Automatic lock pin registration control system and control method and carrier loader

Abstract

The invention provides an automatic lock pin registration control system and method and a carrier loader, and relates to the technical field of engineering machinery. The automatic lock pin registration control system comprises a detection input unit and a control output unit, and the detection input unit comprises a visual positioning assembly, a main rotary encoder, a lifting appliance rotary encoder, an erecting arm angle detection sensor, a main arm angle detection sensor, a sliding oil cylinder length sensor, a lifting oil cylinder length sensor and a lock pin box landing switch. And the control output unit comprises a main rotary valve group, a lifting appliance rotary valve group, a variable amplitude and erecting valve group, a lifting appliance sliding valve group and a lifting appliance lifting valve group. Based on the technical scheme of the invention, the automatic lock pin registration control system can automatically control the transfer vehicle so as to realize automatic lock pin registration.

Description

Technical Field

[0001] The present invention relates to the technical field of transfer vehicles, and in particular to a lock pin automatic alignment control system, a control method and a transport vehicle. Background Art

[0002] The matching clearance between the sling lock pin and the load angle fitting of the transfer vehicle is at the millimeter level. After the lock pin is inserted into the angle fitting, it is rotated and locked to achieve a rigid connection between the sling and the load; the main rotation, boom length adjustment and erection, sling rotation and other actions realize the position adjustment of the sling lock pin.

[0003] The load is placed on the ground, and the operator manually operates the main rotation, amplitude change and vertical lifting, spreader rotation and lifting cylinder, lock pin and other actions of the transfer vehicle, inserts the spreader lock pin into the load corner piece, and completes the alignment and locking of the lock pin. The alignment of the spreader lock pin and the load corner piece requires high control accuracy, and requires the coordinated participation of multiple mechanisms of the transfer vehicle. The operator of the transfer vehicle needs to have a high level of operation to complete it. Manual operation is complicated and inefficient. Therefore, it is necessary to design a lock pin automatic alignment control system, control method and carrier vehicle that can automatically control the transfer vehicle to achieve automatic lock pin alignment. Summary of the invention

[0004] In view of the above problems in the prior art, the present application proposes a lock pin automatic alignment control system, a control method and a carrier vehicle, which can automatically control the transfer vehicle to achieve automatic lock pin alignment.

[0005] One aspect of the present invention provides a lock pin automatic registration control system, the lock pin automatic registration control system comprising:

[0006] a detection input unit, the detection input unit comprising a visual positioning component, a main rotary encoder, a spreader rotary encoder, an erection arm angle detection sensor, a main arm angle detection sensor, a sliding cylinder length sensor, a lifting cylinder length sensor and a lock pin lock switch, the visual positioning component is used to obtain the position of the load relative to the spreader, the main rotary encoder is used to obtain the angle of the spreader relative to the transfer vehicle, the spreader rotary encoder is used to obtain the angle of the lock pin relative to the main arm, the erection arm angle detection sensor is used to obtain the erection angle of the erection arm, the main arm angle detection sensor is used to obtain the amplitude change angle of the main arm, the sliding cylinder length sensor is used to obtain the length of the sliding cylinder, the lifting cylinder length sensor is used to obtain the length of the lifting cylinder, and the lock pin lock switch is used to detect the lock pin lock state; and

[0007] A control output unit, wherein the control output unit includes a main rotary valve group, a spreader rotary valve group, a variable amplitude and erection valve group, a spreader sliding valve group and a spreader lifting valve group. The main rotary valve group can adjust the angle of the spreader relative to the transfer vehicle according to the position of the load relative to the spreader obtained by the visual positioning component and the angle of the spreader relative to the transfer vehicle obtained by the main rotary encoder. The spreader rotary valve group can adjust the angle of the lock pin relative to the main arm according to the position of the load relative to the spreader obtained by the visual positioning component and the angle of the lock pin relative to the main arm obtained by the spreader rotary encoder. The boom length adjustment and erection valve group can adjust the erection angle of the erection arm and the boom length adjustment angle of the main arm according to the position of the load relative to the sling obtained by the visual positioning component, the erection angle of the erection arm obtained by the erection arm angle detection sensor, and the boom length adjustment angle of the main arm obtained by the main arm angle detection sensor. The sling sliding valve group can adjust the horizontal position of the locking pin relative to the main arm according to the position of the load relative to the sling obtained by the visual positioning component. The sling lifting valve group can adjust the vertical position of the locking pin relative to the load according to the position of the load relative to the sling obtained by the visual positioning component.

