Precise heavy-load type electric push cylinder tilting control system for quay crane

Abstract

The invention belongs to the technical field of quay crane operation control, and particularly discloses and provides a quay crane precise heavy-load type electric push cylinder tilting control system which comprises the steps that by recognizing the actual tilting posture of a container on a lifting appliance relative to a target position, the deviation amplitude angle of the tilting posture of the container on the lifting appliance is constructed, and the tilting posture of the container on the lifting appliance is calculated; the tilting posture deviation signal of the electric push cylinder is constructed, the real-time tilting correction of the electric push cylinder is realized, and the fine adjustment function of the heavy-load electric push cylinder of the quay crane in a short-stroke high-frequency moving working state is realized; the tilting operation load type of the electric push cylinder is recognized, the control speed and the control acceleration of the electric push cylinder are adjusted in real time, and the stability of the motor in the tilting process is ensured; and the tilting correction reaction effect index to which each tilting correction record of the electric push cylinder belongs is recognized, the correction operation dead zone range of the electric push cylinder is set to serve as the limiting condition of tilting adjustment of the electric push cylinder, and mechanical abrasion caused by frequent correction of equipment due to tiny deviation is avoided.

Description

Technical Field

[0001] The invention belongs to the technical field of quay crane operation control and relates to a precise heavy-load electric push cylinder tilting control system for a quay crane. Background Art

[0002] In the field of port logistics, quay cranes are key loading and unloading equipment, and their operating efficiency and accuracy play a vital role in the cargo throughput capacity of the entire port. With the rapid development of global trade, ports are facing more and more challenges, and the requirements for cargo loading and unloading are also increasing.

[0003] Based on the industry technical fields such as quay crane operation, electric push cylinder, transmission, and control technology, a precise heavy-load electric push cylinder tilting control system for quay crane is proposed, which can provide users with a comprehensive mechatronics solution, meet the requirements of quay crane automation transformation, and help upgrade the terminal automation.

[0004] In the prior art, there are also some related solutions involving the quay crane operation control system. For example, the Chinese patent publication number CN118978095A discloses a quay crane control method, system and electronic equipment, which clearly stipulates the switching logic of the quay crane control mode between the monitoring mode and the manual operation mode, and the control logic of the manual operation quay crane corresponding to the switching working state when receiving the corresponding instruction issued by the operator. The working information of each quay crane is displayed in the monitoring mode; the operation instruction for manual control of the manually operated quay crane will be received in the manual operation mode. It is used to solve the technical problem that the operating platform is not fully utilized in the terminal loading and unloading operation, resulting in waste of resources.

[0005] The existing quay crane loading and unloading equipment has many limitations when lifting and placing heavy containers: 1. The quay crane equipment currently undergoing automation transformation has its original tilting device controlled by contactor switching, which relies entirely on the driver's own operating habits. This manual control method lacks the corresponding standard requirements for safety, response accuracy, and control stability when adjusting short-stroke and high-frequency moving conditions.

[0006] 2. Due to the lack of in-depth monitoring of the tilting posture of the container on the gantry crane, it is often difficult to accurately obtain the actual tilting angle and posture changes of the electric push cylinder and the load carried. This leads to position deviation during the placement of the container, which in turn affects the loading and unloading efficiency.

[0007] 3. The existing electric push cylinder control method is difficult to dynamically adjust the control parameters according to different operating loads. For example, it is impossible to achieve reasonable optimization of the control speed and acceleration when facing different load conditions. At the same time, there is a lack of restrictions on the control conditions of the electric push cylinder, which may cause the control equipment of the electric push cylinder to lose operating energy due to frequent control. Summary of the invention

[0008] In view of this, in order to solve the problems raised in the above background technology, a precise heavy-load electric push cylinder tilting control system for a quay crane is proposed.

[0009] The objective of the present invention can be achieved through the following technical solutions: The present invention provides a precise heavy-load electric push cylinder tilting control system for a quay crane, the system comprising: a visual detection module: used to capture images of slings and containers in real time, and identify the loading and unloading direction and target position of the container on the sling, the loading and unloading direction including the sea side direction and the road side direction.

