Automatic loading and unloading method and system for container trucks

Abstract

The present invention relates to the technical field of container transportation, and in particular to an automatic loading and unloading method and system for container trucks; the method comprises the following steps: S1, obtaining the coordinates of the center point of the top surface of a container to be grabbed; S2, obtaining the coordinates of the center point of a container truck frame and the deflection angle of the container truck relative to a parking area of ​​the container truck; S3, driving a sling to horizontally move the container from the coordinate position of the center point of the top surface of the container to the center point position of the container truck frame, and in this process completing the horizontal deflection angle rotation of the container; when the container reaches the top of the container truck frame, the speed is 0 and the deflection angle with the container truck parking area is θ, so that the container can be quickly, accurately and automatically dropped into the container, and the entire container loading and unloading process has the advantages of short time consumption, high degree of automation and high accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of container transportation, and in particular to an automatic loading and unloading method and system for container trucks. Background Art

[0002] A container is a group of tools that can be used to transport packaged or unpackaged goods and can be easily loaded and unloaded by mechanical equipment. The greatest advantage of containers lies in the standardization of their products and the entire transportation system established on this basis, which can standardize huge objects with a load capacity of dozens of tons, and on this basis gradually realize a logistics system that is compatible with ships, ports, routes, roads, transfer stations, bridges, tunnels, and multimodal transport on a global scale.

[0003] At present, most containers are stored in storage yards, waiting for transportation and loading; most of the containers are loaded and unloaded by special machinery for loading and unloading container vehicles and ships, stacking, destacking and transshipping of containers in storage yards. In the logistics process, container loading and unloading activities are constantly occurring and repeated, and the frequency of container loading and unloading is higher than other logistics activities. However, each container handling activity takes a long time, so the speed of container loading and unloading is the key to the speed of logistics. Among them, the special machinery for transshipment clamps the container and transfers the container to the container truck, which accounts for most of the entire container handling time. Therefore, it is crucial to make the special machinery accurately clamp the container and accurately transport the container to the corresponding position of the container truck in the entire container handling process.

[0004] Prior art CN109052180B discloses a method and system for automatic container alignment based on machine vision, including the following steps: (1) installing an industrial camera on a spreader to shoot the container; (2) calibrating the industrial camera to obtain the calibrated positions of the four corners of the container in the corresponding image; (3) when the spreader is lifted to the highest position, processing the real-time video captured by the industrial camera, using a template matching algorithm to realize automatic detection of the corners of the container, and obtaining the real-time detection coordinate positions of the four corners of the container; (4) calculating the relative position deviation between the spreader and the container based on the real-time detection coordinate positions of the four corners of the container and the corresponding calibrated positions obtained by calibration; (5) connecting the relative position deviation to the spreader control system to realize automatic alignment when the spreader is lifted to the highest position; (6) moving the spreader to the middle position and the lower position respectively, and executing the method in a loop to realize automatic alignment and grabbing of the container at the middle position and the lower position. The above method only discloses how the spreader can accurately align and grab the container, and does not mention how the spreader can automatically and accurately transport the grabbed container to the container truck.

[0005] Prior art CN113486293B discloses an intelligent horizontal transportation system and method for a fully automated container terminal with loading and unloading. The system functions include intelligent task scheduling; dynamic path planning; standardized control interface; intelligent traffic management; intelligent control of lock stations; intelligent vehicle sequencing; intelligent charging scheduling; intelligent parking management; and intelligent remote driving. The system designs the functions of various horizontal transportation systems according to the fully automated container terminal loading and unloading process, which enables intelligent horizontal transportation vehicles to adapt to the various types of terminal operations under the unified control of the system, and interact with other systems in real time to complete information transmission and utilization. The above-mentioned container loading and unloading system focuses on the overall loading and unloading process, and improves the efficiency of container handling by selecting the optimal path and realizing the interaction between various systems. However, it does not mention how to automatically and accurately transport the containers grabbed by the sling to the container truck.

