: the position information of the container on the spreader and the target container in the yard is compared and verified. If the deviation of the trolley direction between the container on the spreader and the target container in the yard, the deviation of the trolley direction between the container on the spreader and the target container in the yard, and the deviation of the rotation angle between the container on the spreader and the target container in the yard exceed the reasonable range, the automated stacking control system is triggered to start the second automatic stacking.

[0047] Furthermore, the automated stacking control system also includes a trolley mechanism unit, a lifting mechanism unit, and a micro-motion unit for mounting the spreader; the programmable controller is electrically connected to the trolley mechanism unit, the lifting mechanism unit, and the micro-motion unit for mounting the spreader, respectively.

[0048] The trolley mechanism unit is used to execute the actual displacement of the trolley frame;

[0049] The hoisting mechanism unit is used to execute the displacement of the spreader in the hoisting direction;

[0050] The micro-motion unit on the lifting device is used to perform displacement of the lifting device in the forward, backward, left, and right directions;

[0051] The trolley mechanism unit includes a trolley motor, a first speed encoder, a first absolute encoder, a trolley magnetic encoder, and a first frequency converter, all mounted on the crane trolley mechanism. The program controller is electrically connected to the trolley motor, the first speed encoder, the first absolute encoder, the trolley magnetic encoder, and the first frequency converter. The trolley motor drives the trolley frame wheels to rotate. The first speed encoder detects the rotational speed of the trolley frame motor's output shaft and feeds the detection signal back to the program controller. The first absolute encoder detects the rotational speed of the trolley frame wheels and feeds the detection signal back to the program controller, thereby obtaining the trolley frame's position information. The trolley magnetic encoder detects the trolley frame's position relative to the gantry crane's rail beam and feeds the detection signal back to the program controller, providing redundancy verification with the first absolute encoder to obtain the trolley mechanism's position information. The first frequency converter is used to implement frequency conversion control of the trolley frame motor. The hoisting mechanism unit includes components mounted on the crane hoisting mechanism. The system comprises a hoisting motor, a second speed encoder, a second absolute encoder, and a second frequency converter. A programmable controller (PCC) is electrically connected to the hoisting motor, the second speed encoder, the second absolute encoder, the second frequency converter, and the lifting device push rod. The hoisting motor drives the drum to rotate. The second speed encoder measures the rotational speed of the hoisting motor shaft and feeds the detection signal back to the PCC. The second absolute encoder calculates the rotational information of the drum and feeds the detection signal back to the PCC to obtain the position information of the hoisting mechanism. The second frequency converter implements frequency conversion control of the hoisting motor. The lifting device upper frame micro-motion unit includes a micro-motion motor, a third absolute encoder, and a third frequency converter mounted on the crane lifting device upper frame. The micro-motion motor drives the actual displacement of the lifting device push rod. The third absolute encoder measures the shaft rotation information of the lifting device push rod and feeds the shaft rotation information back to the PCC to obtain the position information of the lifting device upper frame micro-motion unit. The third frequency converter implements frequency conversion control of the micro-motion motor.

[0052] Before S1, the large truck enters the container lifting area of ​​the yard, and the spreader lifts the container;

[0053] In S2, first target detection information is obtained by a first 3D laser scanner and a second 3D laser scanner. The target detection information includes the coordinate values ​​of the target container in the yard and the coordinate values ​​of the container on the spreader.

[0054] In S3, the program controller processes the first target detection information obtained in S2 to obtain the target detection displacement of the trolley frame and the target detection displacement of the lifting device;

[0055] The second target detection information is obtained by the first 2D laser scanner and the second 2D laser scanner. The second target detection information includes the height of the target container in the yard and the rotation angle of the target container in the yard, the height of the container on the spreader and the rotation angle of the container on the spreader; the program controller processes the second target detection information to obtain the target detection displacement of the trolley frame and the target detection displacement of the spreader.

[0056] The beneficial effects of this invention are as follows:

[0057] The present invention provides an automated stacking control system and method for adjusting the rotation angle of containers, which realizes automatic stacking operations, has stable performance, strong practicality, can eliminate the impact of drastic changes in equipment status on the automatic stacking of containers in the yard, improves the accuracy of automatic stacking of rail-mounted container gantry cranes, and realizes the stable operation and safe production of fully automatic rail-mounted container gantry cranes in ports.

[0058] This invention utilizes a multi-functional laser scanner on a trolley frame. Combined with the equipment's operating status, it triggers target detection tasks for target containers in the yard and on the spreader. This yields the trolley directional deviation between the container on the spreader and the target container, the trolley directional deviation between the container on the spreader and the target container, and the rotation angle deviation between the container on the spreader and the target container. The data is then transmitted to a programmable logic controller (PLC) via the TCP network protocol. The PLC program calculates compensation parameters and controls the spreader's left and right movement and rotation, as well as the trolley's forward and backward movement, to achieve automatic stacking error compensation. This improves the accuracy, safety, efficiency, and neatness of automatic stacking of rail-mounted container gantry cranes.

[0059] The present invention also has the following advantages:

[0060] (1) It can flexibly adapt to changes in the operating status of terminal equipment. By relying on the target detection system and the status points of the equipment when it is aligned with the container, it can accurately trigger the scanning task, collect the location information of markers and containers in the stacking area, optimize the automatic control process, generate adaptive control law, and thus adjust the automatic control parameters for the container in real time and accurately, so that the control system of the present invention can always work automatically in the optimal operating state.