[0010] Electric push cylinder tilt posture recognition module: used to identify the actual tilt posture of the container on the spreader relative to the target position according to the loading and unloading direction of the container on the spreader, and analyze the deviation amplitude angle θ_r of the tilt posture of the container on the road side of the spreader and the deviation amplitude angle θ_s of the tilt posture of the container on the sea side of the spreader, and construct the deviation amplitude angle θ_d = θ_r or θ_s of the tilt posture of the container on the spreader.

[0011] Tilt attitude deviation signal construction module: used to identify the load type of the electric push cylinder tilt operation, and to construct the tilt attitude deviation signal of the electric push cylinder in combination with the deviation amplitude angle of the tilt attitude of the container on the spreader.

[0012] Controller module: used to transmit the tilt posture deviation signal of the electric push cylinder to the controller, realize the tilt correction of the electric push cylinder, and adjust the control speed and control acceleration of the electric push cylinder in real time.

[0013] Dead zone range setting module: used to extract the tilt correction records of the electric push cylinder within the specified loading and unloading cycle, identify the tilt correction reaction effect index of each tilt correction record of the electric push cylinder, and set the dead zone range of the electric push cylinder correction operation as a restriction condition for the tilt adjustment of the electric push cylinder.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) The present invention constructs a tilting posture deviation signal of the electric push cylinder by identifying the actual tilting posture of the container on the spreader relative to the target position and constructing the deviation amplitude angle of the tilting posture of the container on the spreader, thereby realizing real-time tilt correction of the electric push cylinder, which helps to realize the fine-tuning function of the heavy-duty electric push cylinder of the quay crane under the short-stroke and high-frequency moving working state. At the same time, automatic tilt control is performed through the controller, which improves the real-time response accuracy of the electric push cylinder in the local stroke.

[0015] (2) The present invention identifies the load type of the electric push cylinder tilting operation and adjusts the control speed and control acceleration of the electric push cylinder in real time. By reasonably reducing the speed and acceleration, the equipment can operate within its rated load range, which helps prevent the electric push cylinder from being overloaded due to excessive speed or excessive acceleration. At the same time, it can ensure the stability of the load during the tilting process.

[0016] (3) The present invention identifies the tilt correction reaction effect index belonging to each tilt correction record of the electric push cylinder, and sets the dead zone range of the electric push cylinder correction operation as a restriction condition for the tilt adjustment of the electric push cylinder. When the tilt deviation of the electric push cylinder is within this range, the system will not trigger the correction operation, which avoids the equipment from being frequently corrected due to slight deviations, thereby reducing the mechanical wear of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0018] Figure 1 It is a schematic diagram of the connection of the system modules of the present invention.

[0019] Figure 2 It is a schematic diagram of the container of the present invention relative to the target position.

[0020] Figure 3 It is a display diagram of the actual tilting posture of the container on the spreader of the present invention relative to the target position.

[0021] Figure numerals: 1. bottom structural layer of container, 2. azimuth, 2.1. container side to which the azimuth belongs, 3. target position, 4. actual height tilt azimuth of container, 5. structural long radius of container on spreader. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] See also Figure 1 As shown, the present invention provides a precise heavy-load electric push cylinder tilt control system for a quay crane, the system comprising: a visual detection module, an electric push cylinder tilt attitude recognition module, a tilt attitude deviation signal construction module, a controller module, and a dead zone range setting module.

[0024] The visual detection module is connected to the electric push cylinder tilting posture recognition module, the electric push cylinder tilting posture recognition module is connected to the tilting posture deviation signal construction module, the tilting posture deviation signal construction module is connected to the controller module, and the controller module is connected to the dead zone range setting module.

[0025] The visual detection module is used to capture images of the spreader and the container in real time, and identify the loading and unloading direction and target position of the container on the spreader, where the loading and unloading direction includes the sea side direction and the road side direction.

[0026] The sea side direction refers to the direction in which ships dock, and the road side direction refers to the direction in which road transport vehicles dock.