[0006] Therefore, there is an urgent need to provide an automatic loading and unloading method and system for container trucks. Compared with the existing technology, path compensation is performed in the process of the sling transporting the container to the container truck, so as to realize fast and accurate transportation of the container to the container truck. Summary of the invention

[0007] The present invention solves the technical problems existing in the prior art and provides a method and system for automatic loading and unloading of container trucks.

[0008] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0009] A method for automatic loading and unloading of container trucks, comprising the following steps:

[0010] S1. Obtain the coordinates of the center point of the top surface of the container to be grabbed;

[0011] S2, obtaining the coordinates of the center point of the container truck frame and the deflection angle of the container truck relative to the container truck parking area;

[0012] S3, driving the spreader to horizontally move the container from the coordinate position of the center point of the top surface of the container to the center point of the container truck frame, and in this process, the container is horizontally rotated to the angle of the deflection angle described in step S2;

[0013] Set the moving displacement of the spreader to S, set the judgment value S0, when S≤S0, the spreader performs an acceleration movement with an acceleration of a1; when S>S0, the spreader performs a deceleration movement with an acceleration of a2;

[0014] The container is rotated during the deceleration movement of the spreader.

[0015] Furthermore, the distance between the center point of the top surface of the container and the center point of the container truck frame is set to ΔS, and the judgment value S1 is set, S1 satisfies ΔS>S1>S0, when the spreader movement displacement S satisfies the following formula: S≤S0, the spreader performs an accelerated motion with an acceleration of a1; when the spreader movement displacement S satisfies the following formula: S1≥S>S0, the spreader performs a uniform motion; when the spreader movement displacement S satisfies the following formula: ΔS≥S>S1, the spreader performs a decelerated motion with an acceleration of a2.

[0016] Furthermore, the judgment values ​​S2 and S3 are set so that S2 and S3 satisfy the following equation: ΔS>S3>S2>S1;

[0017] When S2>S>S1,

[0018] When S3≥S≥S2,

[0019] When ΔS≥S>S3,

[0020] α1>α2>α3;

[0021] In the above formula, v1 refers to the speed at which the spreader moves to the judgment value S1, v2 refers to the speed at which the spreader moves to the judgment value S2, and v3 refers to the speed at which the spreader moves to the judgment value S3. Refers to the theoretical angular velocity of the spreader during rotation, θ i Indicates the angle of rotation of the spreader, v S represents the velocity at the moving displacement S, and α1, α2, and α3 represent coefficients.

[0022] Furthermore, the compensation value of the theoretical rotation angular velocity during the rotation of the spreader is calculated, and the theoretical rotation angular velocity is compensated, which is divided into the following cases:

[0023] (1) In the case of S2>S>S1:

[0024] when When the theoretical angular velocity is not compensated,

[0025] when When the rotation angle θ2 is divided into k segments, the compensation value of the theoretical rotation angular velocity is calculated by the following formula:

[0026]

[0027]

[0028] (2) In the case of S3 ≥ S ≥ S2:

[0029] when When the rotation angle (θ-θ2) is divided into k segments, the compensation value of the theoretical rotation angular velocity is calculated by the following formula:

[0030]

[0031]

[0032] when When the compensation value of the theoretical rotation angular velocity is calculated by the following formula:

[0033]

[0034]

[0035] (3) In the case of ΔS ≥ S > S3:

[0036] when When the compensation value of the theoretical rotation angular velocity is calculated by the following formula:

[0037]

[0038]

[0039] when When the compensation value of the theoretical rotation angular velocity is calculated by the following formula:

[0040]

[0041]

[0042] In the above formula, v θj represents the theoretical rotational angular velocity of the jth segment detected by the first rotational speed sensor, ω j represents the rotational angular velocity of the container in the jth section detected by the second rotational speed sensor, Δω is the compensation value for the theoretical rotational angular velocity, is the actual angular velocity of the sling, β1, β2, and β3 are all integers, and the difference between β1 and β2, and between β2 and β3 is greater than 1, and β1>β2>β3.

