An automated guidance system for container handover inspection

Abstract

The present invention relates to the technical field of container lifting, and in particular to an automated guidance system for container handover inspection, the system comprising: a structure detector for detecting the damaged position of the container appearance and calculating a comprehensive damage value; a hoist for lifting and transferring the container; an amplitude detector for detecting the vibration amplitude value of the container; a guide for obtaining the comprehensive damage value, the vibration amplitude value and the vibration direction, determining the transfer mode of the container according to the comprehensive damage value, and adjusting the transfer action of the hoist according to the vibration amplitude value and the vibration direction; the system of the present invention utilizes the method of arranging the above-mentioned devices to effectively evaluate the damage degree of the container, adopts the method of telescopic lifting rope to reduce the vibration amplitude of the container, and utilizes the method of combining vibration image and data analysis to effectively improve the transfer efficiency while further improving the safety and practicality of the automated guidance system.

Description

Technical Field

[0001] The invention relates to the technical field of container hoisting, and in particular to an automated guidance system for container handover inspection. Background Art

[0002] Container transportation is an important mode of transportation in the process of multimodal transport of international trade goods. Container transportation has the advantages of high standardization, good sealing, low damage rate, intensive, large-scale, liner, low cost, and good quality, which greatly improves the safety and efficiency of cargo transportation. After the container arrives at the shore, it needs to be sorted and unloaded. During the transportation process, it is not suitable to directly lift the whole container if it is seriously damaged. Different types of goods loaded in the container will affect the lifting process. For safety reasons, the process of lifting and transferring the container is automatically guided.

[0003] Chinese patent application publication number: CN118083809A discloses a container front lifting control method, system, terminal and storage medium. The invention relates to the field of lifting control technology, and specifically provides a container front lifting control method, system, terminal and storage medium, including: obtaining a target container image, identifying a container number from the target container image, and obtaining the corresponding container specifications based on the container number; obtaining the positioning data of the front lifting device, and generating a planned route based on the positioning data and the container number; collecting the distance data of the specified position of the front lifting device, and generating posture data based on the distance data, generating the motion parameters of the front lifting device based on the positioning data, posture data and planned route; synthesizing the corresponding container display model based on the positioning data and posture data. Combined with image recognition technology, distance sensor acquisition of specific distance and positioning navigation technology, the full process control of container front lifting is realized, and three-dimensional display can be realized, which improves the visualization effect.

[0004] Chinese patent application publication number: CN215828205U discloses a lateral travel visualization system for a gantry crane trolley. The invention relates to the technical field of gantry cranes, and specifically to a lateral travel visualization system for a gantry crane trolley, comprising a trolley suspended on a gantry frame, a lifting device being provided at the bottom of the trolley, the lifting device comprising a suspension block, a vibration sensor being provided at the top of the suspension block, a hook being provided at the bottom of the suspension block, a tension sensor being provided between the suspension block and the hook, a control room being provided at the bottom of the gantry frame, the visualization system comprising a display and a PLC located in the control room, the display being electrically connected to the PLC, the vibration sensor being electrically connected to the PLC, and the tension sensor being electrically connected to the PLC; the cargo is driven to move laterally by the trolley, and during the movement, whether violent swinging occurs during the movement of the cargo is detected by the vibration sensor, and the data of the vibration sensor is transmitted to the display in the control room by the PLC.

[0005] However, the above method has the following problems: it does not take into account the problem of container shaking during the lifting process. When the container shakes, the position distance parameters change, resulting in deviations in the planned route and limiting the lifting operation to the front of the container. The swing amplitude of the cargo can only be reduced by frequent stops, and the swing amplitude of the cargo cannot be adjusted through image analysis and extension and retraction of the lifting rope during the lifting process. Summary of the invention

[0006] To this end, the present invention provides an automated guidance system for container handover inspection, which is used to overcome the problem that the prior art does not take into account the shaking of the container during the lifting process. When the container shakes, the position distance parameters change, resulting in deviations in the planned route and limiting the lifting operation to the front of the container. The swing amplitude of the cargo can only be reduced by frequent stops, and the swing amplitude of the cargo cannot be adjusted by image analysis and extension and retraction of the lifting rope during the lifting process.