[0027] In a preferred embodiment, the target position is specifically: obtaining the loading and unloading direction of the container on the spreader, when the loading and unloading direction of the container on the spreader is the sea side direction, the target position is the preset stacking area on the ship; when the loading and unloading direction of the container on the spreader is the road side direction, the target position is the carriage area of ​​the transport vehicle on the road surface.

[0028] See also Figure 2 , 3 As shown, the electric push cylinder tilting posture recognition module is used to identify the actual tilting posture of the container on the spreader relative to the target position according to the loading and unloading direction of the container on the spreader, and analyze the deviation amplitude angle θ_r of the road side tilting posture of the container on the spreader and the deviation amplitude angle θ_s of the sea side tilting posture of the container on the spreader, and construct the deviation amplitude angle θ_d = θ_r or θ_s of the tilting posture of the container on the spreader.

[0029] The actual tilting posture of the container on the spreader relative to the target position includes the actual tilting height, the actual height tilting azimuth, and the actual rotation tilting angle of the container.

[0030] In a preferred embodiment, the actual tilting posture of the container on the spreader relative to the target position is identified by: obtaining the bottom structure layer of the container on the spreader from the images of the spreader and the container, locating its various azimuths, and obtaining the docking height h between the various azimuths of the container on the spreader and the corresponding azimuth of the target position j , and then obtain the maximum tilt height of the corresponding docking height at each azimuth angle Record it as the actual tilt height of the container, and extract its azimuth, record it as the actual height tilt azimuth of the container, j represents the number of each azimuth of the container on the spreader, j = 1, 2, 3, 4.

[0031] The container side of each azimuth angle on the spreader is compared with the container side corresponding to the target position to obtain the inclination angles of the container side of each azimuth angle on the spreader and the container side corresponding to the target position on the horizontal plane, which are normalized to the actual rotation inclination angle of the container.

[0032] Specifically, since the container on the spreader is usually a regular rectangular parallelepiped, the inclination angles of the container edges corresponding to the target position at each azimuth angle on the horizontal plane are the same, and thus an inclination angle corresponding to an azimuth angle can be arbitrarily extracted and recorded as the actual rotation inclination angle of the container.

[0033] In a further preferred embodiment, the analysis of the deviation amplitude angle of the roadside tilting posture of the container on the sling includes: A1, obtaining the loading and unloading direction of the container on the sling, when the loading and unloading direction is the roadside direction, detecting the air wind speed information including wind direction and wind speed through the environmental detection sensor, determining the container docking direction, comparing the wind direction with the container docking direction, and obtaining the wind swing deviation angle θ0 of the wind direction relative to the container docking direction.

[0034] The container docking direction refers to the direction of a connecting line between the actual height tilt azimuth of the container and the azimuth corresponding to the target position.

[0035] A2. Detect the moving posture of the container on the spreader on the track through visual inspection technology, set each detection timestamp, identify the actual height tilt azimuth and actual tilt height of the container at each detection timestamp based on the actual tilt posture recognition method of the container on the spreader relative to the target position, integrate each detection timestamp with each azimuth as the actual height tilt azimuth in all detection timestamps, and obtain the corresponding actual tilt height of each detection timestamp when each azimuth is used as the actual height tilt azimuth Determine the inertial jump height of the center of gravity when each azimuth angle is used as the actual height tilt azimuth angle u represents the number of each detection timestamp when the azimuth angle is used as the actual height tilt azimuth angle, u=1, 2, ..., b, and b represents the number of detection timestamps when the azimuth angle is used as the actual height tilt azimuth angle.

[0036] The center of gravity inclination inertia jump height refers to the deviation height of the actual height inclination azimuth relative to the center height of the overall structure of the container.

[0037] A3. Identify the structural long radius R of the container on the spreader from the bottom structure layer of the container on the spreader, and calculate the longitudinal tilt angle of the container on the spreader Combined with the wind swing deviation angle of the wind direction relative to the container docking direction, the deviation amplitude angle of the container roadside tilting posture on the spreader is constructed

[0038] The structural long radius refers to half the connecting length of any two diagonally opposite corners on the long frame of the container.