[0043] Furthermore, when the spreader moves to the determination value S2, the angle of rotation of the spreader is set to θ2, and θ2 satisfies the following formula:

[0044]

[0045] In the above formula, θ represents the deflection angle of the container truck relative to the container truck parking area.

[0046] Furthermore, the following relationship is satisfied between acceleration a1 and acceleration a2:

[0047] when hour,

[0048] when hour,

[0049] In the above formula, S is the moving displacement of the sling.

[0050] Furthermore, S1 specifically includes the following steps:

[0051] S101, constructing a yard coordinate system; taking a corner point in the yard as the origin of the coordinate system, taking the length direction of the container as the X-axis, taking the width direction of the container as the Y-axis, taking the stacking direction of the container as the Z-axis, and converting the coordinates of any point in the yard coordinate system with the container location information to obtain the container's bay position, row position, and layer position;

[0052] S102, obtaining container location information, which includes a container location, a row location, and a layer location, and allocating a spreader to a position above a container area to be grabbed according to the container location information, and then acquiring a first image through a first industrial camera set on the spreader, and setting a container close to a center position in the first image as a container to be grabbed, and setting the center point coordinates of the first image as the position coordinates of the spreader;

[0053] S103, the first image processing unit processes the first image, determines that the lock holes on the four corners of the top surface of the container in the first image are located at the positions of the first image, determines the coordinates of the lock holes on the top surface of the container in combination with the coordinates of the center point of the first image, and then determines the coordinates of the center point of the top surface of the container;

[0054] S104, moving the spreader to the center point of the top surface of the container, aligning the spreader with the container, driving the spreader to move toward the container, and allowing the four locks of the spreader to accurately fall into the four lock holes of the container to automatically grab the container.

[0055] Furthermore, S2 specifically includes the following steps:

[0056] S201, capturing a second image by a second industrial camera on the rail hanging beam, wherein the second image is a container truck parking area where a container truck is parked;

[0057] S202, the second image processing unit processes the second image, the position coordinates of the second industrial camera are the coordinates of the center point of the second image, and the coordinates of the four corners of the container truck frame are determined by the positions of the four corners of the container truck frame in the second image, thereby determining the coordinates of the center point of the container truck frame;

[0058] S203, determining the coordinates of the four corners of the container truck parking area by the positions of the four corners of the container truck parking area in the second image, and then combining the coordinates of the four corners of the container truck frame to obtain the deflection angle of the container truck relative to the container truck parking area.

[0059] An automatic loading and unloading system for container trucks using any of the above-mentioned automatic loading and unloading methods for container trucks comprises a control platform, a sling, a rail crane, a first image processing unit, and a second image processing unit. A first industrial camera is arranged on the side of the sling close to the container, and a second industrial camera is arranged on the side of the rail crane close to the parking area of ​​the container truck. The control platform is used to control the first industrial camera to capture a first image, control the second industrial camera to capture a second image, and control the movement of the sling. The first image processing unit is used to process the first image, and the second image processing unit is used to process the second image.

[0060] Furthermore, the spreader is also provided with a displacement sensor and an angle sensor, wherein the displacement sensor is used to provide real-time feedback of the spreader movement distance S, and the angle sensor is used to provide real-time feedback of the spreader rotation angle θ. i .

[0061] Compared with the prior art, the present invention has the following beneficial effects:

[0062] The present invention obtains the coordinates of the center point of the container top surface so that the spreader can be accurately moved to the position directly above the center point of the container top surface, thereby realizing that the spreader can accurately and automatically grab the designated container. The present invention also obtains the coordinates of the center point of the container truck frame and the deflection angle of the container truck frame. In the process of the spreader moving the container from the original position to the inside of the container truck frame, the container is accelerated, uniformly moved, and decelerated in sequence, and the container is rotated by a deflection angle θ during the deceleration movement, so that when the container reaches directly above the container truck frame, the speed is 0 and the deflection angle with the container truck parking area is θ. The container can be directly driven downward by the spreader to realize that the container falls into the container quickly, accurately and automatically. The entire container loading and unloading process has the advantages of short time consumption, high degree of automation and high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 is a flow chart of the method of the present invention.

