Double-container lifting method of automatic rubber-tyred container gantry crane

Abstract

The invention discloses a double-container hoisting method of an automatic rubber-tyred container gantry crane, which is realized by automatically executing a double-container operation instruction, the double-container operation instruction comes from a wharf production management system, and the wharf production management system distributes related instruction tasks to corresponding ARTG equipment through an equipment scheduling layer. The ARTG equipment receives the instruction task and analyzes the instruction, mechanical actions are executed through the obtained double-box instruction task, and double-box lifting is achieved through the double-box lifting appliance by means of the remote control technology. The RTG automatic operation is realized, compared with the RTG traditional operation, one-to-many or many-to-many remote operation can be realized, the labor cost is reduced, the operation process is improved, the standby idle consumption is reduced, the energy consumption of equipment is reduced, and the utilization rate of the equipment is improved; meanwhile, due to the adoption of remote control, the working intensity of an operation driver is reduced, and occupational diseases and safety accidents in the field operation process are reduced.

Description

Technical Field

[0001] The invention relates to the technical field of double-box lifting by dock cranes, and in particular to a double-box lifting method by an automated tire-type container gantry crane. Background Art

[0002] The fully automated operation technology of the "double-box" spreader tire container gantry crane (ARTG) is one of the difficulties in the automation transformation of the tire-type yard crane. In order to promote the construction of smart ports, the research adds support for the automated operation of the "double-box" spreader on the basis of the automated transformation of the single-box spreader. However, how to automatically and efficiently realize the automated operation of the "double-box" spreader is the problem that needs to be solved first. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings and defects of the prior art and to provide a method for double-box lifting by an automated tire-type container gantry crane, so as to realize double-box remote automated operation through ARTG double-box lifting, thereby improving the operation production efficiency and the success rate of double-box operation.

[0004] A method for automated double-box lifting by a rubber-tyred container gantry crane is realized by automatically executing double-box operation instructions, wherein the double-box operation instructions are derived from a terminal production management system, and the terminal production management system distributes relevant instruction tasks to corresponding ARTG devices through an equipment scheduling layer, and the ARTG devices receive and parse the instruction tasks, and execute mechanical actions through the obtained double-box instruction tasks, and realize double-box lifting by a double-box spreader using remote control technology.

[0005] The double-box sling is equipped with a detection device, including multiple 2D radars and AI vision cameras; the 2D radar is used to scan the box gap length between the two boxes at the bottom of the sling. The AI ​​vision is used to detect the target box lock hole under the sling and obtain the box gap length by measuring the box hole spacing between two adjacent target boxes, and verify it with the scanning data of the 2D radar.

[0006] Among them, the terminal production management system includes the ECS equipment management system, which supports the interaction of the TOS data interface, accepts the production task instructions of the TOS system upward and distributes the instruction tasks downward, and also includes the functions of equipment control unit management, equipment scheduling and message forwarding.

[0007] The steps of lifting two boxes include:

[0008] The ECS equipment management system requests the TOS system for a list of instruction tasks, yard map information, and current operation tasks;

[0009] The TOS system returns a single job task;

[0010] The ECS equipment management system performs data matching and conversion based on the single operation task, converts the single task into a dual-box operation task, and then sends it to the equipment control unit;

[0011] Perform double-box operations according to double-box operation tasks.

[0012] Among them, the data matching and conversion are implemented based on preset matching rules, and the matching rules stipulate the preset condition information of matching, and the preset condition information is that the two containers are 20-foot containers, and are located in the same row and the same layer of the same venue, transported by the same vehicle and belong to adjacent containers, and the container weight, container type, container attribute and cargo attributes are all the same.

[0013] Among them, before performing the double-box operation according to the double-box operation task, the steps of controlling the extension and retraction of the central lock of the spreader to facilitate the subsequent double-box lifting operation include:

[0014] Scan the gap length between the two boxes at the bottom of the spreader with a 2D radar, and determine the length of the spreader lock that needs to be extended and retracted based on the gap length between the boxes. Perform double box door detection and edge missing corner detection, and based on the edge missing corner detection results, correct the gap length, and retract the spreader lock based on the corrected gap length.