[0039] In a further preferred embodiment, the deviation amplitude angle of the sea-side tilting posture of the container on the spreader includes the following analysis contents: B1, when the loading and unloading direction is the sea-side direction, the motion parameters of the sea-side ship on the sea surface are identified by visual detection technology, including the maximum roll angle of the ship, the frequency f of the ship's roll and the initial phase Construct the motion function of the ship's rolling angle changing with time on the sea side Where A represents the amplitude of the roll angle (i.e., the maximum roll angle), t represents the corresponding change time of the ship's roll angle, and π represents 180 degrees.

[0040] Specifically, for the above motion function, the initial phase of the ship's roll refers to the phase value of the sine function corresponding to the ship's roll angle at the moment when the ship's roll motion begins to be observed or recorded (usually set to t = 0). Phase describes the stage of a periodic phenomenon in a cycle, usually expressed in radians (rad) or angles (°). For example, when When , the sine wave starts from the origin; when The sine wave is at its maximum value at the initial moment.

[0041] The amplitude indicates the maximum vertical displacement of the function graph, that is, the maximum distance from the equilibrium position. The amplitude determines the difference between the highest point and the lowest point of the function graph. For example, for the sine function y=2*sin(χ), the amplitude A=2, and the function value fluctuates between [-2, 2]. The larger the amplitude, the more violent the fluctuation of the function graph; the smaller the amplitude, the more gentle the fluctuation.

[0042] Roll frequency indicates the number of complete rolling cycles per unit time (usually one second). For example, if a ship completes 5 complete rolling cycles in 10 seconds, then its roll frequency is 5÷10=0.5 Hertz (Hz), which means that the ship rolls 0.5 times per second.

[0043] B2. Locate the center position of the container on the spreader and the center position of the target position from the images of the spreader and the container, obtain the distance between the two center positions, record it as the docking distance L of the container on the spreader relative to the target position, and extract the real-time control speed υ of the electric push cylinder from the controller to predict the docking time of the container on the spreader relative to the target position. The real-time timestamp of the electric push cylinder tilting operation is obtained, and then the docking timestamp t0 of the container on the spreader is calculated according to the docking time.

[0044] The docking timestamp refers to the docking contact moment of the container on the spreader and the target position.

[0045] B3. Obtain the preset tidal stages and their corresponding tidal heights, compare them with the real-time timestamp, match the tidal stage to which the real-time timestamp belongs, extract the tidal height to which the next adjacent tidal stage belongs, and extract the tidal height to which the real-time timestamp belongs from the images of the spreader and the container. Compare and subtract these two tidal heights to obtain the tidal change amplitude scalar ε, and combine the wind swing deviation angle θ0 of the wind direction relative to the container docking direction to calculate the docking correction coefficient of the container on the spreader relative to the target position. Where ε0 represents the preset tidal level change amplitude reference scalar, and the motion function of the sea side ship rolling angle changing with time is modified to Analyze and obtain the roll angle of the seaside ship at the time when the container docks with the target position

[0046] B4. Based on the deviation amplitude angle construction method of the container road side tilting posture on the spreader, the deviation amplitude angle θ″ of the container sea side tilting posture on the spreader is constructed, and then the deviation amplitude angle of the container sea side tilting posture on the spreader is calculated.

[0047] The tilting posture deviation signal building module is used to identify the load type of the electric push cylinder tilting operation, and build the tilting posture deviation signal of the electric push cylinder in combination with the deviation amplitude angle of the tilting posture of the container on the spreader.

[0048] The tilting posture deviation signal of the electric push cylinder specifically includes the actual tilting posture of the container on the spreader relative to the target position, the deviation amplitude angle of the tilting posture of the container on the spreader, and the tilting operation load type of the electric push cylinder.

[0049] In a preferred embodiment, the identification of the load type of the electric push cylinder tilting operation includes: detecting the real-time push distance position and push speed of the piston rod at each detection timestamp through the built-in encoder of the electric push cylinder, extracting the push speed v0 and v1 when the piston rod is at the push distance position belonging to the real-time timestamp and the previous adjacent detection timestamp, and recording the real-time timestamp and the previous adjacent detection timestamp as t0 and t1 respectively, and calculating the real-time push acceleration of the electric push cylinder Then, it is compared with the preset reference push acceleration. If it exceeds the preset reference push acceleration, it is judged that the load type of the electric push cylinder tilting operation is instantaneous load, otherwise it is axial load.