[0061] (2) In the fully automatic loading and unloading of containers, an automatic container coordinate system with high accuracy and strong anti-interference performance is established. After stacking is completed, a stacking effect scanning task is triggered to obtain the stacking deviation. If it exceeds the reasonable range, a secondary stacking task is automatically triggered to automatically compensate based on the stacking deviation. The stacking deviation refers to the coordinate value of the container on the spreader obtained by scanning the marker on the spreader after the container landing signal is triggered during the first stacking. The coordinate value is then verified with the coordinate value of the target container in the stacking area. This greatly improves the success rate of automatic stacking and reduces the frequency of manual intervention.

[0062] (3) By collecting data on the containers before, during and after stacking, adaptive features can be extracted from the data to achieve the adaptive function and significantly improve the accuracy of automatic stacking. At the same time, based on the scanning of the marker on the spreader, the spreader posture information can be obtained in real time, which plays the role of equipment safety protection and abnormal status warning in the process of automatic control, thus improving the safety of fully automatic container stacking of rail-mounted gantry cranes.

[0063] (4) It has the functions of checking the lifting height of automated rail-mounted container gantry cranes and detecting the posture of the spreader.

[0064] (5) The automated rail-mounted container gantry crane spreader attitude control system proposed in this invention, which is highly practical, stable, and accurately reduces the sway amplitude of the spreader, has the following technical effects:

[0065] (7) The present invention can quickly, stably, and in a task-based manner obtain the location of target objects in the stockpile;

[0066] (8) This invention is not affected by the external environment and has good stability. The laser scanner is installed on the maintenance platform under the trolley frame. The installation position is structurally stable, not easily deformed, and has little impact. There is no obstruction within the scanning range, which can efficiently and stably complete the task of scanning the stacked area.

[0067] (9) The present invention has an automated rail crane lifting height inspection function, which can report an abnormal working condition alarm when the lifting height of the lifting device is incorrect, stop the equipment operation, and improve the safety of equipment operation.

[0068] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0069] Figure 1 This is a three-dimensional structural schematic diagram of the gantry crane involved in the present invention;

[0070] Figure 2 This is a schematic diagram of the installation structure of the marker and lifting device involved in the present invention;

[0071] Figure 3 This is a schematic diagram of the installation structure of the laser scanner and the trolley involved in the present invention;

[0072] Figure 4 This is a schematic diagram of the electrical connections of the programmable controller involved in this invention;

[0073] Figure 5 This invention relates to an automated stacking control method for adjusting the rotation angle of containers.

[0074] Figure 6 This invention relates to an optimized workflow diagram of an automated stacking control method for adapting the rotation angle of containers.

[0075] Figure 7 This is a schematic diagram illustrating the operational scenario of a container on a spreader and a target container in a yard during the pre-stacking stage, as per the present invention.

[0076] Figure 8 This is a schematic diagram illustrating the operational scenario of a container on a spreader and a target container in a yard during the stacking process, as per the present invention.

[0077] Figure 9 This is a schematic diagram illustrating the operational scenario of a container on a spreader and a target container in a yard during the later stages of stacking, as per the present invention.

[0078] Explanation of reference numerals in the attached figures:

[0079] 400 lifting device; 500 trolley; 600 trolley frame; 1 first marker; 2 second marker; 3 third marker; 4 fourth marker; 5 first 3D laser scanner; 6 second 3D laser scanner; 7 first 2D laser scanner; 8 second 2D laser scanner; 9 program controller; 11 data processing platform. Detailed Implementation

[0080] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be further described clearly and completely below in conjunction with the embodiments of this invention. It should be noted that the described embodiments are merely some embodiments of this invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0081] It should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0082] The terms “first,” “second,” “third,” and “fourth” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, the use of “first,” “second,” “third,” and “fourth” to designate a feature may explicitly or implicitly include one or more of that feature.

[0083] The present invention will be further described in detail below with reference to embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto. The accompanying drawings are for illustrative purposes only and should not be construed as limiting the present invention.

[0084] Example

[0085] like Figures 1-4 As shown:

[0086] This embodiment proposes an automated stacking control system that adapts to the rotation angle of containers. It is applied to a gantry crane equipped with a spreader 400, a trolley 500, and a frame 600. The traveling direction of the trolley 500 is perpendicular to the traveling direction of the frame 600. The gantry crane operates on target containers in the stacking area. The automated stacking control system includes a first marker 1, a second marker 2, a third marker 3, a fourth marker 4, a first 3D laser scanner 5, a second 3D laser scanner 6, a first 2D laser scanner 7, a second 2D laser scanner 8, a programmable logic controller 9, and a data processing platform 11. The programmable logic controller 9 is electrically connected to the first 3D laser scanner 5, the second 3D laser scanner 6, the first 2D laser scanner 7, and the second 2D laser scanner 8, and is also communicatively connected to the data processing platform 11. Specifically, the programmable logic controller 9 is a programmable logic controller (PLC).

[0087] The first marker 1 is located on the right front of the top surface of the lifting device 400 when viewed from above, the second marker 2 is located on the left rear of the top surface of the lifting device 400, the third marker 3 is located on the right rear of the top surface of the lifting device 400, and the fourth marker 4 is located on the left front of the top surface of the lifting device 400.