[0008] As a further improvement of the above technical solution:

[0009] The above-mentioned locking pin automatic registration control system, further, the visual positioning component includes a binocular camera installed on the sling, a target is provided at a corresponding position on the load, and the binocular camera can position the load according to the target.

[0010] The above-mentioned automatic lock pin registration control system further includes a control panel, and the control panel is used to start or shut down the detection input unit and the control output unit.

[0011] Another aspect of the present invention provides a locking pin automatic registration control method, the locking pin automatic registration control method comprising the steps of:

[0012] The visual positioning component obtains the position of the load relative to the spreader. After image processing and kinematic modeling, the visual positioning component obtains the position and angle of the load in the coordinate system with the rotation center of the transfer vehicle as the origin;

[0013] The main rotary valve group adjusts the angle of the spreader relative to the transfer vehicle according to the position of the load relative to the spreader obtained by the visual positioning component and the angle of the spreader relative to the transfer vehicle obtained by the main rotary encoder to roughly position the spreader;

[0014] The spreader rotary valve group adjusts the angle of the lock pin relative to the main arm according to the position of the load relative to the spreader obtained by the visual positioning component and the angle of the lock pin relative to the main arm obtained by the spreader rotary encoder, so as to roughly position the lock pin;

[0015] The luffing and erecting valve group adjusts the erecting angle of the erecting arm and the luffing angle of the main arm according to the position of the load relative to the spreader obtained by the visual positioning component, the erecting angle of the erecting arm obtained by the erecting arm angle detection sensor, and the luffing angle of the main arm obtained by the main arm angle detection sensor;

[0016] The main rotary valve group adjusts the angle of the spreader relative to the transfer vehicle according to the position of the load relative to the spreader obtained by the visual positioning component and the angle of the spreader relative to the transfer vehicle obtained by the main rotary encoder to accurately position the spreader;

[0017] The spreader rotary valve group adjusts the angle of the lock pin relative to the main arm according to the position of the load relative to the spreader obtained by the visual positioning component and the angle of the lock pin relative to the main arm obtained by the spreader rotary encoder, so as to accurately position the lock pin;

[0018] The spreader sliding valve assembly adjusts the horizontal position of the locking pin relative to the main arm according to the position of the load relative to the spreader obtained by the visual positioning assembly;

[0019] The sling lifting valve group adjusts the vertical position of the lock pin relative to the load according to the position of the load relative to the sling obtained by the visual positioning component, and the lock pin locking switch detects the locking state of the lock pin.

[0020] As a further improvement of the above technical solution:

[0021] The above-mentioned lock pin automatic registration control method further comprises the step of: the main rotary valve group adjusts the angle of the spreader relative to the transfer vehicle according to the position of the load relative to the spreader obtained by the visual positioning component and the angle of the spreader relative to the transfer vehicle obtained by the main rotary encoder, including:

[0022] The polar angle of the load in the coordinate system obtained by the visual positioning component is the target angle θ A , the main rotary encoder obtains the angle θ of the current spreader relative to the transfer vehicle C , according to θ D =(θ C -θ A ) controls the output of the main rotary valve group.

[0023] The above-mentioned lock pin automatic registration control method further comprises the step of: the spreader rotary valve group adjusts the angle of the lock pin relative to the main arm according to the position of the load relative to the spreader obtained by the visual positioning component and the angle of the lock pin relative to the main arm obtained by the spreader rotary encoder, including:

[0024] The yaw angle of the load in the coordinate system obtained by the visual positioning component is the target angle α A , the spreader rotary encoder obtains the current angle α of the lock pin relative to the main arm C , according to α D =(αC -α A ) Control the output of the spreader rotary valve group.

[0025] Another aspect of the present invention provides a carrier vehicle, the carrier vehicle comprising the above-mentioned automatic locking pin registration control system.

[0026] The above technical features can be combined in various suitable ways or replaced by equivalent technical features as long as the purpose of the present invention can be achieved.