[0015] The AI ​​visual camera detects the target box lock hole under the spreader and measures the box hole spacing between two adjacent target boxes to obtain the box seam length again and adjust the spreader lock.

[0016] Determine the guide reference line based on the box gap length, and perform double box guidance according to the guide reference line;

[0017] The visual cameras installed on the left and right ends of the crane are used to perform visual inspection and recognition of the double-box box numbers, and the recognized double-box box numbers are matched one by one with the operation instruction information.

[0018] The double-box operation includes a double-box stacking operation, and the double-box stacking operation includes:

[0019] The work box is moved to the top of the target box row by the spreader, and the position correspondence between the work box, the target box position and the adjacent box is scanned by the 2D scanner system installed on the spreader to achieve box alignment. At the same time, the AI ​​visual server uses the image collected by the box landing camera installed on the spreader to analyze the relative position of the work box on the spreader to the container below in real time, and adjusts the phase deviation between the upper and lower containers by adjusting the position of the trolley and / or the rotation angle of the spreader; when the relative position of the spreader and the container scanned by the scanning system and the visual inspection system is within the allowable stacking range at the same time, the spreader starts to automatically descend to the height distance of the container for soft landing; after landing, the laser scanning system and the visual inspection system are used to check the relative deviation between the upper and lower parts after stacking. When the deviation is within the range, the lock is then unlocked to complete the subsequent process; if the deviation is not within the allowable range, it will automatically lift to the preset height and try again. If multiple retries are unsatisfactory, it will automatically switch to manual stacking.

[0020] Among them, the double-box operation includes a double-box and one-layer box placement operation, and the double-box and one-layer box placement operation includes: through the automatic box placement memory position of the double-box area, first extend and retract the lock in the sling to a normal box placement position state, and control the sling to descend to 400mm above the ground when the box placement row is 400mm from the ground. The AI ​​visual server uses the image collected by the box landing camera installed on the sling to analyze the relative position of the box carried by the sling and the box corner line on the ground in real time, and uses the micro-motion mechanism on the sling to adjust the distance between the container and the box corner line; when it is adjusted to the allowable range, soft landing of the container begins; after landing, the visual inspection system again detects the relative position of the container relative to the box corner line, and if the detected deviation is within the range, it will then unlock and complete the subsequent process; if the detected deviation is not within the allowable range, it will automatically lift and rise to the preset height and try again. If multiple retries are unsatisfactory, it will automatically switch to manual box placement.

[0021] Among them, when the detected adjustment range exceeds the adjustment range of the spreader micro-motion or the adjustment times out, it automatically switches to manual container grabbing; when the visual system cannot scan the corner line of the box, the box is automatically placed according to the calibrated position of the trolley and the distance between adjacent containers.

[0022] Among them, the preset single-set double-loading system management is used to set a single-set double-loading operation area that is different from other operation modes, and give the driver operation prompts so that the driver can specialize in double-box stacking operations during the operation. The single-set double-loading refers to the stacking of 20-foot boxes in adjacent shells, rows, and layers. Single-box 20-foot stacking is performed first, and then double 20-foot loading operations are performed.

[0023] The remote automation control system provided by the present invention realizes RTG automation operation. Compared with the traditional RTG operation, it can realize "one-to-many" or "many-to-many" remote operation, reduce labor costs, improve operation process, reduce idle consumption in standby mode, reduce energy consumption of equipment, and improve equipment utilization. At the same time, due to the use of remote control, the work intensity of the operating driver is reduced, and the occurrence of occupational diseases and safety accidents during on-site operations is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the production management system used for the double-box lifting of the present invention.

[0025] Figure 2 It is a schematic diagram of the equipment and connections on the double-box sling of the present invention.