[0088] The first 3D laser scanner 5 is located at the middle of the front side of the carriage 600 in the direction of travel on the bottom surface of the carriage 600 in the top view. The second 3D laser scanner 6 is located at the middle of the rear side of the carriage 600 in the direction of travel on the bottom surface of the carriage 600 in the top view. The first 2D laser scanner 7 is located at the right side of the front side of the carriage 600 in the direction of travel on the bottom surface of the carriage 600 in the top view. The second 2D laser scanner 8 is located at the left side of the rear side of the carriage 600 in the direction of travel on the bottom surface of the carriage 600 in the top view.

[0089] The first 3D laser scanner 5 is used to perform 3D scanning on the fourth marker 4 and the feature points on the right long side of the top surface of the target container in the stacking area, thereby obtaining the corresponding marker location information and the location information of the target container in the stacking area.

[0090] The second 3D laser scanner 6 is used to perform 3D scanning on the feature points of the third marker 3 and the left long side of the top surface of the target container in the stacking area, thereby obtaining the corresponding marker position information and the position information of the target container in the stacking area;

[0091] The first 2D laser scanner 7 is used to perform real-time 2D scanning of the first marker 1 and the feature points on the right short side of the top surface of the target container in the stacking area, thereby obtaining the corresponding marker position information and the position information of the target container in the stacking area.

[0092] The second 2D laser scanner 8 is used to perform real-time 2D scanning of the feature points on the left short side of the top surface of the second marker 2 and the target container in the stacking area, thereby obtaining the corresponding marker position information and the target container position information in the stacking area.

[0093] The program controller 9 is used to acquire and analyze the position information of each marker from each laser scanner, and to send control signals to adjust the attitude of the lifting device 400.

[0094] The data processing platform 11 is equipped with a database; the data processing platform 11 is used to store, analyze and manage application data related to automatic stacking; the database is used to store stacking deviation values.

[0095] Specifically, the first 3D laser scanner 5 includes a third 2D laser scanner 51 and a first servo motor 52; the second 3D laser scanner 6 includes a fourth 2D laser scanner 61 and a second servo motor 62; the automated stacking control system also includes a servo drive device, which is electrically connected to the first servo motor 52 and the second servo motor 62 respectively; the first servo motor 52 is used to drive the third 2D laser scanner 51 to rotate around the traveling direction of the trolley 500.

[0096] The third 2D laser scanner 51 is mounted on the first servo motor 52 and is used to scan toward the fourth marker 4; preferably, the third 2D laser scanner 51 is parallel to the plane in the direction of the trolley 500.

[0097] The second servo motor 62 is used to drive the fourth 2D laser scanner 61 to rotate around the traveling direction of the trolley 500.

[0098] The fourth 2D laser scanner 61 is mounted on the second servo motor 62 and is used to scan the third marker 3; preferably, the fourth 2D laser scanner 61 is parallel to the plane in the direction of the trolley 500.

[0099] Specifically, the aforementioned markers are non-powered markers; the aforementioned markers are iron markers used as scanning feature extractors, which are immune to liquids and dust, maintain good feature recognition even in extreme weather conditions, and have many advantages such as being maintenance-free and highly resistant to interference.

[0100] Specifically, the aforementioned laser scanner obtains three-dimensional coordinates and rotation angles by scanning clearly corresponding markers. Its raw data consists of two-dimensional laser scanning ranging data from the 3D laser unit in different rotation planes. If the LMS511-20100 laser model has a laser scanning angle resolution of 0.1667 degrees, then in one 3D laser unit scanning cycle, a total of 1141 laser points will be obtained within the laser scanning range of -5° to 185°, in the form of {d0, d1, d2…d1141}. According to the principle of polar coordinate to rectangular coordinate system conversion, the coordinates of each scanning point in the laser scanning plane are: x'n=dn×cos(n×0.1667-5) y'n=dn×si n(n×0.1667-5); If the 3D laser rotating gimbal has rotated θ° relative to its initial position, then after fusing the 3D laser encoder data, 3D data can be obtained with the origin as the laser center, the trolley travel direction as the x-axis, the trolley travel direction as the y-axis, and the lifting direction of the lifting device as the z-axis; The rotation angle of the lifting device refers to the horizontal rotation of the lifting device ±5° (rated load) to obtain various types of state data; The servo drive mechanism that can rotate ±80° can help the laser scanner to accurately and comprehensively scan the stacking environment.

[0101] In this embodiment, the data processing platform 11 is further provided with an automatically stacked machine learning model.

[0102] In this embodiment, the data processing platform 11 further includes a database software module, a feature comparison software module, and a feature extraction software module;

[0103] The database software module is used to store and manage critical status data for automated stacking;

[0104] The feature comparison software module is used for data analysis and comparison;

[0105] The feature extraction software module is used to extract valid feature data.

[0106] Specifically, the data processing platform 11 uses user-friendly target detection software and secondary stacking machine model learning and application technology to automatically trigger the secondary stacking function, greatly improving the success rate of automatic stacking and enabling it to quickly, stably, and in a task-based manner obtain the location of target objects in the storage yard.

[0107] In this embodiment, the execution process of the data processing platform 11 includes the following three steps:

[0108] S11, store, analyze, and manage the critical status data of the automated stacking; then execute S12;

[0109] S12, preprocess the real-time sampled data to extract effective feature data; then execute S13;

[0110] S13, while scanning the container stacking status, store the stacking deviation value to the automatic stacking history database; then execute S14.