[0027] The present invention provides a lock pin automatic alignment control system, control method and carrier, which have at least the following beneficial effects compared with the prior art: the visual positioning component obtains the approximate posture of the load in the coordinate system with the main rotation center of the transfer vehicle as the origin, and performs coarse positioning control on the lock pin posture of the transfer vehicle, the main rotary valve group adjusts the polar angle of the lock pin in the transfer vehicle coordinate system, the hoist rotary valve group adjusts its yaw angle, the amplitude change and erection valve group adjusts its amplitude and height, and fine positioning is performed after the coarse positioning is completed. Combined with the real-time positioning information of the visual positioning component, the main rotary valve group fine-tunes the polar angle, the hoist rotary valve adjusts the yaw angle, and the hoist sliding valve group fine-tunes the amplitude. After the three degrees of freedom in the horizontal plane are aligned, the hoist lifting valve group retracts the lifting cylinder vertically downward, the lock pin on the rotary lock frame is inserted into the load angle piece, and the lock pin and box switch send a signal to complete the automatic alignment of the lock pin.

[0028] The automatic registration control system for the lock pin can automatically control the transfer vehicle to achieve automatic registration of the lock pin. The combined control of coarse positioning and fine positioning not only solves the problem of efficiency and accuracy, but also fits the characteristics of the visual positioning component that the measurement distance is long, the range is large, but the accuracy is low, and the measurement distance is short, the range is small, and the accuracy is high. The machine vision component obtains the position information of the load target through image processing, and the accuracy can reach mm level. Its fast response and high positioning accuracy provide technical feasibility for the automatic registration of the lock pin.

[0029] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0031] The present invention will be described in more detail below based on embodiments and with reference to the accompanying drawings, wherein:

[0032] Figure 1A front view of a lock pin automatic registration control system provided by an embodiment of the present invention is shown;

[0033] Figure 2 A top view of a lock pin automatic registration control system provided by an embodiment of the present invention is shown;

[0034] Figure 3 A flow chart showing a method for controlling automatic registration of a lock pin provided by an embodiment of the present invention is shown;

[0035] Figure 4 A diagram showing the mathematical model of the main boom and erection boom.

[0036] In the drawings, like reference numerals are used for like parts. The drawings are not necessarily to scale.

[0037] Description of reference numerals:

[0038] 100-transfer vehicle, 111-turntable, 112-erecting arm, 113-main arm, 114-spreader, 115-sliding cylinder, 116-lifting cylinder, 117-locking pin, 118-visual positioning component, 119-main rotary encoder, 120-spreader rotary encoder, 121-erecting arm angle detection sensor, 122-main arm angle detection sensor, 123-sliding cylinder length sensor, 124-lifting cylinder length sensor, 125-locking pin box switch, 126-host, 127-binocular camera, 128-erecting cylinder, 129-boom cylinder, 200-load, 210-angle fitting, 220 target. DETAILED DESCRIPTION

[0039] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0040] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0041] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0042] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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 an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0044] The present invention will be further described below in conjunction with the accompanying drawings.

[0045] The embodiment of the present invention provides a lock pin automatic alignment control system, which can automatically control a transfer vehicle to achieve automatic lock pin alignment.

[0046] See also Figure 1 and Figure 2 The embodiment of the present invention provides a lock pin automatic registration control system, the lock pin automatic registration control system comprises:

[0047] a detection input unit, the detection input unit comprising a visual positioning component, a main rotary encoder, a spreader rotary encoder, an erecting arm angle detection sensor, a main arm angle detection sensor, a sliding cylinder length sensor, a lifting cylinder length sensor and a lock pin lock switch, the visual positioning component is used to obtain the position of the load relative to the spreader, the main rotary encoder is used to obtain the angle of the spreader relative to the transfer vehicle, the spreader rotary encoder is used to obtain the angle of the lock pin relative to the main arm, the erecting arm angle detection sensor is used to obtain the erecting angle of the erecting arm, the main arm angle detection sensor is used to obtain the amplitude change angle of the main arm, the sliding cylinder length sensor is used to obtain the length of the sliding cylinder, the lifting cylinder length sensor is used to obtain the length of the lifting cylinder, and the lock pin lock switch is used to detect the lock pin lock state; and