[0026] Figure 3 It is a schematic diagram of the arrangement position of the sling sensor and the visual camera locked in the sling of the present invention.

[0027] Figure 4 It is a schematic diagram of the dual-box instruction task flow of the present invention.

[0028] Figure 5 The present invention is a schematic diagram of using a single-point distance meter to control the extension and retraction of the center lock of the sling.

[0029] Figure 6 Schematic diagram of double-box gap length scanning of the present invention.

[0030] Figure 7 It is a schematic diagram of the present invention using a visual camera to align box holes.

[0031] Figure 8 It is a schematic diagram of the guide reference line and the box gap of the present invention.

[0032] Fig. 9 This is a schematic diagram of the arrangement positions of the visual cameras at the left and right ends of the sling of the present invention.

[0033] Fig.10 This is a schematic diagram of the door orientation and corners detected by the present invention.

[0034] Fig.11 It is a schematic diagram of the visual camera and sensors arranged on the overall spreader of the present invention.

[0035] Fig.12 It is a schematic diagram of the box corner lines detected by the visual recognition camera of the present invention.

[0036] Fig.13 This is a management interface diagram of the single-set dual-installation system of the present invention. DETAILED DESCRIPTION

[0037] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific 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.

[0038] In the present invention, the double-box lifting of the tire-type container gantry crane ARTG involves the external modification of the equipment hardware and needs to be coordinated with the relevant production system. The double-box operation instruction task comes from the management system composed of the TOS system and other terminal production management systems. The system distributes the relevant instruction tasks to the corresponding ARTG equipment through the equipment scheduling layer. The ART device G receives the instruction task and parses the instruction, and executes the mechanical action through the obtained double-box instruction task.

[0039] ARTG lifting double boxes requires modification of the double box spreader. First, the onboard network needs to be adjusted to connect the network between the trolley frame and the spreader of the ARTG equipment, such as Figure 2 The network layout of the trolley frame and the lifting device shown in the figure, such as the laser scanner and camera, PLC and other network devices are arranged in the trolley electrical cabinet, and the camera, laser scanner, PLC and other network devices are arranged on the lifting device, and connected through switches and optical fibers. In one embodiment, Figure 3 As shown, multiple visual cameras (visual camera No. 7, visual camera No. 8, visual camera No. 9, visual camera No. 10, visual camera No. 11, and visual camera No. 12 as shown in the figure), multiple sensors, and magnetic scale sensors, etc. are installed on the sling. The visual camera adopts an AI visual camera, and the sensor adopts a 2D radar.

[0040] In the present invention, the ECS equipment management system in the automated terminal includes interactive support for the TOS data interface, equipment control unit management, equipment scheduling, message forwarding and other functions. It is in a core position in the automated terminal control and management system, taking over TOS production task instructions upward and dispatching instruction tasks downward.

[0041] Among them, in the double-box operation task, ECS requests the instruction task list, yard map information, and current operation task from TOS. The operation task obtained at this time is a single task such as 20-foot single box, 40-foot single box, and 45-foot single box. It is impossible to obtain double 20-foot operation tasks normally. At this time, it is necessary to "match" and "convert" the data based on the existing information in the TOS production task.

[0042] Establish "pairing rules", which include key information such as two 2-foot boxes, the same site, the same row, the same floor, the same car, adjacent boxes, box weight, box type, box type, cargo attributes, etc. Through pairing, the single-box to double-box operation is realized and the instructions are dispatched to the equipment control unit for execution. After the execution is completed, the instructions are split and the completion status is reported to the upper level. Figure 4 Process shown.

