Pin automatic register control system, control method and carrier vehicle

Abstract

The application provides a lock pin automatic alignment control system, a control method and a carrying vehicle, and relates to the technical field of engineering machinery. The lock pin automatic alignment control system comprises a detection input unit and a control output unit. The detection input unit comprises a visual positioning assembly, a main rotating encoder, a hoist rotating encoder, a vertical lifting 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 case switch. The control output unit comprises a main rotating valve group, a hoist rotating valve group, an amplitude and vertical lifting valve group, a hoist sliding valve group and a hoist lifting valve group. Based on the technical scheme of the application, the lock pin automatic alignment control system can automatically control the carrying vehicle to realize lock pin automatic alignment.

Description

Technical Field

[0001] This invention relates to the field of transshipment vehicle technology, and in particular to an automatic locking pin alignment control system, control method, and transport vehicle. Background Technology

[0002] The clearance between the spreader locking pin and the load corner fitting of the transfer vehicle is in the millimeter range. After the locking pin is inserted into the corner fitting, it rotates and locks, realizing a rigid connection between the spreader and the load. The position and posture of the spreader locking pin are adjusted by actions such as main slewing, luffing and erection, and spreader slewing.

[0003] The load is placed on the ground. The operator manually controls the main slewing, luffing and erection, spreader slewing and lifting cylinders, and locking pins of the transfer vehicle to insert the spreader locking pins into the load corner fittings, completing the alignment and locking of the locking pins. The alignment of the spreader locking pins with the load corner fittings requires high control precision, necessitating the coordinated operation of multiple mechanisms on the transfer vehicle. This requires a high level of skill from the operator, making manual operation complex and inefficient. Therefore, it is necessary to design an automatic locking pin alignment control system, control method, and transport vehicle capable of automatically controlling the transfer vehicle to achieve automatic locking pin alignment. Summary of the Invention

[0004] To address the problems in the prior art, this application proposes an automatic locking pin alignment control system, control method, and transport vehicle, which can automatically control the transfer vehicle to achieve automatic locking pin alignment.

[0005] One aspect of the present invention provides an automatic alignment control system for locking pins, the automatic alignment control system for locking pins comprising:

[0006] The detection input unit includes a visual positioning component, a main slewing encoder, a spreader slewing encoder, a boom angle detection sensor, a main boom angle detection sensor, a sliding cylinder length sensor, a lifting cylinder length sensor, and a locking pin engagement switch. The visual positioning component acquires the position of the load relative to the spreader; the main slewing encoder acquires the angle of the spreader relative to the transfer vehicle; the spreader slewing encoder acquires the angle of the locking pin relative to the main boom; the boom angle detection sensor acquires the boom's erection angle; the main boom angle detection sensor acquires the main boom's luffing angle; the sliding cylinder length sensor acquires the length of the sliding cylinder; the lifting cylinder length sensor acquires the length of the lifting cylinder; and the locking pin engagement switch detects the engagement status of the locking pin.

[0007] The control output unit includes a main slewing valve group, a spreader slewing valve group, a luffing and erecting valve group, a spreader sliding valve group, and a spreader lifting valve group. The main slewing valve group can adjust the angle of the spreader relative to the transfer vehicle based on the load position 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 slewing encoder. The spreader slewing valve group can adjust the angle of the locking pin relative to the main boom based on the load position relative to the spreader obtained by the visual positioning component and the angle of the locking pin relative to the main boom obtained by the spreader slewing encoder. The luffing and erecting valve assembly can adjust the erecting angle of the erecting arm and the luffing angle of the main boom based on 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 boom obtained by the main boom angle detection sensor. The spreader sliding valve assembly can adjust the horizontal position of the locking pin relative to the main boom based on the position of the load relative to the spreader obtained by the visual positioning component. The spreader lifting valve assembly can adjust the vertical position of the locking pin relative to the load based on the position of the load relative to the spreader obtained by the visual positioning component.

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

[0009] The aforementioned automatic alignment control system for locking pins further includes a visual positioning component comprising a binocular camera mounted on a lifting device, with a target positioned at a corresponding location on the load, and the binocular camera capable of positioning the load based on the target.