[0064] Figure 2 It is a schematic diagram showing the deflection angle between the container truck and the container truck parking area according to the present invention.

[0065] Figure 3 It is a schematic diagram of the system of the present invention.

[0066] Description of reference numerals:

[0067] 1. Control platform; 11. Operating platform; 12. Processor; 2. Lifting device; 21. Displacement sensor; 22. Angle sensor; 23. First industrial camera; 24. Driving device; 3. Track crane; 31. Second industrial camera; 4. First image processing unit; 5. Second image processing unit. DETAILED DESCRIPTION

[0068] The technical solution of the present invention will be clearly described below in conjunction with the accompanying drawings. Obviously, the described embodiments are not all embodiments of the present invention, and all other embodiments obtained by ordinary technicians in the field without making creative work are within the protection scope of the present invention.

[0069] like Figure 1 As shown, the present invention provides a method for automatic loading and unloading of container trucks, comprising the following steps:

[0070] S1. Obtain the position coordinates (x1, y1) of the designated operation container (i.e., the container to be grabbed);

[0071] S101, constructing a yard coordinate system; taking a corner point in the yard as the origin of the coordinate system, taking the length direction of the container as the X-axis, taking the width direction of the container as the Y-axis, taking the stacking direction of the container as the Z-axis, transforming the coordinates of any point (x, y, z) in the yard coordinate system with the container position information (shell position J, row position K, layer position L), the length of a standard 20-foot container is set to l1, the width is set to l2, and the height is set to l3, which is specifically expressed by the following formula:

[0072]

[0073]

[0074]

[0075] In the above formula, x min is the minimum x coordinate value in the coordinate system, y min is the minimum y coordinate value in the coordinate system, z min is the minimum z coordinate value in the coordinate system.

[0076] S102, obtaining container position information, which includes a container position J, a row position K, and a layer position L. According to the container position information, the spreader 2 is allocated to a designated operation area to obtain a first image. The first image is obtained by a first industrial camera 23 arranged on a side of the spreader 2 close to the container. The container close to the center position in the first image is set as the container for the designated operation, i.e., the container to be grabbed. The center point coordinates of the first image are the position coordinates of the spreader 2.

[0077] S103, the first industrial camera 23 transmits the captured first image to the first image processing unit 4, the first image processing unit 4 respectively identifies the positions of the lock holes at the four corners of the upper part of the container, and obtains the coordinates of the four lock holes according to the coordinates of the center point of the first image, and determines the position coordinates of the center point of the top surface of the container according to the position coordinates of the four lock holes, that is, the position coordinates (x1, y1) of the designated operating container;

[0078] S104, move the spreader 2 to the center point of the top surface of the container obtained in S103, align the spreader 2 with the container, drive the spreader 2 to move toward the container, and the four locks of the spreader 2 accurately fall into the four lock holes of the container to automatically grab the container.

[0079] S2, obtaining the coordinates of the center point of the container truck frame (x2, y2) and the deflection angle θ of the container truck relative to the container truck parking area;

[0080] S201, a second industrial camera 31 is set on the crossbeam of the rail crane 3 where the spreader 2 is located, and a second industrial camera 31 is set on the crossbeam of the rail crane 3 directly above each container truck parking area, for taking a second image, the second image includes the container truck and the container truck parking area where it is located, and the coordinates of the center point of the second image are obtained by the coordinates of the second industrial camera 31;

[0081] S202, the second industrial camera 31 transmits the second image to the second image processing unit 5, the second image processing unit 5 identifies the positions of the four corner points (a1, b1, c1, d1) of the container truck area and the four corner points (a2, b2, c2, d2) of the container truck frame in the second image, and then obtains the coordinates of the four corner points of the container truck area and the four corner points of the container truck frame through the coordinates of the center point of the second image. The deflection angle θ of the container truck relative to the container truck area can be obtained through the coordinates of the four corner points of the container truck frame and the coordinates of the four corner points of the container truck area (such as Figure 2 shown).