[0048] The control output unit includes a main rotary valve group, a spreader rotary valve group, a boom-changing and erecting valve group, a spreader sliding valve group and a spreader lifting valve group. The main rotary valve group can adjust the angle of the spreader relative to the transfer vehicle according to the position of the load relative to the spreader obtained by the visual positioning component and the angle of the spreader relative to the transfer vehicle obtained by the main rotary encoder. The spreader rotary valve group can adjust the angle of the lock pin relative to the main arm according to the position of the load relative to the spreader obtained by the visual positioning component and the angle of the lock pin relative to the main arm obtained by the spreader rotary encoder. The boom-changing and erecting valve group can adjust the erection angle of the erection arm and the boom-changing angle of the main arm according to the position of the load relative to the spreader obtained by the visual positioning component, the erection angle of the erection arm obtained by the erection arm angle detection sensor and the boom-changing angle of the main arm obtained by the main arm angle detection sensor. The spreader sliding valve group can adjust the horizontal position of the lock pin relative to the main arm according to the position of the load relative to the spreader obtained by the visual positioning component. The spreader lifting valve group can adjust the vertical position of the lock pin relative to the load according to the position of the load relative to the spreader obtained by the visual positioning component.

[0049] The visual positioning component obtains the approximate posture of the load in the coordinate system with the main rotation center of the transfer vehicle as the origin, and performs coarse positioning control on the posture of the transfer vehicle lock pin. The main rotary valve group adjusts the polar angle of the lock pin in the transfer vehicle coordinate system, the hoist rotary valve group adjusts its yaw angle, and the amplitude change and erection valve group adjusts its amplitude and height. After the coarse positioning is completed, fine positioning is performed. Combined with the real-time positioning information of the visual positioning component, the main rotary valve group fine-tunes the polar angle, the hoist rotary valve adjusts the yaw angle, and the hoist sliding valve group fine-tunes the amplitude. After the three degrees of freedom in the horizontal plane are aligned, the hoist lifting valve group retracts the lifting cylinder vertically downward, the lock pin on the rotary lock frame is inserted into the load angle piece, and the lock pin and the lock box switch send a signal to complete the automatic alignment of the lock pin.

[0050] The automatic registration control system for the lock pin can automatically control the transfer vehicle to achieve automatic registration of the lock pin. The combined control of coarse positioning and fine positioning not only solves the problem of efficiency and accuracy, but also fits the characteristics of the visual positioning component that the measurement distance is long, the range is large, but the accuracy is low, and the measurement distance is short, the range is small, and the accuracy is high. The machine vision component obtains the position information of the load target through image processing, and the accuracy can reach mm level. Its fast response and high positioning accuracy provide technical feasibility for the automatic registration of the lock pin. The automatic registration control system for the lock pin can reduce the operating intensity of the lock pin registration and improve the working efficiency; at the same time, it can also reduce the selection requirements for the machine operator.

[0051] For details, please refer to the automatic registration control system for the lock pin provided in the embodiment of the present invention. Figure 1 and Figure 2 The visual positioning component includes a binocular camera installed on the spreader, and a target is provided at a corresponding position on the load. The binocular camera can position the load according to the target. The lock pin automatic registration control system also includes a control panel, which is used to start or shut down the detection input unit and the control output unit. In this embodiment, a pair of binocular cameras are installed on the left front and right rear of the spreader, and the left front and right rear corner pieces of the load are in contact with the target.

[0052] The sliding cylinder length sensor and the lifting cylinder length sensor can use a pull rope sensor or a magnetostrictive sensor; the erection arm angle detection sensor and the main arm angle detection sensor can use an angle sensor, or install a length sensor on the variable-length cylinder and the erection cylinder, and use the trigonometric function relationship to convert the variable-length and erection angles. The lock pin box switch can be a travel switch or a proximity switch. The binocular cameras of the visual positioning component can be arranged at the left front and right rear, or at the left rear and right front, or at the left front and left rear, or at the right front and right rear, etc.

[0053] The embodiment of the present invention also provides a lock pin automatic registration control method, using the lock pin automatic registration control system provided by the above embodiment, please combine Figure 3 The lock pin automatic registration control method comprises the steps of:

[0054] S10: The visual positioning component obtains the position of the load relative to the sling. The visual positioning component obtains the position and angle of the load in the coordinate system with the rotation center of the transfer vehicle owner as the origin through image processing and kinematic modeling.

[0055] Before alignment, the crossbeam of the spreader is unfolded and the lifting cylinder of the spreader is fully extended upward; the spreader is roughly above the load (the height difference between the locking pin and the load corner piece is 1 to 6 meters), and the load target is within the line of sight of the corresponding binocular camera; during alignment, the visual positioning component is started, and the binocular camera can capture the corresponding target. The host of the visual positioning component obtains the position and angle of the target and the locking pin in the coordinate system with the rotation center of the transfer vehicle as the origin through image processing and kinematic modeling; if the target is not within the field of view of the binocular camera, an error is reported.