[0010] The aforementioned automatic alignment control system for locking pins further includes a control panel, which is used to start or stop the detection input unit and the control output unit.

[0011] Another aspect of the present invention provides an automatic alignment control method for locking pins, the automatic alignment control method for locking pins comprising the steps of:

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

[0013] The main rotary valve assembly adjusts the angle of the spreader relative to the transfer vehicle based on 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, so as to perform coarse positioning of the spreader;

[0014] The spreader slewing valve assembly adjusts the angle of the locking pin relative to the main boom based on the position of the load relative to the spreader obtained by the vision positioning component and the angle of the locking pin relative to the main boom obtained by the spreader slewing encoder, so as to perform coarse positioning of the locking pin.

[0015] The luffing and erecting valve group adjusts the erecting angle of the erecting arm and the luffing angle of the main boom based on 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 boom obtained by the main boom angle detection sensor.

[0016] The main rotary valve assembly adjusts the angle of the spreader relative to the transfer vehicle based on 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, so as to perform precise positioning of the spreader;

[0017] The spreader slewing valve assembly adjusts the angle of the locking pin relative to the main boom based on the position of the load relative to the spreader obtained by the vision positioning component and the angle of the locking pin relative to the main boom obtained by the spreader slewing encoder, so as to precisely position the locking pin.

[0018] The spreader sliding valve assembly adjusts the horizontal position of the locking pin relative to the main boom based on the load position relative to the spreader obtained by the vision positioning component;

[0019] The lifting valve assembly adjusts the vertical position of the locking pin relative to the load based on the load position relative to the lifting device obtained by the visual positioning component. The locking pin engagement switch detects the engagement status of the locking pin.

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

[0021] The aforementioned automatic alignment control method for locking pins further includes the following steps: The main rotary valve assembly adjusts the angle of the spreader relative to the transfer vehicle based on 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 target angle θ is the polar angle of the load in the coordinate system obtained by the visual positioning component. A The main rotary encoder obtains the current angle θ between the spreader and the transfer vehicle. C According to θ D =(θ C -θ A Control the output of the main rotary valve assembly.

[0023] The aforementioned automatic alignment control method for locking pins further includes the following steps: the spreader slewing valve assembly adjusts the angle of the locking pin relative to the main boom based on the position of the load relative to the spreader obtained by the visual positioning component and the angle of the locking pin relative to the main boom obtained by the spreader slewing encoder, including:

[0024] The target angle α is the yaw angle of the load in the coordinate system obtained by the visual positioning component. A The slewing encoder obtains the current angle α of the locking pin relative to the main boom. C According to α D =(αC -α A Control the output of the slewing valve group of the lifting device.

[0025] Another aspect of the present invention provides a transport vehicle, the transport vehicle including the locking pin automatic alignment control system as described above.

[0026] The above-mentioned 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 an automatic locking pin alignment control system, control method, and transport vehicle, which, compared with the prior art, has at least the following beneficial effects: the visual positioning component obtains the approximate pose of the load in a coordinate system with the main slewing center of the transfer vehicle as the origin, performs coarse positioning control on the locking pin pose of the transfer vehicle, the main slewing valve group adjusts the polar angle of the locking pin in the coordinate system of the transfer vehicle, the spreader slewing valve group adjusts its yaw angle, and the luffing and erecting valve group adjusts its amplitude and height. After the coarse positioning is completed, fine positioning is performed. Combining the real-time positioning information of the visual positioning component, the main slewing valve group finely adjusts the polar angle, the spreader slewing valve adjusts the yaw angle, and the spreader sliding valve group finely adjusts the amplitude. After the three degrees of freedom in the horizontal plane are aligned, the spreader lifting valve group retracts the lifting cylinder vertically downward, the locking pin on the swivel lock frame inserts into the load corner piece, and the box-mounting locking pin box-mounting switch sends a signal to complete the automatic locking pin alignment.