[0050] The controller module is used to transmit the tilt posture deviation signal of the electric push cylinder to the controller, realize the tilt correction of the electric push cylinder, and adjust the control speed and control acceleration of the electric push cylinder in real time.

[0051] In a preferred embodiment, the electric push cylinder tilt correction is implemented, including: converting the actual tilt posture of the container on the spreader relative to the target position into an actual tilt angle Among them, θ1 and h0 represent the actual rotation tilt angle and actual tilt height of the container, respectively. They are compared with the deviation amplitude angle θ_d of the tilt posture of the container on the spreader to identify the iterative tilt angle of the spreader container.

[0052] Obtain the preset tilt angle-push distance scalar relationship ratio between the spreader and the electric push cylinder, match the push distance scalar corresponding to the cumulative tilt angle, and then make corrections accordingly.

[0053] The scalar relationship ratio between the corresponding tilt angle and push distance of the spreader and the electric push cylinder refers to the conversion scale between the unit push distance of the electric push cylinder piston rod and the tilt angle of the spreader relative to the zero position. The key angles are 5°, 10°, 15°, and the key positions are 50mm, 75mm, 100mm.

[0054] In a further preferred embodiment, the real-time adjustment of the control speed and control acceleration of the electric push cylinder includes: obtaining the load type of the electric push cylinder, and when the load type of the electric push cylinder is an axial load, based on the iterative tilt angle acquisition method of the spreader container, obtaining the iterative tilt angles θ_i and θ_i′ of the spreader container when the piston rod is located at the push distance position belonging to the real-time timestamp and the previous adjacent detection timestamp, and judging the control speed of the electric push cylinder accordingly. Where ρ represents the preset iterative tilt angle change rate threshold.

[0055] When the load type of the electric push cylinder is instantaneous load, the preset reference push acceleration is recorded as a1, and the control acceleration of the electric push cylinder is determined based on this.

[0056] The real-time adjustment of the control speed and control acceleration of the electric push cylinder is to maintain the control stability of the electric push cylinder during the tilting operation, and at the same time, to ensure the docking safety of the container during the docking process.

[0057] The present invention constructs a tilting posture deviation signal of the electric push cylinder by identifying the actual tilting posture of the container on the spreader relative to the target position and constructing the deviation amplitude angle of the tilting posture of the container on the spreader, thereby realizing real-time tilt correction of the electric push cylinder, which helps to realize the fine-tuning function of the heavy-load electric push cylinder of the quay crane under the short-stroke and high-frequency moving working state, thereby improving the real-time response accuracy of the electric push cylinder in the local stroke.

[0058] On the other hand, the present invention can identify the load type of the electric push cylinder tilting operation, adjust the control speed and control acceleration of the electric push cylinder in real time, and reasonably reduce the speed and acceleration to enable the device to work within its rated load range, which helps to prevent the electric push cylinder from being overloaded due to excessive speed or excessive acceleration. At the same time, it can ensure the stability of the load during the tilting process. For heavier loads, using lower speeds and accelerations can prevent the load from losing balance due to sudden acceleration or speed changes, avoid accidental dumping accidents, and ensure the safety of operators and surrounding equipment and goods.

[0059] The dead zone range setting module is used to extract the tilt correction records of the electric push cylinder within the specified loading and unloading cycle from the controller, identify the tilt correction reaction effect index of each tilt correction record of the electric push cylinder, and set the dead zone range of the electric push cylinder correction operation as a restriction condition for the electric push cylinder tilt adjustment.

[0060] The dead zone range is to prevent the electric push cylinder from frequently operating due to factors such as sensor noise when the deflection angle is small. For example, when the deflection angle is less than 0.5°, no correction action is performed. Only when the deflection angle exceeds this range, the electric push cylinder is activated for correction.