[0056] S20: The main rotary valve assembly adjusts the angle of the spreader relative to the transfer vehicle according to the position of the load relative to the spreader obtained by the visual positioning component and the angle of the spreader relative to the transfer vehicle obtained by the main rotary encoder to roughly position the spreader.

[0057] The polar angle of the load in the coordinate system obtained by the visual positioning component is the target angle θ A , the main rotary encoder obtains the angle θ of the current spreader relative to the transfer vehicle C , according to θ D =(θ C -θ A ) controls the output of the main rotary valve group. In this embodiment, if θ D <-0.5°, the main rotation will rotate counterclockwise; if θ D >0.5°, main rotation clockwise; -0.5°≤θ D ≤0.5°, the main slewing completes the rough positioning of the spreader.

[0058] S30: The spreader rotary valve assembly adjusts the angle of the lock pin relative to the main arm according to the position of the load relative to the spreader obtained by the visual positioning component and the angle of the lock pin relative to the main arm obtained by the spreader rotary encoder to roughly position the lock pin.

[0059] The yaw angle of the load in the coordinate system obtained by the visual positioning component is the target angle α A , the spreader rotary encoder obtains the current angle α of the lock pin relative to the main arm C , according to α D =(α C -α A ) controls the output of the spreader rotary valve group. In this embodiment, if α D <-0.3°, the spreader rotary valve group controls the spreader to rotate counterclockwise; if α D >0.3°, the spreader rotary valve group controls the spreader to rotate clockwise; -0.3°≤α D ≤0.3°, the rough positioning of the lock pin is completed by the rotation of the hanger.

[0060] S40: The boom-changing and erecting valve group adjusts the erecting angle of the erecting arm and the boom-changing angle of the main arm according to the position of the load relative to the sling obtained by the visual positioning component, the erecting angle of the erecting arm obtained by the erecting arm angle detection sensor, and the boom-changing angle of the main arm obtained by the main arm angle detection sensor.

[0061] The target amplitude R and target height H of the coordinate system given by the visual positioning component are 800mm above the target. The variable amplitude target angle DA is calculated by trigonometric function. A and vertical target angle EA A . In Figure 4 In the mathematical model shown, point O is the main rotation center (coordinate origin), C is the hinge point between the erection arm and the turntable, D is the hinge point between the main arm and the erection arm, CD is the erection arm, DF is the main arm, the amplitude R = R0 + R1, the height H = H0 + H1, R0 and H0 are the initial amplitude and initial height of point C relative to the coordinate origin O, respectively. Among them,

[0062]

[0063] EA=180-A2-A1.

[0064] In this embodiment, the amplitude change and vertical valve group only roughly positions the height H and amplitude R. The height H and amplitude R are both positioned within the range of ±100 mm of their target values. The corresponding amplitude change target angle DA A ±0.8°, vertical target angle EA A ±0.6°. The main arm angle detection sensor obtains the current arm amplitude angle DA C , the current luffing angle EA of the erecting arm obtained by the erecting arm angle detection sensor C , take DA D =DA C -DA A , E.A. D =EA C -EA A .

[0065] When DA D >0.8°, the boom-changing and vertical-lifting valve group controls the main boom to descend; when DA D <-0.8°, the boom-changing and vertical-raising valve group controls the main boom to rise; when -0.8°≤DA D When ≤0.8°, the main arm luffing coarse positioning is completed.

[0066] When EA D >0.6°, the variable amplitude and vertical lift valve group controls the vertical lift arm to descend; when EA D <-0.6°, the variable amplitude and erection valve group controls the erection arm to rise; when -0.6°≤EAD When the angle is ≤0.6°, the rough positioning of the erection arm is completed.

[0067] S50: The main rotary valve assembly adjusts the angle of the spreader relative to the transfer vehicle according to the position of the load relative to the spreader obtained by the visual positioning component and the angle of the spreader relative to the transfer vehicle obtained by the main rotary encoder to precisely position the spreader.

[0068] The polar angle of the load in the coordinate system obtained by the visual positioning component is the target angle θ A , the main rotary encoder obtains the angle θ of the current spreader relative to the transfer vehicle C , according to θ D =(θ C -θ A ) controls the output of the main rotary valve group. In this embodiment, if θ D <-0.01°, the main rotation will rotate counterclockwise; if θ D >0.01°, main rotation clockwise; -0.01°≤θ D ≤0.01°, the main slewing completes the precise positioning of the spreader.