[0043] Before executing the double-box operation instruction task, it is necessary to first control the telescopic accuracy of the double-box center lock of the sling to ensure that the edge of the sling basically coincides with the edge of the target box, so as to achieve accurate positioning of the grab and release box. Specifically, in order to achieve automatic telescopic matching of the double-box sling center lock with the target box, it is necessary to control the telescopic accuracy of the double-box center lock very well. For this purpose, single-point distance meters are used at both ends of the sling center lock 11, such as Figure 5 The single point sensor shown (installed on the upper part of the spreader lock 11) uses a point laser to measure the distance between the locks. The laser distance measurement accuracy is in the millimeter level. First, the distance between the spreader locks in the combined limit state is measured as A1, the distance after the spreader locks are extended and expanded is A2, and the actual gap distance of the spreader locks is A2-A1. To this end, by controlling the accuracy of the locks and the length of the measured box seam, it is ensured that the edge of the spreader and the edge of the target box are basically coincident, so as to achieve accurate positioning of the grab and release box.

[0044] Furthermore, for double-box lifting, the double-box gap length scan is also required, such as Figure 6 As shown. The gap detection between the two boxes plays a key role in the automatic operation of the two boxes. To realize the gap detection between the two boxes, a 2D scanner (installed in the middle position of the middle lock on the frame of the spreader, above the gap between the two boxes of the two containers) and a visual camera (installed on the middle lock of the spreader, with the lens for collecting images facing downward, pointing to the box hole parking lot of the container 20) are used to detect two sets of redundant solutions. Through these two methods, the basic alignment of the spreader's middle lock in the X direction is realized to accurately align the spreader's middle lock with the box hole, as shown in FIG. Figure 6 , Figure 7 shown.

[0045] The 2D scanner determines the length of the spreader lock that needs to be extended by scanning the length of the box gap between the two boxes at the bottom of the spreader. Visual positioning is achieved through four visual cameras installed in the spreader lock ( Figure 3 The sling center lock visual camera detects the target box lock hole below the sling, and the box hole spacing between two adjacent boxes is measured to obtain the box gap length and telescopic center lock. The scanning result of the 2D scanner is cross-checked to realize the basic alignment of the sling center lock in the X direction, so as to ensure that the sling lock can be aligned with the box hole in the vertical direction.

[0046] Furthermore, during double-box operation, in order to ensure that the double boxes can be inserted and matched by the lock in the sling, the corresponding baseline is also calculated to ultimately achieve double-box guidance. Double-box guidance is different from single-box guidance in that the gap between the high-box and low-box double boxes is not a fixed length. This influence is caused by errors in single-box operation and the bumping of the boxes in the transportation diagram. For this reason, the standard position of double-box guidance, that is, the baseline, cannot be completely fixed. It is necessary to infer a new baseline based on the scanned or detected gap between the double boxes to ultimately achieve double-box guidance. The baseline includes the rear box baseline and the front box baseline, which are calculated based on the length of the detected box gap, such as Figure 8 shown.

[0047] Since double-box operation is different from single-box operation, double-box operation requires simultaneous detection and matching of the box number information of the front and rear boxes. Therefore, in the present invention, the visual cameras installed on the left and right ends of the spreader (the left visual camera and the right visual camera, such as Fig. 9 The visual cameras on the left and right ends of the spreader are arranged diagonally and crosswise to visually detect and identify the box number on the top of the box and the box number on the door, and then match the identified results with the instruction information one by one. If the detection result is abnormal, manual verification is prompted.

[0048] It should be noted that since the outer corners of the container with and without doors are different, the corners of the container with door are usually missing 4cm. Therefore, when controlling the telescopic lock through 2D scanning of the gap between the container and the door, the corner missing results of the door need to be taken into account. Fig.10 As shown, the problem of not considering the position of the box door, resulting in inaccurate control of the extension and retraction of the lock in the sling, cannot be well aligned with the box hole.

[0049] In the present invention, double-box operation also includes double-box stacking operation. The automatic placement of double boxes is consistent with the grabbing of boxes. It is also necessary to solve the key technologies such as double-box layer height scanning, double-box box seam detection, and double-box box door detection. First, when working in the lane and box area, the lock state of the sling is extended and retracted to the default position in advance according to the set "memory position", saving the time of detection alignment and mechanical action, and then the alignment detection is carried out.