[0007] To achieve the above object, the present invention provides an automated guidance system for container handover inspection, comprising:

[0008] Structural detector, which is used to detect the damaged position of the container appearance and calculate the comprehensive damage value;

[0009] A lifter for lifting and transferring the container;

[0010] An amplitude detector connected to the lifter to detect the vibration amplitude value of the container;

[0011] a guide, which is connected to the structure detector, the lifter and the amplitude detector respectively, and is used to obtain the comprehensive damage value, the vibration amplitude value and the vibration direction, determine the transfer mode of the container according to the comprehensive damage value, and adjust the transfer action of the lifter according to the vibration amplitude value and the vibration direction;

[0012] Among them, the transfer method includes an overall lifting method and a container-cargo separation method; the overall lifting method is a method in which the lifter lifts and transfers the container as a whole; the container-cargo separation method is a method in which the cargo in the container is first transferred and then the container is transferred.

[0013] Furthermore, the structure detector comprises:

[0014] A counting unit, which is used to count the number of cracks on the container body and the container door respectively;

[0015] The measuring unit is used to measure the maximum width of the cracks on the box body and the box door respectively.

[0016] Furthermore, the lifter comprises:

[0017] Several lifting ropes, which are used to lift and adjust the transfer status of the container;

[0018] A plurality of hooks connected to the lifting rope and used to fix the lifting rope and the container;

[0019] A lifting device is connected to the suspension rope and the guide respectively, and is used for adjusting the length of each suspension rope.

[0020] Furthermore, the structural detector calculates a comprehensive damage value based on the damage value of the box body and the damage value of the box door;

[0021] The box body damage value is related to the number of cracks on the box body and the maximum width of the cracks; the box door damage value is related to the number of cracks on the box door and the maximum width of the cracks.

[0022] Furthermore, the guide obtains the comprehensive damage value and determines the qualification of the container structure according to the preset damage value that does not meet the lifting requirements, wherein:

[0023] If the comprehensive damage value is less than the preset damage value, the guide determines that the transfer mode of the container corresponding to the comprehensive damage value is the overall lifting mode;

[0024] If the comprehensive damage value is not less than the preset damage value, the guide determines that the transfer mode of the container corresponding to the comprehensive damage value is the container-cargo separation mode;

[0025] Wherein, the preset damage value is positively correlated with the volume of the container.

[0026] Furthermore, when the guide determines that the container is to be hoisted in an integral manner, the hook is connected to the hook ring on the top of the container, and the lifting device tightens the hoisting rope to pre-hoist the container;

[0027] The pre-lifting is that the lifter lifts the container to a preset height; and the preset height is positively correlated with the height of the container.

[0028] Furthermore, when the container is in the pre-lifting state, the amplitude detector detects the vibration amplitude value of the container and records the vibration direction.

[0029] Further, the guide obtains the vibration amplitude value and determines the qualification of the container pre-lifting according to the preset amplitude value that does not meet the lifting requirements, wherein,

[0030] If the vibration amplitude value is less than the preset amplitude value, the guide drives the lifter to transfer the container corresponding to the vibration amplitude value;

[0031] If the vibration amplitude value is not less than the preset amplitude value, the guide drives the lifting device to reduce the vibration amplitude value;

[0032] Wherein, the preset amplitude value is positively correlated with the height of the container.

[0033] Further, when the vibration amplitude value is not less than the preset amplitude value, the lifting device tightens the suspension rope in the opposite direction to the vibration direction;

[0034] Wherein, the lifting rope in the opposite direction to the vibration direction is the lifting rope corresponding to the hook closest to the ground when the container swings to the maximum amplitude.

[0035] Furthermore, the guide obtains the vibration amplitude value and the vibration direction when the container is in the pre-lifting state and generates a vibration image in the translation direction, and the lifter controls the transfer rate of the container according to the vibration image;

[0036] The translation direction is the direction in which the lifter transfers the container.