[0069] S60: The spreader rotary valve assembly adjusts the angle of the lock pin relative to the main arm according to the position of the load relative to the spreader obtained by the visual positioning component and the angle of the lock pin relative to the main arm obtained by the spreader rotary encoder to precisely position the lock pin.

[0070] The yaw angle of the load in the coordinate system obtained by the visual positioning component is the target angle α A , the spreader rotary encoder obtains the current angle α of the lock pin relative to the main arm C , according to α D =(α C -α A ) controls the output of the spreader rotary valve group. In this embodiment, if α D <-0.01°, the spreader rotary valve group controls the spreader to rotate counterclockwise; if α D >0.01°, the spreader rotary valve group controls the spreader to rotate clockwise; -0.01°≤α D ≤0.01°, precise positioning of the lock pin is completed by the rotation of the sling.

[0071] S70: The lifting device sliding valve assembly adjusts the horizontal position of the locking pin relative to the main arm according to the position of the load relative to the lifting device obtained by the visual positioning component.

[0072] The visual positioning component gives the position deviation R of the load relative to the spreader in real time D In this embodiment, R D When <-1mm, the lifting device sliding valve group controls the sliding cylinder to extend; R D>1mm, the lifting device sliding valve group controls the sliding cylinder to retract, -1mm≤R D When ≤1mm, the amplitude fine adjustment is completed.

[0073] S80: The sling lifting valve assembly adjusts the vertical position of the lock pin relative to the load according to the position of the load relative to the sling obtained by the visual positioning component, and the lock pin locking switch detects the locking state of the lock pin.

[0074] The visual positioning component gives the height deviation H of the load relative to the hanger in real time. D , superposition (1000-800mm) as the target length of the lifting cylinder, control the sling lifting valve group to retract the lifting cylinder, the rotary lock frame drops vertically, the locking pin is inserted into the load angle piece, the locking pin box switch detects the locking pin box status and sends a signal, and the locking pin is automatically aligned.

[0075] Before automatic alignment, the lifting cylinder is fully extended, and the length of the lifting cylinder is 1000mm at this time; after the three-degree-of-freedom fine adjustment in the plane is completed, the lifting cylinder is retracted 800mm, and the locking pin can be inserted into the load angle piece, so the target height is 800mm above the target.

[0076] The embodiment of the present invention further provides a carrier, which includes the automatic registration control system for locking pins provided in any of the above embodiments. The specific structure of the automatic registration control system for locking pins refers to the above embodiments, and the automatic registration control method for locking pins of the automatic registration control system for locking pins refers to the above embodiments. Since the carrier adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0077] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0078] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in a manner different from that described in the original claims. It should also be understood that features described in conjunction with individual embodiments may be used in other described embodiments.

Claims

1. A lock pin automatic registration control system, characterized in that: The locking pin automatic registration control system comprises: a detection input unit, the detection input unit comprising a visual positioning component, a main rotary encoder, a spreader rotary encoder, an erection arm angle detection sensor, a main arm angle detection sensor, a sliding cylinder length sensor, a lifting cylinder length sensor and a lock pin lock switch, the visual positioning component is used to obtain the position of the load relative to the spreader, the main rotary encoder is used to obtain the angle of the spreader relative to the transfer vehicle, the spreader rotary encoder is used to obtain the angle of the lock pin relative to the main arm, the erection arm angle detection sensor is used to obtain the erection angle of the erection arm, the main arm angle detection sensor is used to obtain the amplitude change angle of the main arm, the sliding cylinder length sensor is used to obtain the length of the sliding cylinder, the lifting cylinder length sensor is used to obtain the length of the lifting cylinder, and the lock pin lock switch is used to detect the lock pin lock state; and A control output unit, wherein the control output unit includes a main rotary valve group, a spreader rotary valve group, a variable amplitude and erection valve group, a spreader sliding valve group and a spreader lifting valve group. The main rotary valve group can adjust the angle of the spreader relative to the transfer vehicle according to the position of the load relative to the spreader obtained by the visual positioning component and the angle of the spreader relative to the transfer vehicle obtained by the main rotary encoder. The spreader rotary valve group can adjust the angle of the lock pin relative to the main arm according to the position of the load relative to the spreader obtained by the visual positioning component and the angle of the lock pin relative to the main arm obtained by the spreader rotary encoder. The boom length adjustment and erection valve group can adjust the erection angle of the erection arm and the boom length adjustment angle of the main arm according to the position of the load relative to the sling obtained by the visual positioning component, the erection angle of the erection arm obtained by the erection arm angle detection sensor, and the boom length adjustment angle of the main arm obtained by the main arm angle detection sensor. The sling sliding valve group can adjust the horizontal position of the locking pin relative to the main arm according to the position of the load relative to the sling obtained by the visual positioning component. The sling lifting valve group can adjust the vertical position of the locking pin relative to the load according to the position of the load relative to the sling obtained by the visual positioning component.