[0082] S3, drive the spreader 2 to horizontally move the container from the position coordinate (x1, y1) of the designated operating container to the coordinate (x2, y2) of the center point of the container truck frame, perform path compensation on the container during the movement, and drive the container to rotate by a deflection angle θ during the movement;

[0083] Specifically, the distance between the center point (x2, y2) of the container truck frame and the center point (x1, y1) of the top surface of the designated working container is set to ΔS, the movement displacement of the spreader 2 is S, and the movement displacement of the spreader 2 is measured by setting a displacement sensor 21 on the spreader 2. The judgment value S0 is set. When the movement displacement S≤S0 of the spreader 2, the spreader 2 moves with a gradually increasing speed and an acceleration of a1. When the movement displacement ΔS≥S>S0 of the spreader 2, the spreader 2 moves with a gradually decreasing speed and an acceleration of a2. The initial speed of the spreader 2 is set to v0, and the speed of the spreader 2 reaching the center point of the container truck frame is 0.

[0084] Furthermore, acceleration a1 and acceleration a2 satisfy the following equation:

[0085] when hour,

[0086] when hour,

[0087] Further, a judgment value S1 is set, S1>S0, when the spreader 2 moves with a displacement S≤S0, the spreader 2 moves with a gradually increasing speed and an acceleration of a1; when the spreader 2 moves with a displacement S1≥S>S0, the spreader 2 moves at a uniform speed, during which a2=0; when the spreader 2 moves with a displacement ΔS≥S>S1, the spreader 2 moves with a gradually decreasing speed and an acceleration of a2, and at the same time, the spreader 2 rotates horizontally at an angle θ over this distance, and the rotation angle of the spreader 2 during the rotation process is set to θ i , rotation angle θ i The angle is measured by setting a rotation angle sensor 22 on the lifting device 2.

[0088] Furthermore, the judgment values ​​S2 and S3 are set, ΔS>S3>S2>S1, the speed of the spreader 2 when it moves to the judgment value S1 is set to v1, the speed of the spreader 2 when it moves to the judgment value S2 is set to v2, and the speed of the spreader 2 when it moves to the judgment value S3 is set to v3.

[0089] Furthermore, when the spreader 2 moves to the determination value S2, the angle of rotation of the spreader 2 is set to θ2, and θ2 satisfies the following formula:

[0090]

[0091] Furthermore, when S2>S>S1,

[0092] When S3≥S≥S2,

[0093] When ΔS≥S>S3,

[0094] α1>α2>α3;

[0095] In the above formula, represents the theoretical angular velocity of the spreader 2 during its rotation, V S It represents the speed when the sling 2 moves to the distance S, and α1, α2, and α3 are all coefficients.

[0096] Furthermore, the theoretical rotational angular velocity of the spreader 2 during its rotation is compensated. During the rotation of the container driven by the spreader 2, the container is subjected to the effect of rotational inertia or other external forces, which causes the rotational angular velocity of the container to be different from the theoretical rotational angular velocity of the spreader 2. There is a deviation; a first speed sensor is also provided on the spreader 2, which is only used to measure the rotational angular velocity of the spreader 2, which is also the theoretical rotational angular velocity. A second speed sensor is provided at the connection between the spreader 2 and the container, i.e., on the lock head, and the second speed sensor is used to measure the rotational angular velocity of the container. The rotational angular velocity of the container is recorded as ω i .

[0097] The compensation of the theoretical rotation angular velocity during the rotation of the hanger 2 is analyzed according to the following situations:

[0098] (1) In the case of S2>S>S1:

[0099] when When , no compensation is made for the theoretical angular velocity of rotation.