[0111] In this embodiment, the execution process of the data processing platform 11 further includes the following three steps (i.e., after executing S13 above, continue to execute S14):

[0112] S14, Build an automated stacking machine learning model; then execute S15;

[0113] S15, combine the historical database of successful automatic stacking with the stacking deviation value to calculate the accurate compensation data difference; then execute S16;

[0114] S16, perform a comparison and verification of the position information of the container on the spreader with the target container in the stacking area, thereby triggering the automated stacking control system to perform secondary automatic stacking.

[0115] In this embodiment, the automated stacking control system further includes a trolley mechanism unit, a lifting mechanism unit, and a micro-motion unit for mounting the spreader; the program controller 9 is electrically connected to the trolley mechanism unit, the lifting mechanism unit, and the micro-motion unit for mounting the spreader, respectively.

[0116] The trolley mechanism unit is used to execute the actual displacement of the trolley frame 600;

[0117] The hoisting mechanism unit is used to execute the displacement of the spreader 400 in the hoisting direction;

[0118] The micro-motion unit on the lifting device is used to perform displacement of the lifting device 400 in the forward, backward, left, and right directions.

[0119] In this embodiment, the trolley mechanism unit includes a trolley motor, a first speed encoder, a first absolute encoder, a trolley magnetic scale encoder, and a first frequency converter mounted on the crane trolley mechanism; the program controller 9 is electrically connected to the trolley motor, the first speed encoder, the first absolute encoder, the trolley magnetic scale encoder, and the first frequency converter respectively.

[0120] The trolley motor is used to drive the 600 wheels of the trolley frame to rotate;

[0121] The first speed encoder is used to detect the rotational speed of the output shaft of the 600 motor of the trolley frame and feeds the detection signal back to the program controller 9.

[0122] The first absolute encoder is used to detect the rotation speed of the wheels of the trolley frame 600 and feeds the detection signal back to the program controller 9 to obtain the position information of the trolley frame 600.

[0123] The trolley magnetic encoder is used to detect the position information of the trolley frame 600 relative to the rail beam of the gantry crane, and feeds the detection signal back to the program controller 9. It is used for redundancy verification with the first absolute encoder to obtain the position information of the trolley mechanism.

[0124] The first frequency converter is used to realize the frequency conversion control of the 600 motor of the trolley frame;

[0125] The hoisting mechanism unit includes a hoisting motor, a second speed encoder, a second absolute encoder, and a second frequency converter installed on the hoisting mechanism of the crane; the program controller 9 is electrically connected to the hoisting motor, the second speed encoder, the second absolute encoder, the second frequency converter, and the spreader push rod; as one of the optimized technical solutions, the drum and spreader push rod on the trolley frame 600 can refer to the drum and spreader push rod in the specification of Chinese utility model patent "CN201424342Y-Eight-rope spreader mounting of container crane";

[0126] The hoisting motor is used to drive the drum to rotate;

[0127] The second speed encoder is used to measure the rotational speed of the hoisting motor shaft and feeds the detection signal back to the program controller 9; the second absolute encoder is used to calculate the rotational information of the drum and feeds the detection signal back to the program controller 9 to obtain the position information of the hoisting mechanism; specifically, the second speed encoder can monitor and control the speed of the motor in real time to achieve precise speed control and adjustment.

[0128] The second frequency converter is used to realize the frequency conversion control of the hoisting motor;

[0129] The micro-motion unit on the lifting frame includes a micro-motor, a third absolute encoder, and a third frequency converter, all mounted on the crane lifting frame.

[0130] The micro motor is used to drive the actual displacement of the lifting tool push rod;

[0131] The third absolute encoder is used to measure the shaft rotation information of the lifting rod and feeds the shaft rotation information back to the program controller 9, thereby obtaining the position information of the micro-motion unit on the lifting frame;

[0132] The third frequency converter is used to realize the frequency conversion control of the micro motor.

[0133] like Figures 1-5 As shown:

[0134] This embodiment proposes an automated stacking control method that adapts to the rotation angle of containers, applied to any of the automated stacking control systems described above. The method includes the following steps:

[0135] S1, each laser scanner, combined with the position information of spreader 400, trolley 500 and trolley frame 600, triggers the detection task of the target container in the yard and the target container on the spreader, and then executes S2;

[0136] S2, obtain the trolley directional deviation between the container on the spreader and the target container in the yard, the trolley directional deviation between the container on the spreader and the target container in the yard, and the rotation angle deviation between the container on the spreader and the target container in the yard through the laser scanner, and then execute S3;

[0137] S3, transmit the data to the program controller 9, calculate the compensation parameters in the program controller 9, and then execute S4;

[0138] S4 controls the spreader to move left and right, rotate left and right, and move the trolley forward and backward based on the compensation parameters obtained from S3. This eliminates the deviation of the trolley direction between the container on the spreader and the target container in the yard, the deviation of the trolley direction between the container on the spreader and the target container in the yard, and the deviation of the rotation angle between the container on the spreader and the target container in the yard, thereby achieving automated stacking control.

[0139] In this embodiment, the method further includes the following steps (i.e., S5 is executed after S4):

[0140] S5, compare and verify the position information of the container on the spreader and the target container in the yard. If any of the following deviations exceeds a set value range: the deviation of the trolley direction between the container on the spreader and the target container in the yard, the deviation of the trolley direction between the container on the spreader and the target container in the yard, or the deviation of the rotation angle between the container on the spreader and the target container in the yard, then execute S2.