[0050] During alignment detection, the sling trolley with the box moves to the top of the target box row. The 2D scanner system installed on the sling scans the position correspondence between the sling (operating box), the target box position and the adjacent box to achieve box alignment. At the same time, the AI ​​visual server uses the image collected by the box-carrying camera installed on the sling to analyze the relative position of the container on the sling with respect to the container below in real time. The relative deviation between the upper and lower boxes is adjusted by adjusting the trolley position and the rotation angle of the sling. When the relative positions of the sling and the container scanned by the scanning system and the visual inspection system are both within the allowable stacking range, the sling begins to automatically descend the height distance from the sling to the container for soft stacking. After the box is placed, the laser scanning system and the visual inspection system are used to check the relative deviation between the upper and lower parts after stacking. If the deviation is within the range, the lock will be unlocked within 3 seconds to complete the subsequent process. If the deviation is not within the allowable range, it will automatically lift and rise 300mm and try again. If the retries are unsatisfactory for 3 times, it will automatically switch to manual stacking. The installed visual cameras and sensors are as follows: Fig.11 As shown, Fig.11 Sensors and vision cameras locked in the spreader, such as Figure 3 As shown, other visual cameras include visual camera No. 1, visual camera No. 2, visual camera No. 3, visual camera No. 4, visual camera No. 5, visual camera No. 6, and sensors No. 1 to No. 9 at both ends of the sling. The specific positions of the sensors and visual cameras can be adjusted as needed.

[0051] In the present invention, the double-box operation also includes the lifting operation of the box on the ground layer. During the alignment detection, the following steps are adopted: through the automatic box placement memory position of the double-box area, the central lock of the sling is first extended and retracted to a normal box placement position state. When the system controls the sling to descend to the box placement column 400mm from the ground, the AI ​​visual server uses the image collected by the camera (box corner line visual recognition camera) installed on the sling to analyze the relative position of the box 100 carried by the sling and the box corner line 8 on the ground in real time, such as Fig.12 As shown, the distance between the container and the corner line of the container is adjusted by the micro-motion mechanism on the spreader. When it is adjusted to the allowed range, the soft landing of the container begins. After landing, the visual inspection system detects the relative position of the container relative to the corner line of the container again. If the deviation is within the range, the subsequent process is unlocked within 3 seconds. If the deviation is not within the allowed range, the automatic lifting will automatically rise 300mm and then retry. If the retries are unsatisfactory for 3 times, the container will be automatically placed manually.

[0052] When the detected adjustment range exceeds the adjustment range of the spreader micro-motion or the adjustment times out, the system will automatically switch to manual container grabbing. When the visual system cannot scan the corner line of the container, the system supports automatic container placement according to the trolley's calibrated position and the distance between adjacent containers.

[0053] In the present invention, the double-box alignment vision of the present invention is realized through remote technology. The remote control module set up adopts a visual control system, and uses the visual camera installed on the spreader to perform double-box grabbing and releasing operations. The automatic double-box release is consistent with the grabbing of the box. It is also necessary to solve the key technologies such as double-box layer height scanning, double-box box seam detection, and double-box box door detection first. When working in the lane and box area, the lock state of the spreader is extended and retracted to the default position in advance according to the set "memory position", saving time for detection alignment and mechanical action. After that, the spreader trolley with the box moves to the top of the target box column, and the 2D scanner system installed on the spreader scans the correspondence between the spreader (operating box), the target box position and the adjacent box to achieve the box alignment. At the same time, the AI ​​visual server uses the image collected by the box camera installed on the spreader to analyze the relative position of the container on the spreader relative to the container below in real time, and adjusts the relative deviation between the upper and lower boxes by adjusting the trolley position and the spreader rotation angle. When the relative position of the spreader and the container scanned by the scanning system and the visual inspection system is within the allowable stacking range at the same time, the spreader begins to automatically descend the height distance from the spreader to the container for soft landing. After the box is landed, the laser scanning system and the visual inspection system are used to check the relative deviation between the upper and lower parts after stacking. If the deviation is within the range, the lock will be unlocked within 3 seconds to complete the subsequent process. If the deviation is not within the allowable range, it will automatically rise 300mm and try again. If multiple attempts are unsatisfactory, it will automatically switch to manual operation.