[0061] In a preferred embodiment, the identification of the tilt correction reaction effect index of each tilt correction record of the electric push cylinder includes: extracting each tilt correction record of the electric push cylinder within a specified loading and unloading cycle from the controller, and then extracting the iterative tilt angle θ of the spreader container to which each tilt correction record belongs c and its corrected tilt angle θ′ c , c represents the number of each tilt correction record of the electric push cylinder within a specified loading and unloading cycle, c = 1, 2, ..., g.

[0062] Extract the historical correction logs before the electric cylinder equipment upgrade from the controller, extract the historical correction logs that are consistent with the iterative tilt angles of the spreader container to which each tilt correction record belongs, and obtain the tilt angles before and after the correction. Then identify the tilt correction reaction effect index of each tilt correction record of the electric push cylinder

[0063] Specifically, the historical correction log consistent with the iterative tilt angle of the sling container to which each tilt correction record belongs is: comparing the iterative tilt angle of the sling container to which each tilt correction record belongs with the iterative tilt angle of each sling container in the historical correction log before the electric push cylinder equipment is upgraded; if the corresponding difference between the iterative tilt angle of the sling container to which a certain tilt correction record belongs and the iterative tilt angle of a certain sling container in the historical correction log before the electric push cylinder equipment is upgraded is within a specified interval, then the iterative tilt angle of the sling container in the historical correction log before the electric push cylinder equipment is upgraded is used as the historical correction log consistent with the iterative tilt angle of the sling container to which the tilt correction record belongs, and the historical correction log consistent with the iterative tilt angle of the sling container to which each tilt correction record belongs is extracted accordingly.

[0064] In a further preferred embodiment, the setting of the dead zone range of the electric push cylinder correction operation includes: sorting the tilt correction reaction effect indexes of each tilt correction record of the electric push cylinder in ascending order, setting a tilt correction reaction effect index baseline value, screening out the first tilt correction reaction effect index exceeding the set tilt correction reaction effect index baseline value, and then obtaining the iterative tilt angle θ of the spreader container to which it belongs max , get the electric push cylinder correction operation dead zone range (0, θ max ].

[0065] The present invention identifies the tilt correction reaction effect index of each tilt correction record of the electric push cylinder, sets the dead zone range of the electric push cylinder correction operation as the limiting condition of the electric push cylinder tilt adjustment. When the tilt deviation of the electric push cylinder is within this range, the system will not trigger the correction operation, which avoids frequent corrections of the equipment due to small deviations, thereby reducing the mechanical wear of the equipment. For example, the joint parts and transmission mechanisms of the electric push cylinder are prone to wear during frequent actions, and reducing unnecessary corrections can extend the service life of these key components.

[0066] The above contents are merely examples and explanations of the concept of the present invention. The technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the concept of the invention or exceed the scope defined by the present invention, they should all fall within the protection scope of the present invention.

Claims

1. A precise heavy-load electric push cylinder tilting control system for a quay crane, characterized in that: The system includes: Visual inspection module: used to capture images of spreaders and containers in real time, and identify the loading and unloading direction and target position of containers on the spreaders. The loading and unloading directions include the sea side and the road side. Electric push cylinder tilting posture recognition module: used to identify the actual tilting posture of the container on the spreader relative to the target position according to the loading and unloading direction of the container on the spreader, and analyze the deviation amplitude angle θ_r of the tilting posture of the container on the road side of the spreader and the deviation amplitude angle θ_s of the tilting posture of the container on the sea side of the spreader, and construct the deviation amplitude angle θ_d of the tilting posture of the container on the spreader = θ_r or θ_s; Tilt attitude deviation signal construction module: used to identify the load type of the electric push cylinder tilt operation, and to construct the tilt attitude deviation signal of the electric push cylinder in combination with the deviation amplitude angle of the tilt attitude of the container on the spreader; Controller module: used to transmit the tilt posture deviation signal of the electric push cylinder to the controller, realize the tilt correction of the electric push cylinder, and adjust the control speed and control acceleration of the electric push cylinder in real time; Dead zone range setting module: used to extract the tilt correction records of the electric push cylinder within the specified loading and unloading cycle, identify the tilt correction reaction effect index of each tilt correction record of the electric push cylinder, and set the dead zone range of the electric push cylinder correction operation as a restriction condition for the tilt adjustment of the electric push cylinder.