[0028] This automatic locking pin alignment control system can automatically control the transfer vehicle to achieve automatic locking pin alignment. The combination of coarse and fine positioning control solves the efficiency and accuracy problems, and also meets the characteristics of vision positioning components: long measurement distance and large range but low accuracy, and short measurement distance and small range but high accuracy. The machine vision component obtains the pose information of the load target through image processing, with an accuracy of up to the millimeter level. Its fast response and high positioning accuracy provide technical feasibility for automatic locking pin alignment.

[0029] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0030] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0031] The invention will now be described in more detail with reference to embodiments and the accompanying drawings.

[0032] Figure 1This shows a front view of the automatic alignment control system for locking pins provided in an embodiment of the present invention;

[0033] Figure 2 This image shows a top view of the automatic alignment control system for locking pins provided in an embodiment of the present invention;

[0034] Figure 3 The flowchart of the automatic alignment control method for locking pins provided in an embodiment of the present invention is shown;

[0035] Figure 4 The mathematical model diagram of the main arm and the erecting arm is shown.

[0036] In the accompanying drawings, the same parts use the same reference numerals. The drawings are not to scale.

[0037] Explanation of reference numerals in the attached figures:

[0038] 100-Transfer vehicle, 111-Turntable, 112-Erecting boom, 113-Main boom, 114-Spreading device, 115-Sliding cylinder, 116-Lifting cylinder, 117-Locking pin, 118-Vision positioning component, 119-Main slewing encoder, 120-Spreading device slewing encoder, 121-Erecting boom angle detection sensor, 122-Main boom angle detection sensor, 123-Sliding cylinder length sensor, 124-Lifting cylinder length sensor, 125-Locking pin lock switch, 126-Main unit, 127-Binocular camera, 128-Erecting cylinder, 129-Luffing cylinder, 200-Load, 210-Angle fitting, 220-Target. Detailed Implementation

[0039] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0040] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0041] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0042] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0043] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0044] The invention will now be further described with reference to the accompanying drawings.

[0045] This invention provides an automatic locking pin alignment control system that can automatically control transfer vehicles to achieve automatic locking pin alignment.

[0046] Please see Figure 1 and Figure 2 The automatic alignment control system for locking pins provided in this embodiment of the invention includes:

[0047] The detection input unit includes a visual positioning component, a main slewing encoder, a spreader slewing encoder, an erecting boom angle detection sensor, a main boom angle detection sensor, a sliding cylinder length sensor, a lifting cylinder length sensor, and a locking pin engagement switch. The visual positioning component acquires the position of the load relative to the spreader; the main slewing encoder acquires the angle of the spreader relative to the transfer vehicle; the spreader slewing encoder acquires the angle of the locking pin relative to the main boom; the erecting boom angle detection sensor acquires the erecting angle of the erecting boom; the main boom angle detection sensor acquires the luffing angle of the main boom; the sliding cylinder length sensor acquires the length of the sliding cylinder; the lifting cylinder length sensor acquires the length of the lifting cylinder; and the locking pin engagement switch detects the engagement status of the locking pin.

[0048] The control output unit includes a main slewing valve group, a spreader slewing valve group, a luffing and erecting valve group, a spreader sliding valve group, and a spreader lifting valve group. The main slewing valve group can adjust the angle of the spreader relative to the transfer vehicle based on the position of the load relative to the spreader obtained by the vision positioning component and the angle of the spreader relative to the transfer vehicle obtained by the main slewing encoder. The spreader slewing valve group can adjust the angle of the locking pin relative to the main boom based on the position of the load relative to the spreader obtained by the vision positioning component and the angle of the locking pin relative to the main boom obtained by the spreader slewing encoder. The luffing and erecting valve group can adjust the erecting angle of the elevating arm and the luffing angle of the main boom based on the position of the load relative to the spreader obtained by the vision positioning component, the erecting angle of the elevating arm obtained by the elevating arm angle detection sensor, and the luffing angle of the main boom obtained by the main boom angle detection sensor. The spreader sliding valve group can adjust the horizontal position of the locking pin relative to the main boom based on the position of the load relative to the spreader obtained by the vision positioning component. The spreader lifting valve group can adjust the vertical position of the locking pin relative to the load based on the position of the load relative to the spreader obtained by the vision positioning component.