[0037] Compared with the prior art, the beneficial effect of the present invention lies in that the system of the present invention utilizes the method of setting up the above-mentioned devices, collects the damage conditions of the external structure of the container, calculates the comprehensive damage value, effectively evaluates the degree of damage of the container, is convenient for measuring the degree of damage incurred by the container during transportation, is beneficial for judging whether the container can be lifted and determining the method of transferring the container, and effectively improves the accuracy of the container handover inspection while effectively improving the safety and practicality of the automated guidance system.

[0038] Furthermore, by pre-lifting the container, the vibration amplitude and vibration direction of the container during pre-lifting are detected. By detecting the vibration amplitude of the container, it is determined whether subsequent transfer is possible, and targeted retractable lifting ropes are used to reduce the vibration amplitude of the container. While effectively controlling the swing amplitude of the container, the safety and practicality of the automated guidance system are further improved.

[0039] Furthermore, by combining vibration images and data for analysis, the transfer rate of the container can be adjusted according to the vibration amplitude during the container translation process, which effectively improves the transfer efficiency while further improving the safety and practicality of the automated guidance system. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a structural schematic diagram of the automated guidance system for container handover inspection of the present invention;

[0041] Figure 2It is a schematic diagram of the structure of the structural detector of the present invention;

[0042] Figure 3 It is a structural diagram of a lifter according to an embodiment of the present invention;

[0043] Figure 4 This is a schematic diagram of the vibration direction and translation direction of a container according to an embodiment of the present invention;

[0044] Figure 5 It is a vibration image in the pre-lifting state of the embodiment of the present invention;

[0045] Figure 6 It is a vibration image in the translation direction of the embodiment of the present invention;

[0046] Among them, 1, first lifting rope; 2, second lifting rope; 3, third lifting rope; 4, fourth lifting rope; 5, first hook; 6, second hook; 7, third hook; 8, fourth hook; 9, lifting device; 10, container; 11, vibration direction; 12, translation direction; A, vibration amplitude value in vibration direction; B, vibration amplitude value in translation direction; , the first moment; , the second moment; , the third moment. DETAILED DESCRIPTION

[0047] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0048] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0049] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0050] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0051] See also Figure 1 As shown, it is a structural schematic diagram of an automated guidance system for container handover inspection of the present invention, an automated guidance system for container handover inspection, comprising:

[0052] Structural detector, which is used to detect the damaged position of the container appearance and calculate the comprehensive damage value;

[0053] A lifter, which is used to lift and transfer containers;

[0054] An amplitude detector, which is connected to the lifter and is used to detect the vibration amplitude value of the container;

[0055] The guide is connected to the structure detector, the hoist and the amplitude detector respectively to obtain the comprehensive damage value, the vibration amplitude value and the vibration direction, determine the transfer mode of the container according to the comprehensive damage value, and adjust the transfer action of the hoist according to the vibration amplitude value and the vibration direction;

[0056] Among them, the transfer methods include overall lifting method and container-cargo separation method; the overall lifting method is a method in which the hoist lifts and transfers the container as a whole; the container-cargo separation method is a method in which the cargo in the container is transferred first and then the container is transferred.

[0057] See also Figure 2 As shown, it is a schematic diagram of the structure of the structure detector of the present invention, the structure detector comprises:

[0058] A counting unit, which is used to count the number of cracks on the container body and the container door respectively;

[0059] The measuring unit is used to measure the maximum width of the cracks on the box body and the box door respectively.

[0060] See also Figure 3 As shown, it is a structural diagram of a lifter according to an embodiment of the present invention, the lifter comprises:

[0061] Several lifting ropes, which are used to lift and adjust the transfer status of the container;

[0062] A plurality of hooks connected to the lifting ropes for fixing the lifting ropes and the container;

[0063] The lifting device is connected to the lifting rope and the guide respectively, and is used for adjusting the length of each lifting rope.

[0064] Specifically, the structural detector calculates the comprehensive damage value based on the damage value of the box body and the damage value of the box door;

[0065] Among them, the box body damage value is related to the number of cracks on the box body and the maximum width of the cracks; the box door damage value is related to the number of cracks on the box door and the maximum width of the cracks.