2. According to claim 1, a precise heavy-load electric push cylinder tilting control system for a quay crane is characterized in that: The target position is specifically: obtaining the loading and unloading direction of the container on the spreader. When the loading and unloading direction of the container on the spreader is the sea side, the target position is the preset stacking area on the ship; when the loading and unloading direction of the container on the spreader is the road side, the target position is the carriage area of ​​the transport vehicle on the road.

3. According to claim 1, a precise heavy-load electric push cylinder tilting control system for a quay crane is characterized in that: The actual tilting posture of the container on the spreader relative to the target position is identified by: obtaining the bottom structure layer of the container on the spreader from the images of the spreader and the container, locating its various azimuths, and obtaining the docking height h between the various azimuths of the container on the spreader and the corresponding azimuth of the target position j , and then obtain the maximum tilt height of the corresponding docking height at each azimuth angle Recorded as the actual tilt height of the container, and extract its azimuth, recorded as the actual height tilt azimuth of the container, j represents the number of each azimuth of the container on the spreader, j = 1, 2, 3, 4; The container side of each azimuth angle on the spreader is compared with the container side corresponding to the target position to obtain the inclination angles of the container side of each azimuth angle on the spreader and the container side corresponding to the target position on the horizontal plane, which are normalized to the actual rotation inclination angle of the container.

4. According to claim 3, a precise heavy-load electric push cylinder tilting control system for a quay crane is characterized in that: The analysis of the deviation amplitude angle of the roadside tilting posture of the container on the spreader includes: A1, obtaining the loading and unloading direction of the container on the spreader, when the loading and unloading direction is the roadside direction, detecting air wind speed information including wind direction and wind speed through an environmental detection sensor, determining the docking direction of the container, comparing the wind direction with the docking direction of the container, and obtaining the wind swing deviation angle θ0 of the wind direction relative to the docking direction of the container; A2. Use visual inspection technology to detect the moving posture of the container on the track on the spreader, set each detection time stamp, identify the actual height tilt azimuth and actual tilt height of the container at each detection time stamp, integrate each detection time stamp with each azimuth as the actual height tilt azimuth in all detection timestamps, and obtain the corresponding actual tilt height of each detection time stamp when each azimuth is used as the actual height tilt azimuth Determine the inertial jump height of the center of gravity when each azimuth angle is used as the actual height tilt azimuth angle u represents the number of each detection timestamp when the azimuth angle is used as the actual height tilt azimuth angle, u=1,2,...,b, b represents the number of detection timestamps when the azimuth angle is used as the actual height tilt azimuth angle; A3. Obtain the structural long radius of the container on the spreader, calculate the longitudinal tilt angle θ of the container on the spreader, and construct the deviation amplitude angle of the roadside tilting posture of the container on the spreader 5. According to claim 4, a precise heavy-load electric push cylinder tilting control system for a quay crane is characterized in that: The deviation amplitude angle of the sea-side tilting posture of the container on the lifting device, the analysis content includes: B1, when the loading and unloading direction is the sea-side direction, the motion parameters of the sea-side ship on the sea surface are identified by visual detection technology, including the maximum roll angle of the ship, the frequency f of the ship's roll and the initial phase Construct the motion function of the ship's rolling angle changing with time on the sea side Where A represents the amplitude of the roll angle (i.e. the maximum roll angle), t represents the corresponding change time of the ship's roll angle, and π represents 180 degrees; B2. Obtain the docking distance L of the container on the spreader relative to the target position, and extract the real-time control speed υ of the electric push cylinder from the controller to predict the docking time of the container on the spreader relative to the target position Obtain the real-time timestamp of the electric push cylinder tilting operation, and then calculate the docking timestamp t0 of the container on the spreader according to the docking time; B3. Obtain the preset tidal stages and their corresponding tidal heights, compare them with the real-time timestamp, match the tidal stage to which the real-time timestamp belongs, extract the tidal height to which the next adjacent tidal stage belongs, and extract the tidal height to which the real-time timestamp belongs from the images of the spreader and the container. Compare and subtract these two tidal heights to obtain the tidal change amplitude scalar ε, and combine the wind swing deviation angle θ0 of the wind direction relative to the container docking direction to calculate the docking correction coefficient of the container on the spreader relative to the target position. Where ε0 represents the preset tidal level change amplitude reference scalar, and the motion function of the sea side ship rolling angle changing with time is modified to The roll angle θ′=θ(t0) of the seaside ship at the time stamp of the container docking with the target position is obtained by analysis; B4. Based on the deviation amplitude angle construction method of the container road side tilting posture on the spreader, the deviation amplitude angle θ″ of the container sea side tilting posture on the spreader is constructed, and then the deviation amplitude angle of the container sea side tilting posture on the spreader is calculated.