[0049] The visual positioning component obtains the approximate pose of the load in a coordinate system with the main slewing center of the transfer vehicle as the origin. It performs coarse positioning control on the pose of the transfer vehicle's locking pin. The main slewing valve group adjusts the polar angle of the locking pin in the transfer vehicle's coordinate system, the spreader slewing valve group adjusts its yaw angle, and the luffing and erecting valve group adjusts its amplitude and height. After coarse positioning is completed, fine positioning is performed. Combining the real-time positioning information from the visual positioning component, the main slewing valve group finely adjusts the polar angle, the spreader slewing valve adjusts the yaw angle, and the spreader sliding valve group finely adjusts the amplitude. After the three degrees of freedom in the horizontal plane are aligned, the spreader lifting valve group retracts the lifting cylinder vertically downwards, the locking pin on the swivel lock frame inserts into the load corner piece, and the box-locking pin box-locking switch sends a signal to complete the automatic alignment of the locking pin.

[0050] This automatic locking pin alignment control system can automatically control the transfer vehicle to achieve automatic locking pin alignment. The combined control of coarse and fine positioning solves both efficiency and accuracy issues, and also caters to the characteristics of vision positioning components: long measurement distance and large range but low accuracy, and short measurement distance and small range but high accuracy. The machine vision component obtains the pose information of the load target through image processing, with an accuracy down to the millimeter level. Its fast response and high positioning accuracy provide the technical feasibility for automatic locking pin alignment. This automatic locking pin alignment control system can reduce the operational intensity of locking pin alignment and improve work efficiency; it can also reduce the selection requirements for machine operators.

[0051] The automatic alignment control system for locking pins provided in this embodiment of the invention is detailed in the following documents. Figure 1 and Figure 2 The visual positioning component includes a binocular camera mounted on the lifting device, with a target positioned at a corresponding location on the load. The binocular camera can locate the load based on the target. The automatic alignment control system for locking pins also includes a control panel, which is used to start or stop 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 lifting device, and the left front and right rear corner pieces of the load are aligned with the target.

[0052] The length sensors for the sliding cylinder and lifting cylinder can be either drawstring sensors or magnetostrictive sensors. The erector boom angle detection sensors and main boom angle detection sensors can be angle sensors, or length sensors can be installed on the luffing and erecting cylinders, using trigonometric functions to calculate the luffing and erecting angles. The locking pin switch can be a limit switch or a proximity switch. The binocular cameras in the vision positioning component can be positioned at the left front and right rear, left rear and right front, or left front and left rear, right front and right rear, etc.

[0053] This invention also provides an automatic alignment control method for locking pins. When applying the automatic alignment control system for locking pins provided in the above embodiments, please refer to... Figure 3 The automatic alignment control method for the locking pin includes the following steps:

[0054] S10: The visual positioning component acquires the position of the load relative to the lifting device. After image processing and kinematic modeling, the visual positioning component obtains the position and angle of the load in a coordinate system with the turning center of the transfer vehicle as the origin.

[0055] Before alignment, the spreader's crossbeam is extended, and the spreader's lifting cylinder is fully extended upwards; the spreader is approximately 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 activated, and the binocular camera can capture the corresponding target. The main unit of the visual positioning component performs image processing and kinematic modeling to obtain the position and angle of the target and locking pin in a coordinate system with the rotation center of the transfer vehicle as the origin; 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 based on 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, so as to perform coarse positioning of the spreader.

[0057] The target angle θ is the polar angle of the load in the coordinate system obtained by the visual positioning component. A The main rotary encoder obtains the current angle θ between the spreader and the transfer vehicle. C According to θ D =(θ C -θ A The output of the main rotary valve assembly is controlled. In this embodiment, if θ D If θ < -0.5°, then the main rotation rotates counterclockwise; if θ D >0.5°, the main rotation rotates clockwise; -0.5°≤θ D ≤0.5°, the coarse positioning of the main slewing device for the spreader is completed.

[0058] S30: The spreader slewing valve assembly adjusts the angle of the locking pin relative to the main boom based on the position of the load relative to the spreader obtained by the visual positioning component and the angle of the locking pin relative to the main boom obtained by the spreader slewing encoder, so as to perform coarse positioning of the locking pin.

