Lightweight tire crane system and control method thereof

Abstract

The invention provides a light-weight tire crane system and a control method thereof, and belongs to the field of tire cranes, the light-weight tire crane system comprises a portal frame, a lifting trolley is horizontally and slidably mounted on a cross beam of the portal frame, and a lifting appliance is mounted at the lifting trolley; walking mechanisms are arranged at the bottoms of stand columns on the two sides of the portal frame, vertical rods are arranged at the tops of the stand columns on the two sides of the portal frame, a connecting inhaul cable is connected between the vertical rods at the upper ends of the stand columns on the two sides and located above a cross beam of the portal frame, and a reinforcing inhaul cable is connected between the connecting inhaul cable and the cross beam of the portal frame. Compared with a traditional method that the height of the cross beam is purely increased or steel with higher strength is used, the mode that the inhaul cable structure is ingeniously introduced to the cross beam of the portal frame is adopted, the cross beam only needs to be moderately pulled through the inhaul cables, the height and rigidity of the cross beam can be remarkably improved, the bending and deformation problems of the cross beam are effectively relieved, and the service life of the portal frame is prolonged. And the energy consumption and the manufacturing cost are effectively reduced.

Description

Technical Field

[0001] The invention belongs to the field of tire cranes, and in particular relates to a lightweight tire crane system and a control method thereof. Background Art

[0002] With the rapid development of global economy and trade, the demand for logistics industry is rising. At the same time, with the substantial increase in cargo throughput in ports, logistics centers and large industrial and mining enterprises, the performance requirements for loading and unloading equipment are also getting higher and higher.

[0003] Although traditional tire cranes can meet certain handling needs, their bulky size, high energy consumption and limited flexibility have gradually become key factors restricting operational efficiency in the face of the growing volume and complexity of cargo. Specifically, they have the following main defects: 1. The span of traditional tire cranes is small, which not only limits the working range of the equipment, but also easily leads to low space utilization efficiency of container yards, making it difficult to meet the needs of large-scale container stacking; 2. Although some tire cranes have begun to adopt large-span tire crane structures to increase the overall span and effectively improve the yard utilization rate, the traditional method of strengthening the beam rigidity of existing tire cranes is to increase the height of the beam and use higher-strength steel, which can easily lead to a significant increase in the overall weight of the equipment, thereby increasing the equipment manufacturing cost, as well as increasing the energy consumption and operation difficulty of the equipment.

[0004] Based on this, in order to meet the needs of modern industry and logistics for high efficiency, energy saving, environmental protection and intelligent operation, there is an urgent need for a tire crane equipment that has excellent characteristics such as lightweight and large span to improve the operating efficiency and economic benefits of container yards. Summary of the invention

[0005] The purpose of the present invention is to propose and design a lightweight tire crane system and a control method thereof to address the problem that existing tire crane equipment cannot simultaneously have the advantages of lightweight and large span, so as to enable it to overcome the above problems and improve the operating efficiency and economic benefits of the container yard.

[0006] In order to achieve the above-mentioned purpose, the present invention provides a lightweight tire crane system on one hand, which includes a gantry, a lifting trolley is installed on the horizontal sliding beam of the gantry, and a sling is installed on the lifting trolley; the bottom of the columns on both sides of the gantry are provided with a walking mechanism, the top of the columns on both sides of the gantry are provided with a pole, and the poles at the upper ends of the columns on both sides are connected with a connecting cable, the connecting cable is located above the beam of the gantry, and a reinforcing cable is connected between the connecting cable and the beam of the gantry. At this time, compared with the traditional method of simply increasing the height of the beam or using higher strength steel, the present invention cleverly introduces a cable structure at the beam of the gantry, and only needs to moderately pull the beam through each cable, which can significantly improve the height and rigidity of the beam and effectively reduce its bending and deformation problems; and its weight can be reduced by about 30% compared with the traditional large-span tire crane, which effectively reduces energy consumption and manufacturing costs. Especially in yard settings with a span of more than 35 meters, this invention can ensure that the beam has excellent rigidity and stability while being lightweight, demonstrating extremely high practical value.