[0100] when When the rotation angle θ2 is divided into k segments, the compensation value of the theoretical rotation angular velocity is calculated by the following formula:

[0101]

[0102] (2) In the case of ΔS≤S≥S2:

[0103] when When the rotation angle (θ-θ2) is divided into k segments, the compensation value of the theoretical rotation angular velocity is calculated by the following formula:

[0104]

[0105] when When the compensation value of the theoretical rotation angular velocity is calculated by the following formula:

[0106]

[0107] In the above formula, represents the theoretical rotational angular velocity of the jth segment detected by the first rotational speed sensor, ω jrepresents the rotational angular velocity of the j-th container detected by the second rotational speed sensor, Δω is the compensation value for the theoretical rotational angular velocity, β1, β2, and β3 are all positive integers, and the difference between β1 and β2, and between β2 and β3 is greater than 1, and β1>β2>β3.

[0108] Furthermore, the actual rotational angular velocity of the spreader 2 is obtained by adding the compensation value of the theoretical rotational angular velocity to the theoretical rotational angular velocity, which is expressed as It is expressed as follows:

[0109] When S2>S>S1, and hour,

[0110] When S2>S>S1, and hour,

[0111] When S3≥S≥S2, and hour,

[0112] When S3≥S≥S2, and hour,

[0113] When ΔS≥S>S3, and hour,

[0114] When ΔS≥S>S3, and hour,

[0115] S4. When the spreader 2 moves to the center point of the container truck frame, the container grabbed by the spreader 2 is located directly above the container truck frame, and the deflection angle of the container grabbed by the spreader 2 relative to the parking area of ​​the container truck is θ. The spreader 2 is driven to move the container downward, and the container enters the interior of the container truck frame.

[0116] The present invention first obtains the container location data by setting the yard coordinates, moves the spreader 2 to the approximate position of the designated container, then captures a first image of the container, and analyzes and processes the first image through the first image processing unit 4 to obtain the coordinates of the center point of the top surface of the container, so that the spreader 2 is accurately moved to the top of the center point of the top surface of the container, and the spreader 2 accurately and automatically grabs the designated container, and then obtains the coordinates of the center point of the container truck frame and the deflection angle of the container truck frame through the second image and the above-mentioned coordinate processing method, and sets a displacement sensor 21 and an angle sensor 22 on the spreader 2. In the process of the spreader 2 moving the container from the original position to the inside of the container truck frame, the container is accelerated-uniform-speed-decelerated in sequence, and the container is rotated by a deflection angle θ during the deceleration process, so that when the container reaches the top of the container truck frame, the speed is 0 and the deflection angle with the container truck parking area is θ. The container can be driven downward directly by the spreader 2 to realize the container falling into the container quickly, accurately and automatically. The entire container loading and unloading process has the advantages of short time consumption, high degree of automation and high accuracy.

[0117] like Figure 3 As shown, the present invention also provides an automatic loading and unloading system for container trucks, including a control platform 1, a spreader 2, a rail crane 3, a first image processing unit 4 and a second image processing unit 5. The control platform 1 is respectively connected to the spreader 2, the rail crane 3, the first image processing unit 4 and the second image processing unit 5. The control platform 1 includes an operating platform 11 and a processor 12.

[0118] The rail crane 3 is arranged in the space above the yard, and the spreader 2 is slidably connected to the rail crane 3; a first industrial camera 23 is installed on the side of the spreader 2 close to the container, and the first industrial camera 23 is used to capture a first image of the container area at a specified position. The first industrial camera 23 is connected to the first image processing unit 4, and the first industrial camera 23 transmits the first image to the first image processing unit 4. The first image processing unit 4 processes the first image and transmits the processing result to the processor 12. The processor 12 obtains the coordinates of the center point of the top surface of the specified container, and the operating platform 11 drives the driving device 24 of the spreader 2 to move to the top of the container through the coordinates of the center point of the top surface of the container to grab the container.