[0059] The target angle α is the yaw angle of the load in the coordinate system obtained by the visual positioning component. A The slewing encoder obtains the current angle α of the locking pin relative to the main boom. C According to α D =(α C -α A The output of the control spreader rotation valve group is controlled. In this embodiment, if α D If α < -0.3°, the spreader rotation valve group controls the spreader to rotate counterclockwise; if α D >0.3°, the spreader rotation valve group controls the spreader to rotate clockwise; -0.3°≤α D ≤0.3°, the coarse positioning of the locking pin by the rotation of the lifting device is completed.

[0060] S40: The luffing and erecting valve group adjusts the erecting angle of the erecting arm and the luffing angle of the main boom based on 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 boom obtained by the main boom angle detection sensor.

[0061] Using the target amplitude R and target height H in the coordinate system provided by the visual positioning component, with the target height being 800mm above the target, the variable amplitude target angle DA is calculated using trigonometric functions. A and the vertical target angle EA A In such Figure 4 In the mathematical model shown, point O is the principal rotation center (coordinate origin), C is the hinge point between the erector arm and the turntable, D is the hinge point between the main arm and the erector arm, CD is the erector arm, DF is the main arm, the amplitude R = R0 + R1, and the height H = H0 + H1, where R0 and H0 are the initial amplitude and initial height of point C relative to the coordinate origin O, respectively.

[0062]

[0063] EA = 180 - A2 - A1.

[0064] In this embodiment, the luffing and erecting valve assembly only performs coarse positioning on the height H and amplitude R. Both height H and amplitude R are positioned within ±100mm of their target values, corresponding to the target luffing angle DA. A ±0.8°, target erection angle EA A ±0.6°. The current boom luffing angle (DA) is obtained from the boom angle detection sensor. C The current luffing angle EA of the erecting boom is obtained by the erecting boom angle detection sensor. C Take DA D =DA C -DA A EA D =EA C -EA A .

[0065] When DA D When the angle is greater than 0.8°, the luffing and erecting valve group controls the main boom descent; when DA D When the angle is less than -0.8°, the luffing and erecting valve group controls the main boom to rise; when -0.8° ≤ DA D When the angle is ≤0.8°, the main boom luffing coarse positioning is completed.

[0066] When EA D When the angle is greater than 0.6°, the luffing and erecting valve group controls the lowering of the erecting boom; when EA... D When the angle is less than -0.6°, the luffing and erecting valve group controls the raising of the erecting boom; when -0.6° ≤ EAD When the angle is ≤0.6°, the rough positioning of the erecting arm is completed.

[0067] S50: The main rotary valve assembly adjusts the angle of the spreader relative to the transfer vehicle based on 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, so as to perform precise positioning of the spreader.

[0068] The target angle θ is the polar angle of the load in the coordinate system obtained by the visual positioning component. A The main rotary encoder obtains the current angle θ between the spreader and the transfer vehicle. C According to θ D =(θ C -θ A The output of the main rotary valve assembly is controlled. In this embodiment, if θ D If θ < -0.01°, then the main rotation rotates counterclockwise; if θ D >0.01°, the main rotation rotates clockwise; -0.01°≤θ D ≤0.01°, the main slewing mechanism completes the precise positioning of the spreader.

[0069] S60: The spreader slewing valve assembly adjusts the angle of the locking pin relative to the main boom based on the position of the load relative to the spreader obtained by the visual positioning component and the angle of the locking pin relative to the main boom obtained by the spreader slewing encoder, so as to perform precise positioning of the locking pin.

[0070] The target angle α is the yaw angle of the load in the coordinate system obtained by the visual positioning component. A The slewing encoder obtains the current angle α of the locking pin relative to the main boom. C According to α D =(α C -α A The output of the control spreader rotation valve group is controlled. In this embodiment, if α D If α < -0.01°, the spreader rotation valve group controls the spreader to rotate counterclockwise; if α D >0.01°, the spreader rotation valve group controls the spreader to rotate clockwise; -0.01°≤α D ≤0.01°, the precise positioning of the locking pin by the rotation of the lifting device is completed.