[0054] Furthermore, in the present invention, a single set double loading process is proposed to improve the efficiency of double-box operation. The "single set double loading" means that for adjacent shells, the same row, and the same layer of 20-foot containers, a single box 20-foot stacking is first performed and then a double 20-foot loading operation is performed, so as to improve the efficiency of loading operations. To this end, the single set double loading system management is used to set the single set double loading operation area, and the driver is given an operation prompt different from other operation modes, so that the driver can consciously improve the double box stacking quality during the operation process and improve the success rate of single set double loading, such as Fig.13 Shown is the management interface of the single-set dual-installation management system.

[0055] Furthermore, in the present invention, the center lock guide plate of the double-box is modified, an external guide plate is added to the center lock of the double-box hoist, two guide plates are added before and after the center lock, a total of four external guide plates, and the center lock guide plate is used to solve the problem of operation difficulties caused by the misalignment of the two 20-foot boxes and the large angle, thereby improving the success rate of double-box operations.

[0056] From the above description, it can be seen that the present invention realizes double-box remote automated operation through ARTG double-box lifting, thereby improving the operation production efficiency and the success rate of double-box operation.

[0057] The basic principles and main features of the present invention and the advantages of the present invention are shown and described above. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention.

[0058] Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is therefore intended that all changes falling within the meaning and range of equivalent elements of the claims are included in the present invention.

[0059] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A method for lifting two containers by an automated rubber-tyred container gantry crane, characterized in that: This is achieved by automatically executing dual-box operation instructions, which are derived from the terminal production management system. The terminal production management system distributes relevant instruction tasks to the corresponding ARTG equipment through the equipment scheduling layer. The ARTG equipment receives the instruction tasks and parses the instructions, and executes mechanical actions through the obtained dual-box instruction tasks. Using remote control technology, dual-box lifting is achieved through dual-box slings.

2. The method for lifting two containers by an automated rubber-tyred container gantry crane according to claim 1, characterized in that: The double-box sling is provided with a detection device, including multiple 2D radars and AI vision cameras; the 2D radar is used to scan the box gap length between the two boxes at the bottom of the sling; the AI ​​vision is used to detect the target box lock hole below the sling and obtain the box gap length telescopic middle lock by measuring the box hole spacing between two adjacent target boxes, and verify it with the scanning data of the 2D radar.

3. The method for lifting two containers by an automated rubber-tyred container gantry crane according to claim 1, characterized in that: The terminal production management system includes an ECS equipment management system, which supports the interaction with the TOS data interface, accepts production task instructions from the TOS system upward and distributes instruction tasks downward, and also includes the functions of equipment control unit management, equipment scheduling and message forwarding.

4. The method for lifting two containers by an automated rubber-tyred container gantry crane according to claim 3 is characterized in that: The steps of double-box lifting include: The ECS equipment management system requests the TOS system for a list of instruction tasks, yard map information, and current operation tasks; The TOS system returns a single job task; The ECS equipment management system performs data matching and conversion based on the single operation task, converts the single task into a dual-box operation task, and then sends it to the equipment control unit; Perform double-box operations according to double-box operation tasks.

5. The method for lifting two containers by an automated rubber-tyred container gantry crane according to claim 4, characterized in that: The data matching and conversion is implemented based on preset matching rules, which specify preset condition information for matching, namely, the two containers are 20-foot containers, located in the same row and layer of the same venue, transported by the same vehicle and adjacent to each other, and have the same container weight, container type, container attribute and cargo attributes.