6. According to claim 4, a precise heavy-load electric push cylinder tilting control system for a quay crane is characterized in that: The identification of the load type of the tilting operation of the electric push cylinder includes: detecting the real-time push distance position and the push speed of the piston rod at each detection time stamp through the built-in encoder of the electric push cylinder, extracting the push speed v0 and v1 when the piston rod is located at the push distance position of the real-time timestamp and the previous adjacent detection timestamp, and recording the real-time timestamp and the previous adjacent detection timestamp as t0 and t1 respectively, and calculating the real-time push acceleration of the electric push cylinder Then, it is compared with the preset reference push acceleration. If it exceeds the preset reference push acceleration, it is judged that the load type of the electric push cylinder tilting operation is instantaneous load, otherwise it is axial load.

7. According to claim 1, a precise heavy-load electric cylinder tilting control system for a quay crane is characterized in that: The electric push cylinder tilt correction is implemented, including: converting the actual tilt posture of the container on the spreader relative to the target position into an actual tilt angle θ_a, comparing it with the deviation amplitude angle θ_d of the tilt posture of the container on the spreader, and identifying the iterative tilt angle of the spreader container Obtain the preset tilt angle-push distance scalar relationship ratio between the spreader and the electric push cylinder, match the push distance scalar corresponding to the cumulative tilt angle, and then make corrections accordingly.

8. The precise heavy-load electric cylinder tilting control system for a quay crane according to claim 6 is characterized in that: The real-time adjustment of the control speed and control acceleration of the electric push cylinder includes: obtaining the load type of the electric push cylinder, and when the load type of the electric push cylinder is an axial load, obtaining the iterative tilting angles θ_i and θ_i′ of the spreader container when the piston rod is located at the push distance position of the real-time timestamp and the previous adjacent detection timestamp, and judging the control speed of the electric push cylinder accordingly. Where ρ represents the preset iterative tilt angle change rate threshold; When the load type of the electric push cylinder is instantaneous load, the preset reference push acceleration is recorded as a1, and the control acceleration of the electric push cylinder is determined based on this.

9. The precise heavy-load electric cylinder tilting control system for a quay crane according to claim 1 is characterized in that: The identification of the tilt correction reaction effect index of each tilt correction record of the electric push cylinder includes: extracting each tilt correction record of the electric push cylinder within a specified loading and unloading cycle from the controller, and then extracting the iterative tilt angle θ of the spreader container to which each tilt correction record belongs c and its corrected tilt angle θ′ c , c represents the number of each tilt correction record of the electric push cylinder in a specified loading and unloading cycle, c = 1, 2, ..., g; Extract the historical correction logs before the electric cylinder equipment upgrade from the controller, extract the historical correction logs that are consistent with the iterative tilt angles of the spreader container to which each tilt correction record belongs, and obtain the tilt angles before and after the correction. Then identify the tilt correction reaction effect index of each tilt correction record of the electric push cylinder 10. A precise heavy-load electric push cylinder tilting control system for a quay crane according to claim 9, characterized in that: The setting of the dead zone range of the electric push cylinder correction operation includes: sorting the tilt correction reaction effect indexes of each tilt correction record of the electric push cylinder in ascending order, setting a tilt correction reaction effect index baseline value, screening out the first tilt correction record whose tilt correction reaction effect index exceeds the set tilt correction reaction effect index baseline value, and then obtaining the iterative tilt angle θ of the spreader container to which it belongs max , get the electric push cylinder correction operation dead zone range (0, θ max ].

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