[0071] S70: The spreader sliding valve group adjusts the horizontal position of the locking pin relative to the main boom based on the load position relative to the spreader obtained by the vision positioning component.

[0072] The vision positioning component provides real-time positional deviation R of the load relative to the lifting device. D In this embodiment, R D When the thickness is less than -1mm, the sliding valve assembly of the spreader controls the extension of the sliding cylinder; R DWhen the thickness is greater than 1mm, the sliding valve assembly of the lifting device controls the retraction of the sliding cylinder; when the thickness is less than or equal to 1mm, the lifting device retracts. D When the amplitude is ≤1mm, the fine-tuning is complete.

[0073] S80: The lifting valve assembly adjusts the vertical position of the locking pin relative to the load based on the load position relative to the lifting device obtained by the visual positioning component. The locking pin engagement switch detects the engagement status of the locking pin.

[0074] The vision positioning component provides real-time position and height deviation H of the load relative to the lifting device. D The target length of the lifting cylinder is set at 1000-800mm. The lifting valve group of the control device retracts the lifting cylinder, the lock frame descends vertically, the locking pin is inserted into the load corner piece, the locking pin box-mounting switch detects the box-mounting status of the locking pin and sends a signal, and the locking pin is automatically aligned.

[0075] Before automatic alignment, the lifting cylinder is fully extended, and its length is 1000mm. After the three degrees of freedom in the plane are finely adjusted, the lifting cylinder is retracted by 800mm, and the locking pin can be inserted into the load corner piece. Therefore, the target height is 800mm above the target.

[0076] This invention also proposes a transport vehicle that includes the automatic locking pin alignment control system provided in any of the above embodiments. The specific structure of the automatic locking pin alignment control system is the same as described in the above embodiments, and the automatic locking pin alignment control method is also the same as described in the above embodiments. Since this transport vehicle adopts all the technical solutions of all the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated upon here.

[0077] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0078] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. An automatic alignment control system for locking pins, characterized in that, The automatic alignment control system for the locking pin includes: a detection input unit, which includes a visual positioning component, a main slewing encoder, a spreader slewing encoder, a boom angle detection sensor, a main boom angle detection sensor, a sliding cylinder length sensor, a lifting cylinder length sensor, and a locking pin engagement switch. The visual positioning component is used to acquire the position of the load relative to the spreader; the main slewing encoder is used to acquire the angle of the spreader relative to the transfer vehicle; the spreader slewing encoder is used to acquire the angle of the locking pin relative to the main boom; the boom angle detection sensor is used to acquire the boom's erection angle; the main boom angle detection sensor is used to acquire the boom's luffing angle; the sliding cylinder length sensor is used to acquire the length of the sliding cylinder; the lifting cylinder length sensor is used to acquire the length of the lifting cylinder; and the locking pin engagement switch is used to detect the locking pin's engagement status; and a control output unit, which includes a main slewing valve group, a spreader slewing valve group, a luffing and erection valve group, a spreader sliding valve group, and a spreader engagement switch. The system includes a lifting valve assembly, a main slewing valve assembly capable of adjusting the angle of the spreader relative to the transfer vehicle based on the load position 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 slewing encoder; a spreader slewing valve assembly capable of adjusting the angle of the locking pin relative to the main boom based on the load position relative to the spreader obtained by the visual positioning component and the angle of the locking pin relative to the main boom obtained by the spreader slewing encoder; a luffing and erecting valve assembly capable of adjusting the erecting angle of the elevating arm and the luffing angle of the main boom based on the load position relative to the spreader obtained by the visual positioning component, the erecting angle of the elevating arm obtained by the elevating arm angle detection sensor, and the luffing angle of the main boom obtained by the main boom angle detection sensor; a spreader sliding valve assembly capable of adjusting the horizontal position of the locking pin relative to the main boom based on the load position relative to the spreader obtained by the visual positioning component; and a spreader lifting valve assembly capable of adjusting the vertical position of the locking pin relative to the load based on the load position relative to the spreader obtained by the visual positioning component. The main rotary valve group adjusts the angle of the spreader relative to the transfer vehicle based on 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. This includes: taking the polar angle of the load in the coordinate system obtained by the visual positioning component as the target angle θA, obtaining the current angle θC of the spreader relative to the transfer vehicle from the main rotary encoder, and controlling the output of the main rotary valve group according to θD=(θC-θA).