2. The lock pin automatic registration control system according to claim 1, characterized in that: The visual positioning component includes a binocular camera installed on the sling, and a target is provided at a corresponding position on the load. The binocular camera can position the load according to the target.

3. The lock pin automatic registration control system according to claim 1, characterized in that: The locking pin automatic registration control system further comprises a control panel, and the control panel is used to start or shut down the detection input unit and the control output unit.

4. A method for controlling automatic registration of a locking pin, characterized in that: The locking pin automatic registration control method comprises the steps of: The visual positioning component obtains the position of the load relative to the spreader. After image processing and kinematic modeling, the visual positioning component obtains the position and angle of the load in the coordinate system with the rotation center of the transfer vehicle as the origin; The main rotary valve group adjusts the angle of the spreader relative to the transfer vehicle according to the position of the load relative to the spreader obtained by the visual positioning component and the angle of the spreader relative to the transfer vehicle obtained by the main rotary encoder to roughly position the spreader; The spreader rotary valve group adjusts the angle of the lock pin relative to the main arm according to the position of the load relative to the spreader obtained by the visual positioning component and the angle of the lock pin relative to the main arm obtained by the spreader rotary encoder, so as to roughly position the lock pin; The luffing and erecting valve group adjusts the erecting angle of the erecting arm and the luffing angle of the main arm according to the position of the load relative to the spreader obtained by the visual positioning component, the erecting angle of the erecting arm obtained by the erecting arm angle detection sensor, and the luffing angle of the main arm obtained by the main arm angle detection sensor; The main rotary valve group adjusts the angle of the spreader relative to the transfer vehicle according to the position of the load relative to the spreader obtained by the visual positioning component and the angle of the spreader relative to the transfer vehicle obtained by the main rotary encoder to accurately position the spreader; The spreader rotary valve group adjusts the angle of the lock pin relative to the main arm according to the position of the load relative to the spreader obtained by the visual positioning component and the angle of the lock pin relative to the main arm obtained by the spreader rotary encoder, so as to accurately position the lock pin; The spreader sliding valve assembly adjusts the horizontal position of the locking pin relative to the main arm according to the position of the load relative to the spreader obtained by the visual positioning assembly; The sling lifting valve group adjusts the vertical position of the lock pin relative to the load according to the position of the load relative to the sling obtained by the visual positioning component, and the lock pin locking switch detects the locking state of the lock pin.

5. The lock pin automatic registration control method according to claim 4, characterized in that: Steps: The main rotary valve group adjusts the angle of the spreader relative to the transfer vehicle according to the position of the load relative to the spreader obtained by the visual positioning component and the angle of the spreader relative to the transfer vehicle obtained by the main rotary encoder, including: The polar angle of the load in the coordinate system obtained by the visual positioning component is the target angle θ A , the main rotary encoder obtains the angle θ of the current spreader relative to the transfer vehicle C , according to θ D =(θ C -θ A ) controls the output of the main rotary valve group.

6. The lock pin automatic registration control method according to claim 4, characterized in that: step: The spreader rotary valve group adjusts the angle of the lock pin relative to the main arm according to the position of the load relative to the spreader obtained by the visual positioning component and the angle of the lock pin relative to the main arm obtained by the spreader rotary encoder, including: The yaw angle of the load in the coordinate system obtained by the visual positioning component is the target angle α A , the spreader rotary encoder obtains the current angle α of the lock pin relative to the main arm C , according to α D =(α C -α A ) Control the output of the spreader rotary valve group.

7. A carrier vehicle, characterized in that: The carrier vehicle comprises the lock pin automatic registration control system as described in any one of claims 1 to 3.

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