[0141] Specifically, the method of the present invention can correct the rotation, lateral movement, and trolley movement of the spreader in the automatic control process. The rotation of the spreader refers to the horizontal rotation of the spreader within ±5° (rated load) within the main technical parameters of the crane. This rotation is intended to accommodate the offset of automatically stacked containers in the yard. The lateral movement of the spreader refers to the translation of the spreader in the trolley direction within ≥±200mm (rated load) within the main technical parameters of the crane. The trolley movement of the spreader refers to the translation of the spreader in the trolley direction within ≥±200mm (rated load) within the main technical parameters of the crane. This is to adapt to the interference of changes in equipment status, especially the distortion of the container coordinates caused by the tensile deformation of the wire rope.

[0142] In this embodiment,

[0143] In S1, perform the following: store, analyze, and manage the critical state data of the automated stacking.

[0144] In S2, the following steps are performed: preprocess the real-time sampled data to extract effective feature data;

[0145] In S3, the following steps are executed: The data is compared with the historical database information of successful automatic stacking, the accurate compensation data difference is calculated, and the data is fed back to the program controller 9.

[0146] In S4, the following steps are executed: Perform the first stacking, scan the container stacking status, store the stacking deviation value in the automatic stacking history database, and establish an automatic stacking machine learning model.

[0147] In S5, the following is executed: the position information of the container on the spreader is compared and verified with that of the target container in the stacking area. If the deviation value exceeds the reasonable range, the automated stacking control system is triggered to start the second automatic stacking.

[0148] In this embodiment, prior to S1, the trolley 500 enters the container lifting operation area of ​​the yard, and the spreader 400 lifts the container;

[0149] In S2, such as Figures 6-8 As shown, the first target detection information is obtained by the first 3D laser scanner 5 and the second 3D laser scanner 6. The target detection information includes the coordinate values ​​(X1, Z1) of the target container in the yard and the coordinate values ​​(X2, Z2) of the container on the spreader.

[0150] In S3, such as Figures 6-8 As shown, the program controller 9 processes the first target detection information obtained in S2 to obtain the target detection displacement of the trolley frame 600 and the target detection displacement of the spreader 400. Specifically, since the position of the target container in the stacking area remains unchanged, the container on the spreader is moved in the trolley direction, and the target detection displacement of the trolley frame 600 is X1-X2. In addition, since the position of the target container in the stacking area remains unchanged, the container on the spreader is moved in the trolley direction, and the target detection displacement of the spreader 400 is Z1-Z2.

[0151] The second target detection information is obtained by the first 2D laser scanner 7 and the second 2D laser scanner 8. The second target detection information includes the target container height Y1 value and the target container rotation angle SKEW1 in the yard, the container height Y2 value on the spreader and the container rotation angle SKEW2 on the spreader. The program controller 9 processes the second target detection information to obtain the target detection displacement of the trolley frame 600 and the target detection displacement of the spreader 400.

[0152] In this embodiment, further, in S1, when performing an automatic container placement task in the yard, when the trolley frame 600 runs to the designated container placement position (X, Y, Z) in the yard (e.g.) Figures 6-8As shown), the program controller 9 feeds back to the target detection system located on the data computing platform 11 to scan the target container task JOB1 (the program controller 9 gives the target container task JOB1); the target detection system is a detection system composed of two 3D scanners and two 2D scanners.

[0153] In S1, the target container in the yard is precisely scanned, thereby achieving the purpose of positioning the target container in the Y1 axis direction and the rotation angle SKEW1 of the target container in the yard.

[0154] In S1, establish the coordinates (X1, Y1, Z1) of the target container within the yard (e.g., Figures 6-8 (as shown) and the rotation angle SKEW1 of the target container in the yard are stored in the database;

[0155] In this embodiment, the first 2D laser scanner 7 scans the container on the spreader to obtain a coordinate point (X3, Y3, Z3), and the second 2D laser scanner 8 scans the container on the spreader to obtain another coordinate point (X4, Y4, Z4). The two points are connected by a straight line, which forms an angle with the center line of the trolley to the target container. The included angle SKEW1 of the target container in the yard is used to determine the compensation value for the trolley's directional rotation; the compensation value for the trolley's directional rotation is the deviation of the rotation angle between the container on the spreader and the target container in the yard.

[0156] In this embodiment, in S1, when the automatic container placement task is performed in the yard, when the spreader's lifting height reaches Y1+80CM, the program controller 9 sends feedback to the target detection system to scan the container task JOB2 on the spreader. Using 3D laser technology, in conjunction with the rotating motor, the container held by the spreader 400 is precisely scanned to achieve the purpose of positioning the container on the spreader in the X and Z axis directions. Using 2D laser technology, the environment of the container on the spreader is precisely scanned to achieve the purpose of positioning the container on the spreader in the Y axis direction and rotation angle SKEW.

[0157] In S2, establish the coordinates (X2, Y2, Z2) of the container on the spreader (e.g., Figures 6-8 (as shown) and the rotation angle of the container on the spreader SKEW2, and then store it in the database; specifically, the target detection system scans the container on the spreader. Task JOB2 is a task triggered by the program controller 9 when the gantry crane's operating status trolley lifts the trolley position coordinates (X,Y1+80CM,Z).