2. The automatic alignment control system for locking pins according to claim 1, characterized in that, The visual positioning component includes a binocular camera mounted on the lifting device, and a target is provided at a corresponding position on the load. The binocular camera can locate the load based on the target.

3. The automatic alignment control system for locking pins according to claim 1, characterized in that, The automatic alignment control system for locking pins also includes a control panel, which is used to start or stop the detection input unit and the control output unit.

4. An automatic alignment control method for locking pins, applied to the automatic alignment control system for locking pins as described in any one of claims 1 to 3, characterized in that, The automatic alignment control method for the locking pin includes the following steps: a visual positioning component acquires the position of the load relative to the spreader; the visual positioning component performs image processing and kinematic modeling to obtain the position and angle of the load in a coordinate system with the main slewing center of the transfer vehicle as the origin; the main slewing valve group adjusts the angle of the spreader relative to the transfer vehicle based on the position of the load relative to the spreader acquired by the visual positioning component and the angle of the spreader relative to the transfer vehicle acquired by the main slewing encoder, to perform coarse positioning of the spreader; the spreader slewing valve group adjusts the angle of the locking pin relative to the main boom based on the position of the load relative to the spreader acquired by the visual positioning component and the angle of the locking pin relative to the main boom acquired by the spreader slewing encoder, to perform coarse positioning of the locking pin; the luffing and erecting valve group adjusts the angle of the locking pin relative to the main boom based on the position of the load relative to the spreader acquired by the visual positioning component, the erecting angle of the erecting boom acquired by the erecting boom angle detection sensor, and the main slewing valve group. The boom angle detection sensor adjusts the boom's erection angle and the main boom's luffing angle based on the boom's luffing angle. The main slewing valve assembly adjusts the spreader's angle relative to the transfer vehicle based on the load's position relative to the spreader obtained by the visual positioning component and the spreader's angle relative to the transfer vehicle obtained by the main slewing encoder, for precise spreader positioning. The spreader slewing valve assembly adjusts the locking pin's angle relative to the main boom based on the load's position relative to the spreader obtained by the visual positioning component and the locking pin's angle relative to the main boom, for precise locking pin positioning. The spreader sliding valve assembly adjusts the locking pin's horizontal position relative to the main boom based on the load's position relative to the spreader obtained by the visual positioning component. The spreader lifting valve assembly adjusts the locking pin's vertical position relative to the load based on the load's position relative to the spreader obtained by the visual positioning component. The locking pin engagement switch detects the locking pin's engagement status.

5. The automatic alignment control method for locking pins according to claim 4, characterized in that, Steps: The main rotary valve group adjusts the angle of the spreader relative to the transfer vehicle based on the position of the load relative to the spreader obtained by the vision positioning component and the angle of the spreader relative to the transfer vehicle obtained by the main rotary encoder. This includes: taking the polar angle of the load in the coordinate system obtained by the vision positioning component as the target angle θA, obtaining the current angle θC of the spreader relative to the transfer vehicle from the main rotary encoder, and controlling the output of the main rotary valve group according to θD=(θC-θA).

6. The automatic alignment control method for locking pins according to claim 4, characterized in that, step: The spreader slewing valve assembly adjusts the angle of the locking pin relative to the main boom based on the position of the load relative to the spreader obtained by the visual positioning component and the angle of the locking pin relative to the main boom obtained by the spreader slewing encoder. This includes: taking the yaw angle of the load in the coordinate system obtained by the visual positioning component as the target angle αA, obtaining the current angle αC of the locking pin relative to the main boom from the spreader slewing encoder, and controlling the output of the spreader slewing valve assembly according to αD=(αC-αA).

7. A transport vehicle, characterized in that, The transport vehicle includes an automatic locking pin alignment control system as described in any one of claims 1 to 3.

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