[0066] in, ;

[0067] ;

[0068] ;

[0069] Where: —comprehensive damage value;

[0070] —Box damage value;

[0071] —Damage value of box door;

[0072] —Parameters of the number of cracks in the box;

[0073] —Box crack width parameters;

[0074] —Number of cracks on the box, strips;

[0075] —The maximum width of the cracks on the box, mm;

[0076] —Number of cracks in the door;

[0077] —Box door crack width parameter;

[0078] —Number of cracks on the door, strips;

[0079] —The maximum width of the crack on the door, mm;

[0080] It can be understood that the comprehensive damage value, the box body damage value and the box door damage value are all dimensionless values.

[0081] Example 1: In this example, the number of cracks in the box body is =2, the box crack width parameter 1, the number of cracks in the door =2, the width parameter of the crack in the door =1, the number of cracks on the box There are 2 cracks, the maximum width of the cracks on the box The number of cracks on the door is 1 mm. 1, the maximum width of the crack on the door If the box damage value is 0.5mm, 2x2+1x1=5, the door damage value The comprehensive damage value is 2x1+1x0.5=2.5 It is 5+2.5=7.5.

[0082] It is understandable that, for those skilled in the art, the number of cracks on the box body and the maximum width of the cracks, as well as the number of cracks on the box door and the maximum width of the cracks can all be obtained by a comprehensive crack detector.

[0083] Specifically, the guide obtains the comprehensive damage value and determines the qualified condition of the container structure according to the preset damage value that does not meet the lifting requirements, wherein,

[0084] If the comprehensive damage value is less than the preset damage value, the guide determines that the transfer method of the container corresponding to the comprehensive damage value is the overall lifting method;

[0085] If the comprehensive damage value is not less than the preset damage value, the guide determines that the transfer method of the container corresponding to the comprehensive damage value is the container-cargo separation method;

[0086] Embodiment 2, based on Embodiment 1, this embodiment is different from the embodiment in that the preset damage value is 10, if the guide obtains a comprehensive damage value of 7.5 which is less than the preset damage value 10, the guide determines that the transfer mode of the container corresponding to the comprehensive damage value is the overall lifting mode;

[0087] If the comprehensive damage value obtained by the guide is 12, which is greater than the preset damage value 10, the guide determines that the transfer method of the container corresponding to the comprehensive damage value is the container-cargo separation method;

[0088] Among them, the preset damage value is positively correlated with the container volume.

[0089] In one embodiment, if the container volume is 10 cubic meters, the preset damage value is 5;

[0090] If the container volume is 20 cubic meters, the default damage value is 10;

[0091] If the container volume is 30 cubic meters, the default damage value is 15.

[0092] Specifically, the system of the present invention utilizes the method of setting up the above-mentioned devices, collects the damage conditions of the external structure of the container, calculates the comprehensive damage value, effectively evaluates the degree of damage to the container, is convenient for measuring the degree of damage incurred by the container during transportation, and is beneficial for judging whether the container can be lifted and determining the method of container transfer. While effectively improving the accuracy of container handover inspection, it also effectively improves the safety and practicality of the automated guidance system.

[0093] Specifically, when the guide determines that the container is to be hoisted in an integral manner, the hook is connected to the hook ring on the top of the container, and the lifting device tightens the lifting rope to pre-hoist the container;

[0094] Please continue reading Figure 3 As shown, the first hook 5 is connected to the container 10; the second hook 6 is connected to the container 10; the third hook 7 is connected to the container 10; the fourth hook 8 is connected to the container 10; the first lifting rope 1 is connected to the first hook 5; the second lifting rope 2 is connected to the second hook 6; the third lifting rope 3 is connected to the third hook 7; the fourth lifting rope 4 is connected to the fourth hook 8; the lifting device 9 is respectively connected to the first lifting rope 1, the second lifting rope 2, the third lifting rope 3 and the fourth lifting rope 4.

[0095] Among them, pre-lifting is that the hoist lifts the container to a preset height; the preset height is positively correlated with the height of the container.