[0158] In this embodiment, the first 2D laser scanner 7 scans the marker 2 on the lifting device to obtain a coordinate point (X5, Y5, Z5).

[0159] The second 2D laser scanner 8 scans the second marker 4 to obtain a coordinate point (X6, Y6, Z6). A straight line connecting these two points, along with the center line of the trolley, forms an angle SKEW2 on the container on the spreader. The formula for the angle SKEW2 is... The container angle SKEW2 on the spreader is used as a valid reference for the trolley rotation compensation value.

[0160] In this embodiment, further, in S2, after the program controller 9 receives the instruction that automatic stacking is completed (specifically, this instruction is issued by the program controller 9), the target detection system triggers the stacking status detection task JOB3 in the database to scan the stacking deviation values ​​X-difference, Z-difference, and SKEW-difference. If the deviation value X-difference is... 差 =X2-X1, deviation value Z 差 =Z2-Z1, deviation value SKEW 差 =SKEW2-SKEW1 is within a reasonable standard range (-2cm≤X) 差 ≤2cm, -2cm≤Z 差 ≤2cm, -0.5°≤SKEW 差 If the deviation is ≤0.5°, the program controller 9 issues an automatic unlocking command. The spreader 400 executes the turnlock mechanism to rotate the lock head, thus unlocking the lock head and allowing the spreader 400 to be separated from the container. After stacking, if the deviation exceeds a reasonable range, the program controller 9 will determine the appropriate action based on the deviation value X. 差 =X2-X1, deviation value Z 差 =Z2-Z1, deviation value SKEW 差 =SKEW2-SKEW1 yields the secondary stacking compensation amount (i.e., the deviation of the main trolley between the container on the spreader and the target container in the yard, the deviation of the trolley between the container on the spreader and the target container in the yard, and the SKEW angle deviation between the container on the spreader and the target container in the yard). The control equipment automatically lifts to execute the secondary stacking task (the secondary stacking is triggered by recalculating the deviation amount after the first stacking exceeds the reasonable range and the actual stacking effect is not good). Specifically, according to the "Safety Operation Procedures for Port Dangerous Goods Container Yards" (GB / T36029-2018) standard, the stacking should be neat and stable, and the corner fittings of the upper and lower containers should be in full contact. The maximum deviation between the corner fittings should not exceed 38.0 mm longitudinally and 25.4 mm laterally. There should be a gap of more than 20 cm between adjacent containers. According to this standard, the actual effect data obtained is shown in Table 1 below:

[0161]

[0162] Table 1

[0163] As shown in Table 1 above, the success rate of the automatic stacking boxes of the rail-mounted cranes with self-numbered RC37-48 of the present invention is as high as 95% or more. In contrast, the success rate of the automatic stacking boxes of the existing technical solutions with self-numbered RC14-19 / 25-30 is less than 50%. In late April, the success rate of the automatic stacking boxes of the rail-mounted cranes with self-numbered RC14 / 19 / 25 was significantly improved after being modified by the technical solution of the present invention.

[0164] In this embodiment, S1 further includes the following sub-steps:

[0165] S11, Perform key data sampling; Each laser scanner scans the target containers and containers on the spreader before, during and after stacking to obtain the corresponding stacking area coordinate data;

[0166] S12, perform data processing and feature comparison; the coordinate data of target boxes in the stacking area and on the spreader are stored in MySQL. In order to ensure the high adaptability of the stacking compensation data, it is necessary to compare the scanned stacking area coordinate data with the stacking area target data that has been successfully stacked in the automatic stacking history database to obtain a more accurate stacking compensation value.

[0167] S13, the laser scanner scans the container situation in the stacking area in real time and sends the collected size information to the automatic stacking machine learning model of the target detection software (specifically the data processing platform 11). The software learns from the experience of comparing the coordinate data of the stacking area, and can quickly preprocess the size information, extract density, edge and other feature information to identify and clarify the coordinate information of the target in the stacking area. The target container in the yard and the container on the spreader achieve more accurate automatic stacking compensation data than the traditional single-point laser container positioning system of the spreader.

[0168] In this embodiment, in S1, the distance in the vertical direction between the first marker 1 and the second marker 2 is obtained by the first 2D laser scanner 7 and the second 2D laser scanner 8 (specifically, the vertical distance from the scanned marker to the corresponding 2D laser scanner), and sent to the program controller 9.

[0169] In S2, within the program controller 9, the heights of the first marker 1 and the second marker 2 are calculated. These heights are then compared with the values ​​from the second absolute encoder, and a logical judgment is made to arrive at the result. Based on this judgment, if the lifting height of the lifting device is incorrect, an abnormal operating condition alarm is triggered, and the equipment operation is stopped. Specifically, when the calculated heights of the first marker 1 and the second marker 2 are compared with the values ​​from the second absolute encoder, a fault is reported if the difference is greater than 20 cm, provided the operating conditions are met.