6. The method for lifting two containers by an automated rubber-tyred container gantry crane according to claim 5, characterized in that: Before carrying out the double-box operation according to the double-box operation task, the steps of controlling the extension and retraction of the spreader center lock are also included to facilitate the subsequent double-box lifting operation, including: Scan the gap length between the two boxes at the bottom of the spreader with a 2D radar, and determine the length of the spreader lock that needs to be extended and retracted based on the gap length between the boxes. Perform double box door detection and edge missing corner detection, and based on the edge missing corner detection results, correct the gap length, and retract the spreader lock based on the corrected gap length. The AI ​​visual camera detects the target box lock hole under the spreader and measures the box hole spacing between two adjacent target boxes to obtain the box seam length again and adjust the spreader lock. Determine the guide reference line based on the box gap length, and perform double box guidance according to the guide reference line; The visual cameras installed on the left and right ends of the crane are used to perform visual inspection and recognition of the double-box box numbers, and the recognized double-box box numbers are matched one by one with the operation instruction information.

7. The method for lifting two containers by an automated rubber-tyred container gantry crane according to claim 6, characterized in that: The double-box operation includes a double-box stacking operation, and the double-box stacking operation includes: The work box is moved to the top of the target box row by the spreader, and the position correspondence between the work box, the target box position and the adjacent box is scanned by the 2D scanner system installed on the spreader to achieve box alignment. At the same time, the AI ​​visual server uses the image collected by the box landing camera installed on the spreader to analyze the relative position of the work box on the spreader to the container below in real time, and adjusts the phase deviation between the upper and lower containers by adjusting the position of the trolley and / or the rotation angle of the spreader; when the relative position of the spreader and the container scanned by the scanning system and the visual inspection system is within the allowable stacking range at the same time, the spreader starts to automatically descend to the height distance of the container for soft landing; after landing, the laser scanning system and the visual inspection system are used to check the relative deviation between the upper and lower parts after stacking. When the deviation is within the range, the lock is then unlocked to complete the subsequent process; if the deviation is not within the allowable range, it will automatically lift to the preset height and try again. If multiple retries are unsatisfactory, it will automatically switch to manual stacking.

8. The method for lifting two containers by an automated rubber-tyred container gantry crane according to claim 7, characterized in that: The double-box operation includes a double-box and one-layer box placing operation, and the double-box and one-layer box placing operation includes: through the automatic box placing memory position of the double-box area, the middle lock of the sling is first extended and retracted to a normal box placing position state, and the sling is controlled to descend to 400mm above the ground when the box placing row is 400mm from the ground. The AI ​​visual server uses the image collected by the box landing camera installed on the sling to analyze the relative position of the box carried by the sling and the box corner line on the ground in real time, and uses the micro-motion mechanism on the sling to adjust the distance between the container and the box corner line; when it is adjusted to the allowable range, soft landing of the container begins; after landing, the visual inspection system again detects the relative position of the container relative to the box corner line, and if the detected deviation is within the range, it will then unlock and complete the subsequent process; if the detected deviation is not within the allowable range, it will automatically lift and rise to the preset height and try again. If multiple retries are unsatisfactory, it will automatically switch to manual box placement.

9. The method for lifting two containers by an automated rubber-tyred container gantry crane according to claim 8, characterized in that: When the detected adjustment range exceeds the adjustment range of the spreader micro-motion or the adjustment times out, it automatically switches to manual container grabbing; when the visual system cannot scan the corner line of the box, it automatically places the box according to the calibrated position of the trolley and the distance between adjacent containers.

10. The method for lifting two containers by using an automated rubber-tyred container gantry crane according to claim 9, characterized in that: The preset single-set double-loading system management is used to set a single-set double-loading operation area that is different from other operation modes, and the driver is given operation prompts so that the driver can use it specifically for double-box stacking operations during the operation. The single-set double-loading refers to the stacking of 20-foot boxes in adjacent shells, rows, and layers. Single-box 20-foot stacking is performed first, and then double 20-foot loading operations are performed.

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