[0096] In one embodiment, if the height of the container is 2 meters, the preset height is 1 meter;

[0097] If the height of the container is 3 meters, the default height is 2 meters;

[0098] If the height of the container is 5 meters, the default height is 3 meters.

[0099] Specifically, when the container is in a pre-lifting state, the amplitude detector detects the vibration amplitude value of the container and records the vibration direction.

[0100] Specifically, the guide obtains the vibration amplitude value and determines the qualification of the container pre-lifting according to the preset amplitude value that does not meet the lifting requirements, wherein,

[0101] If the vibration amplitude value is less than the preset amplitude value, the guide drives the lifter to transfer the container corresponding to the vibration amplitude value;

[0102] If the vibration amplitude value is not less than the preset amplitude value, the guide drives the lifting device to reduce the vibration amplitude value;

[0103] Embodiment 3: Based on Embodiment 2, this embodiment is different from it in that the preset amplitude value is 1 meter. If the vibration amplitude value obtained by the guide is 0.5 meters, which is less than the preset amplitude value of 1 meter, the guide drives the lifter to transfer the container corresponding to the vibration amplitude value;

[0104] If the vibration amplitude value obtained by the guide is 1.2 meters, which is greater than the preset amplitude value of 1 meter, the guide drives the lifting device to reduce the vibration amplitude value.

[0105] Among them, the preset amplitude value is positively correlated with the height of the container.

[0106] In one embodiment, if the height of the container is 2 meters, the preset amplitude value is 0.2 meters;

[0107] If the height of the container is 3 meters, the preset amplitude value is 0.5 meters;

[0108] If the height of the container is 5 meters, the preset amplitude value is 1 meter.

[0109] Specifically, when the vibration amplitude value is not less than the preset amplitude value, the lifting device tightens the suspension rope opposite to the vibration direction;

[0110] Among them, the lifting rope in the opposite direction to the vibration direction is the lifting rope corresponding to the hook closest to the ground when the container swings to the maximum amplitude.

[0111] Example 4: Please refer to Figure 4 As shown, it is a schematic diagram of the vibration direction and translation direction of the container in an embodiment of the present invention. On the basis of Example 3, this embodiment is different from it in that the container 10 vibrates along the vibration direction 11 and moves along the translation direction 12, and the angle between the vibration direction 11 and the translation direction 12 is 60 degrees. When the vibration amplitude value is not less than the preset amplitude value, the lifting device 9 tightens the second lifting rope 2 or the fourth lifting rope 4 opposite to the vibration direction.

[0112] Specifically, by pre-lifting the container, detecting the vibration amplitude and direction of the container during pre-lifting, and judging whether the subsequent transfer is possible by detecting the vibration amplitude of the container, the retractable lifting rope is used to reduce the vibration amplitude of the container in a targeted manner, which effectively controls the swing amplitude of the container and further improves the safety and practicality of the automated guidance system.

[0113] Specifically, the guide obtains the vibration amplitude value and vibration direction when the container is in the pre-lifting state and generates a vibration image in the translation direction, and the lifter controls the container transfer rate according to the vibration image;

[0114] The translation direction is the direction in which the lift transfers the container.

[0115] Example 5: Please cooperate Figure 5See also Figure 6 As shown, they are respectively a vibration image in a pre-lifting state of an embodiment of the present invention and a vibration image in a translation direction of an embodiment of the present invention;

[0116] Based on Example 4, this embodiment is different from it in that the angle between the vibration direction 11 and the translation direction 12 is 60 degrees, the guide obtains the vibration amplitude value A of 1 meter in the vibration direction when the container is in the pre-lifting state and generates a vibration image in the vibration direction 11. At the first moment To the second moment During the period, the container 10 vibrates in the opposite direction of the vibration direction 11. To the third moment During the vibration, the container 10 vibrates in the vibration direction 11. The lifter generates a vibration image in the translation direction 12 according to the vibration image, and the vibration amplitude value B in the translation direction is At the first moment To the second moment At the second moment, the lifting device tightens the third lifting rope 3 and the fourth lifting rope 4. To the third moment During the lifting process, the lifting device tightens the first lifting rope 1 and the second lifting rope 2.