[0170] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. An automated stacking control system for adjusting the rotation angle of containers, applied to a gantry crane equipped with a spreader (400), a trolley (500), and a trolley frame (600), wherein the traveling direction of the trolley (500) is perpendicular to the traveling direction of the trolley frame (600), and the gantry crane operates on target containers in the stacking area, characterized in that, The automated stacking control system includes a first marker (1), a second marker (2), a third marker (3), a fourth marker (4), a first 3D laser scanner (5), a second 3D laser scanner (6), a first 2D laser scanner (7), a second 2D laser scanner (8), a program controller (9), and a data processing platform (11); the program controller (9) is electrically connected to the first 3D laser scanner (5), the second 3D laser scanner (6), the first 2D laser scanner (7), and the second 2D laser scanner (8), and is also communicatively connected to the data processing platform (11); The first marker (1) is located on the right front of the top surface of the lifting device (400) in the top view direction, the second marker (2) is located on the left rear of the top surface of the lifting device (400), the third marker (3) is located on the right rear of the top surface of the lifting device (400), and the fourth marker (4) is located on the left front of the top surface of the lifting device (400). The first 3D laser scanner (5) is located at the middle of the front side of the carriage (600) in the direction of travel on the bottom surface of the carriage (600) in the top view direction; the second 3D laser scanner (6) is located at the middle of the rear side of the carriage (600) in the direction of travel on the bottom surface of the carriage (600) in the top view direction; the first 2D laser scanner (7) is located at the right side of the front side of the carriage (600) in the direction of travel on the bottom surface of the carriage (600) in the top view direction; and the second 2D laser scanner (8) is located at the left side of the rear side of the carriage (600) in the direction of travel on the bottom surface of the carriage (600) in the top view direction. The first 3D laser scanner (5) is used to perform 3D scanning on the fourth marker (4) and the feature points on the right long side of the top surface of the target container in the stacking area, so as to obtain the corresponding marker position information and the position information of the target container in the stacking area. The second 3D laser scanner (6) is used to perform 3D scanning on the third marker (3) and the feature points on the left long side of the top surface of the target container in the stacking area, so as to obtain the corresponding marker position information and the position information of the target container in the stacking area; The first 2D laser scanner (7) is used to perform real-time 2D scanning of the first marker (1) and the feature points on the right short side of the top surface of the target container in the stacking area, so as to obtain the corresponding marker position information and the position information of the target container in the stacking area; The second 2D laser scanner (8) is used to perform real-time 2D scanning of the second marker (2) and the feature points on the left short side of the top surface of the target container in the stacking area, thereby obtaining the corresponding marker position information and the position information of the target container in the stacking area; The program controller (9) is used to acquire and analyze the position information of each marker from each laser scanner and send control signals to adjust the attitude of the lifting device (400); The data processing platform (11) is equipped with a database; the data processing platform (11) is used to store, analyze and manage application data related to automatic stacking; the database is used to store stacking deviation values.

2. The automated stacking control system for adjusting the rotation angle of containers according to claim 1, characterized in that, The data processing platform (11) is also equipped with an automatically stacked machine learning model.

3. The automated stacking control system for adjusting the rotation angle of containers according to claim 1, characterized in that, The data processing platform (11) includes a database software module, a feature comparison software module, and a feature extraction software module; The database software module is used to store and manage critical status data for automated stacking; The feature comparison software module is used for data analysis and comparison; The feature extraction software module is used to extract valid feature data.

4. The automated stacking control system for adjusting the rotation angle of containers according to any one of claims 1-3, characterized in that, The automated stacking control system also includes a trolley mechanism unit, a lifting mechanism unit, and a micro-motion unit for mounting the spreader; the program controller (9) is electrically connected to the trolley mechanism unit, the lifting mechanism unit, and the micro-motion unit for mounting the spreader, respectively; The trolley mechanism unit is used to execute the actual displacement of the trolley frame (600); The hoisting mechanism unit is used to execute the displacement of the spreader (400) in the hoisting direction; The micro-motion unit on the lifting device is used to perform displacement of the lifting device (400) in the front-back, left-right directions.

5. The automated stacking control system for adjusting the rotation angle of containers according to claim 1, characterized in that, The execution process of the data processing platform (11) includes the following three steps: S11 stores, analyzes, and manages critical status data for automated stacking; S12, preprocess the real-time sampled data and extract effective feature data; S13, while scanning the container stacking status, store the stacking deviation value in the automatic stacking history database.

6. The automated stacking control system for adjusting the rotation angle of containers according to claim 5, characterized in that, The execution process of the data processing platform (11) also includes the following three items: S14, Establish an automated stacking machine learning model; S15, combine the historical database of successful automatic stacking with the stacking deviation value to calculate the accurate compensation data difference; S16, perform a comparison and verification of the position information of the container on the spreader with the target container in the stacking area, thereby triggering the automated stacking control system to perform secondary automatic stacking.

7. An automated stacking control method for adapting the rotation angle of containers, characterized in that, The method, applied to the automated stacking control system for adapting container rotation angles as described in any one of claims 1-4, comprises the following steps: S1, each laser scanner, combined with the position information of the spreader (400), the trolley (500) and the frame (600), triggers the detection task of the target container in the yard and the target container on the spreader; S2, obtain the trolley direction deviation between the container on the spreader and the target container in the yard, the trolley direction deviation between the container on the spreader and the target container in the yard, and the rotation angle deviation between the container on the spreader and the target container in the yard. S3, transmit the data to the program controller (9), and calculate the compensation parameters in the program controller (9); S4 controls the spreader to move left and right, rotate left and right, and move the trolley forward and backward based on the compensation parameters obtained from S3. This eliminates the deviation of the trolley direction between the container on the spreader and the target container in the yard, the deviation of the trolley direction between the container on the spreader and the target container in the yard, and the deviation of the rotation angle between the container on the spreader and the target container in the yard, thereby achieving automated stacking control.