[0119] The first image processing unit 4 uses the smallest square frame containing the key hole to cover the four key holes of the container respectively, and the four sides of the smallest square frame outside the key hole are intersected, and the four corners of the smallest square frame outside each key hole are marked and transmitted to the processor 12. The image data processing module inside the processor 12 will obtain the coordinates of the four corners of the smallest square frame outside each key hole according to the coordinate value of the first industrial camera 23 and the position of the point mark made by the first image processing unit 4 in the first image, thereby obtaining the coordinates of the center point of each smallest square frame, which are recorded as the coordinates of the center point inside the key hole, and then the coordinates of the center point of the top surface of the container are obtained through the coordinates of the center points of the four key holes.

[0120] A second industrial camera 31 is provided on the beam of the rail crane 3 just above the container parking area. The second industrial camera 31 is used to capture a second image. The second industrial camera 31 transmits the captured second image to the second image processing unit 5. The second image processing unit 5 marks the four corners of the container truck frame and the four corners of the container truck parking area, and transmits the marked second image to the processor 12. The processor 12 obtains the coordinates of the four corners of the container truck frame and the coordinates of the four corners of the container truck parking area through the coordinates of the second industrial camera 31 and the positions of the four corners of the container truck frame in the second image and the positions of the four corners of the container truck parking area in the second image, thereby obtaining the coordinates of the center point of the container truck frame and the deflection angle of the container truck frame relative to the container truck parking area.

[0121] The spreader 2 is also provided with a displacement sensor 21 and an angle sensor 22. The displacement sensor 21 is used to transmit the displacement of the spreader 2 in the process of transporting the container to the processor 12 in real time. The processor 12 controls the speed of the driving device 24 of the spreader 2 through the value transmitted by the displacement sensor 21. The angle sensor 22 is used to transmit the rotation angle of the spreader 2 in the deceleration process to the processor 12 in real time. The processor 12 controls the rotation speed of the spreader 2 through the value transmitted by the angle sensor 22, thereby realizing path compensation in the process of the spreader 2 transporting the container from the specified original position to the inside of the container truck frame. At the same time, in this process, the spreader 2 completes the rotation of the deflection angle, and there is no need to rotate it after the spreader 2 moves the container to the upper part of the container truck frame. This is conducive to improving transportation efficiency and shortening time.

[0122] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Simple modifications or equivalent substitutions of the technical solution of the present invention by ordinary technicians in this field do not deviate from the essence and scope of the technical solution of the present invention.

Claims

1. A method for automatic loading and unloading of container trucks, characterized in that: The following steps are involved: S1. Obtain the coordinates of the center point of the top surface of the container to be grabbed; S2, obtaining the coordinates of the center point of the container truck frame and the deflection angle of the container truck relative to the container truck parking area; S3, driving the spreader to horizontally move the container from the coordinate position of the center point of the top surface of the container to the center point of the container truck frame, and in this process, the container is horizontally rotated to the angle of the deflection angle described in step S2; Set the moving displacement of the spreader to S, set the judgment value S0, when S≤S0, the spreader performs an acceleration movement with an acceleration of a1; when S>S0, the spreader performs a deceleration movement with an acceleration of a2; The container is rotated during the deceleration of the spreader; Set the distance between the center point of the container top surface and the center point of the container truck frame as ΔS, set the judgment value S1, S1 satisfies ΔS>S1>S0, when the spreader displacement S satisfies the following formula: S≤S0, the spreader performs an acceleration motion with an acceleration of a1; when the spreader displacement S satisfies the following formula: S1≥S>S0, the spreader performs a uniform motion; when the spreader displacement S satisfies the following formula: ΔS≥S>S1, the spreader performs a deceleration motion with an acceleration of a2; Set the judgment values ​​S2 and S3, S2 and S3 satisfy the following formula: ΔS>S3>S2>S1; When S2>S>S1, When S3≥S≥S2, When ΔS≥S>S3, α1>α2>α3； In the above formula, v1 refers to the speed at which the spreader moves to the judgment value S1, v2 refers to the speed at which the spreader moves to the judgment value S2, and v3 refers to the speed at which the spreader moves to the judgment value S3. Refers to the theoretical angular velocity of the spreader during rotation, θ i Indicates the angle of rotation of the spreader, v S represents the velocity at the moving displacement S, α1, α2, α3 represent coefficients; Calculate the compensation value of the theoretical rotation angular velocity during the rotation of the spreader, and compensate for the theoretical rotation angular velocity, which is divided into the following cases: (1) In the case of S2>S>S1: when When the theoretical angular velocity is not compensated, when When the rotation angle θ2 is divided into k segments, the compensation value of the theoretical rotation angular velocity is calculated by the following formula: (2) In the case of S3 ≥ S ≥ S2: when When the rotation angle (θ-θ2) is divided into k segments, the compensation value of the theoretical rotation angular velocity is calculated by the following formula: when When the compensation value of the theoretical rotation angular velocity is calculated by the following formula: (3) In the case of ΔS ≥ S > S3: when When the compensation value of the theoretical rotation angular velocity is calculated by the following formula: when When the compensation value of the theoretical rotation angular velocity is calculated by the following formula: In the above formula, represents the theoretical rotational angular velocity of the jth segment detected by the first rotational speed sensor, ω j represents the rotational angular velocity of the container in the jth section detected by the second rotational speed sensor, Δω is the compensation value for the theoretical rotational angular velocity, is the actual angular velocity of the sling, β1, β2, and β3 are all integers, and the difference between β1 and β2, and between β2 and β3 is greater than 1, and β1>β2>β3.