[0117] Specifically, by combining vibration images and data analysis, the transfer rate of the container can be adjusted according to the vibration amplitude during the container translation process, which effectively improves the transfer efficiency while further improving the safety and practicality of the automated guidance system.

[0118] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0119] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automated guidance system for container handover inspection, characterized in that: include: Structural detector, which is used to detect the damaged position of the container appearance and calculate the comprehensive damage value; A lifter for lifting and transferring the container; An amplitude detector connected to the lifter to detect the vibration amplitude value of the container; a guide, which is connected to the structure detector, the lifter and the amplitude detector respectively, and is used to obtain the comprehensive damage value, the vibration amplitude value and the vibration direction, determine the transfer mode of the container according to the comprehensive damage value, and adjust the transfer action of the lifter according to the vibration amplitude value and the vibration direction; The transfer method includes an overall lifting method and a container-cargo separation method; the overall lifting method is a method in which the hoist lifts and transfers the container as a whole; the container-cargo separation method is a method in which the cargo in the container is first transferred and then the container is transferred; The lifter comprises: Several lifting ropes, which are used to lift and adjust the transfer status of the container; A plurality of hooks connected to the lifting rope and used to fix the lifting rope and the container; Lifting device, which are respectively connected to the suspension rope and the guide, for adjusting the length of each suspension rope; The structural detector calculates a comprehensive damage value according to the damage value of the box body and the damage value of the box door; Among them, the box body damage value is related to the number of cracks on the box body and the maximum width of the cracks; the box door damage value is related to the number of cracks on the box door and the maximum width of the cracks; The guide obtains the comprehensive damage value and determines the qualification of the container structure according to the preset damage value that does not meet the lifting requirements, wherein: If the comprehensive damage value is less than the preset damage value, the guide determines that the transfer mode of the container corresponding to the comprehensive damage value is the overall lifting mode; If the comprehensive damage value is not less than the preset damage value, the guide determines that the transfer mode of the container corresponding to the comprehensive damage value is the container-cargo separation mode; Wherein, the preset damage value is positively correlated with the container volume; When the guide determines that the container is to be hoisted in an integral manner, the hook is connected to the hook ring on the top of the container, and the lifting device tightens the hoisting rope to pre-hoist the container; Wherein, the pre-lifting is that the lifter lifts the container to a preset height; the preset height is positively correlated with the height of the container; The guide obtains the vibration amplitude value and the vibration direction when the container is in the pre-lifting state and generates a vibration image in the translation direction, and the lifter controls the transfer rate of the container according to the vibration image; The translation direction is the direction in which the lifter transfers the container.

2. The automated guidance system for container handover inspection according to claim 1, characterized in that: The structure detector comprises: A counting unit, which is used to count the number of cracks on the container body and the container door respectively; The measuring unit is used to measure the maximum width of the cracks on the box body and the box door respectively.

3. The automated guidance system for container handover inspection according to claim 2, characterized in that: When the container is in the pre-lifting state, the amplitude detector detects the vibration amplitude value of the container and records the vibration direction.

4. The automated guidance system for container handover inspection according to claim 3, characterized in that: The guide obtains the vibration amplitude value and determines the qualification of the container pre-lifting according to the preset amplitude value that does not meet the lifting requirements, wherein: If the vibration amplitude value is less than the preset amplitude value, the guide drives the lifter to transfer the container corresponding to the vibration amplitude value; If the vibration amplitude value is not less than the preset amplitude value, the guide drives the lifting device to reduce the vibration amplitude value; Wherein, the preset amplitude value is positively correlated with the height of the container.

5. The automated guidance system for container handover inspection according to claim 4, characterized in that: When the vibration amplitude value is not less than the preset amplitude value, the lifting device tightens the suspension rope in the opposite direction to the vibration direction; Wherein, the lifting rope in the opposite direction to the vibration direction is the lifting rope corresponding to the hook closest to the ground when the container swings to the maximum amplitude.

Images