8. The automated stacking control method for adjusting the rotation angle of containers according to claim 7, characterized in that, The method includes the following steps: S5, compare and verify the position information of the container on the spreader and the target container in the yard. If any of the following deviations exceeds a set value range: the deviation of the trolley direction between the container on the spreader and the target container in the yard, the deviation of the trolley direction between the container on the spreader and the target container in the yard, or the deviation of the rotation angle between the container on the spreader and the target container in the yard, then execute S2.

9. The automated stacking control method for adjusting the rotation angle of containers according to claim 8, characterized in that, In S1, perform the following: store, analyze, and manage critical state data for automatic stacking; In S2, the following steps are performed: preprocess the real-time sampled data to extract effective feature data; In S3, the following steps are performed: the data is compared with the historical database information of automatic stacking success, the accurate compensation data difference is calculated, and the feedback is sent to the program controller (9); In S4, the following steps are performed: First stacking is carried out, and while scanning the container stacking status, the stacking deviation value is stored in the automatic stacking history database to establish an automatic stacking machine learning model. In S5, the following steps are performed: the position information of the container on the spreader and the target container in the yard is compared and verified. If the deviation of the trolley direction between the container on the spreader and the target container in the yard, the deviation of the trolley direction between the container on the spreader and the target container in the yard, and the deviation of the rotation angle between the container on the spreader and the target container in the yard exceed the reasonable range, the automated stacking control system is triggered to start the second automatic stacking.

10. The automated stacking control method for adjusting the rotation angle of containers according to claim 7, characterized in that, The automated stacking control system also includes a trolley mechanism unit, a lifting mechanism unit, and a micro-motion unit for the upper frame of the spreader; the program controller (9) is electrically connected to the trolley mechanism unit, the lifting mechanism unit, and the micro-motion unit for the upper frame of the spreader, respectively; the trolley mechanism unit is used to execute the actual displacement of the trolley frame (600); the lifting mechanism unit is used to execute the displacement of the spreader (400) in the lifting direction; the micro-motion unit for the upper frame of the spreader is used to execute the displacement of the spreader (400) in the front-back, left-right and right directions; The trolley mechanism unit includes a trolley motor, a first speed encoder, a first absolute encoder, a trolley magnetic encoder, and a first frequency converter mounted on the crane trolley mechanism; the program controller (9) is electrically connected to the trolley motor, the first speed encoder, the first absolute encoder, the trolley magnetic encoder, and the first frequency converter respectively; the trolley motor is used to drive the wheels of the trolley frame (600) to rotate; the first speed encoder is used to detect the rotational speed of the output shaft of the trolley frame (600) motor and feeds the detection signal back to the program controller (9); the first absolute encoder is used to detect the rotational speed of the wheels of the trolley frame (600) and feeds the detection signal back to the program controller (9), thereby obtaining the position information of the trolley frame (600); the trolley magnetic encoder is used to detect the position information of the trolley frame (600) relative to the rail beam of the gantry crane and feeds the detection signal back to the program controller (9), and is mutually redundant with the first absolute encoder to obtain the position information of the trolley mechanism; the first frequency converter is used to realize the frequency conversion control of the trolley frame (600) motor; the hoist The structural unit includes a hoisting motor, a second speed encoder, a second absolute encoder, and a second frequency converter installed on the hoisting mechanism of the crane; the program controller (9) is electrically connected to the hoisting motor, the second speed encoder, the second absolute encoder, the second frequency converter, and the lifting rod respectively; the hoisting motor is used to drive the drum to rotate; the second speed encoder is used to measure the rotational speed of the hoisting motor shaft and feed the detection signal back to the program controller (9); the second absolute encoder is used to calculate the rotational information of the drum and feed the detection signal back to the program controller (9) to obtain the position information of the hoisting mechanism; the second frequency converter is used to realize the frequency conversion control of the hoisting motor; the lifting rod micro-motion unit includes a micro-motion motor, a third absolute encoder, and a third frequency converter installed on the lifting rod frame of the crane; the micro-motion motor is used to drive the actual displacement of the lifting rod; the third absolute encoder is used to measure the shaft rotation information of the lifting rod and feed the shaft rotation information back to the program controller (9) to obtain the position information of the lifting rod micro-motion unit; the third frequency converter is used to realize the frequency conversion control of the micro-motion motor; Before S1, the trolley (500) enters the container lifting operation area of ​​the yard, and the spreader (400) lifts the container; In S2, the first target detection information is obtained by the first 3D laser scanner (5) and the second 3D laser scanner (6). The target detection information includes the coordinate values ​​(X1, Z1) of the target container in the yard and the coordinate values ​​(X2, Z2) of the container on the spreader. In S3, the program controller (9) processes the first target detection information obtained in S2 to obtain the target detection displacement of the trolley frame (600) and the target detection displacement of the lifting device (400); The second target detection information is obtained by the first 2D laser scanner (7) and the second 2D laser scanner (8). The second target detection information includes the height (Y1 value) of the target container in the yard and the rotation angle (SKEW1) of the target container in the yard, the height (Y2 value) of the container on the spreader and the rotation angle (SKEW2) of the container on the spreader; the program controller (9) processes the second target detection information to obtain the target detection displacement of the trolley frame (600) and the target detection displacement of the spreader (400).

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