2. The automatic loading and unloading method of container trucks according to claim 1, characterized in that: When the spreader moves to the judgment value S2, the angle of the spreader is set to θ2, and θ2 satisfies the following formula: In the above formula, θ represents the deflection angle of the container truck relative to the container truck parking area.

3. The automatic loading and unloading method of container trucks according to claim 1, characterized in that: The following relationship is satisfied between acceleration a1 and acceleration a2: when hour, when hour, 4. The automatic loading and unloading method of container trucks according to claim 1, characterized in that: S1 specifically includes the following steps: S101, constructing a yard coordinate system; taking a corner point in the yard as the origin of the coordinate system, taking the length direction of the container as the X-axis, taking the width direction of the container as the Y-axis, taking the stacking direction of the container as the Z-axis, and converting the coordinates of any point in the yard coordinate system with the container location information to obtain the container's bay position, row position, and layer position; S102, obtaining container location information, which includes a container location, a row location, and a layer location, and allocating a spreader to a position above a container area to be grabbed according to the container location information, and then acquiring a first image through a first industrial camera set on the spreader, and setting a container close to a center position in the first image as a container to be grabbed, and setting the center point coordinates of the first image as the position coordinates of the spreader; S103, the first image processing unit processes the first image, determines that the lock holes on the four corners of the top surface of the container in the first image are located at the positions of the first image, determines the coordinates of the lock holes on the top surface of the container in combination with the coordinates of the center point of the first image, and then determines the coordinates of the center point of the top surface of the container; S104, moving the spreader to the center point of the top surface of the container, aligning the spreader with the container, driving the spreader to move toward the container, and allowing the four locks of the spreader to accurately fall into the four lock holes of the container to automatically grab the container.

5. The automatic loading and unloading method of container trucks according to claim 1, characterized in that: S2 specifically includes the following steps: S201, capturing a second image by a second industrial camera on the rail hanging beam, wherein the second image is a container truck parking area where a container truck is parked; S202, the second image processing unit processes the second image, the position coordinates of the second industrial camera are the coordinates of the center point of the second image, and the coordinates of the four corners of the container truck frame are determined by the positions of the four corners of the container truck frame in the second image, thereby determining the coordinates of the center point of the container truck frame; S203, determining the coordinates of the four corners of the container truck parking area by the positions of the four corners of the container truck parking area in the second image, and then combining the coordinates of the four corners of the container truck frame to obtain the deflection angle of the container truck relative to the container truck parking area.

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