[0007] Furthermore, the walking mechanism includes a dual-axis drive motor installed at the bottom of the column of the gantry, and the two output ends of the dual-axis drive motor are both connected to the planetary reducer, and the output end of the planetary reducer is connected to the tire, and the tire is driven to rotate by the cooperation of the dual-axis drive motor and the planetary reducer. Moreover, compared with the traditional chain transmission structure, the walking mechanism of the present invention that uses a planetary reducer for transmission is not only compact in structure and light in weight, but also can use the planetary reducer to provide high torque output, ensuring that the entire equipment can still travel smoothly under heavy load; at the same time, it can also use a servo motor as a dual-axis drive motor, and combine it with a high-precision positioning sensor to achieve precise control of the walking path and parking position to avoid deviation problems.

[0008] Furthermore, four sets of lifting mechanisms are arranged at the lifting trolley, and the four sets of lifting mechanisms are arranged in a 2×2 rectangular array, and each set of lifting mechanisms includes a permanent magnet synchronous motor installed on the lifting trolley, a fixed pulley 1 installed on the lifting trolley, and a fixed pulley 2 installed on the sling, and the output end of the permanent magnet synchronous motor is connected to the lifting drum, and the surface of the lifting drum is wound with a lifting rope, and one end of the lifting rope is fixed to the lifting trolley after passing through the fixed pulley 1 and the fixed pulley 2 in turn. At this time, since the present invention is provided with four sets of independent lifting mechanisms, it can realize the tilting and rotating functions of the sling by controlling the speed of each permanent magnet synchronous motor.

[0009] Furthermore, four fixed pulleys 2 are respectively installed at the four corners of the sling, and the installation angle of each fixed pulley 2 is 45 degrees. At this time, the four lifting ropes are all inclined at an angle of 45 degrees and have a passive anti-sway function, without the need to set up an additional wire rope anti-sway system.

[0010] Furthermore, grab and release box cameras are provided at the four corners of the spreader, and the grab and release box cameras are communicatively connected to the lifting trolley travel control module and the spreader control module, and can control the lifting trolley travel control module and the spreader control module to perform corresponding actions according to the content captured by the grab and release box cameras, so as to adjust the position of the spreader, thereby realizing automatic grab and release box action.

[0011] Furthermore, a trolley correction module is provided at the traveling mechanism, and the trolley correction module includes a trolley camera installed at the traveling mechanism. The shooting direction of the trolley camera faces the working lane, and the working lane can be photographed in real time through the trolley camera, thereby ensuring that the entire tire crane always travels in the prescribed lane.

[0012] Furthermore, a container truck guiding module is provided at the cross beam of the gantry, and the container truck guiding module can assist the position of the container truck and the driving route of the container truck to ensure that the container truck can be parked in a specified area.

[0013] On the other hand, the present invention also provides a lightweight tire crane control method, which applies the above-mentioned lightweight tire crane system. When the lightweight tire crane system is traveling in the yard, the truck correction module first uses the truck camera installed on the walking mechanism to shoot the working lane, and then uses the Canny edge detection algorithm to identify the road boundaries and other structural features in the captured image, and uses the Harris corner detection technology to extract stable feature points in the captured image to obtain the actual driving path; then compares the actual driving path with the preset ideal path, and calculates the deviation angle and distance of the lightweight tire crane system; finally, a fuzzy control algorithm is applied to generate a correction instruction, and the correction instruction controls the lightweight tire crane system to adjust to the ideal path to complete the truck correction operation.

[0014] Furthermore, when the container truck needs to perform loading or unloading operations, the container truck moves along the operating lane located in the middle of the yard. After sensing that the container truck has entered the loading and unloading operation area, the container truck guidance module first captures the lane image through a guidance camera installed in the middle of the crossbeam of the gantry, and then obtains the lane information where the container truck is located, as well as the position information of the edge of the container truck pallet or the container on the container truck pallet based on the image captured by the guidance camera; then, the center position of the container truck pallet or the center position of the container is calculated based on the acquired position information, and the deviation between the actual position of the container truck and the specified loading and unloading position is calculated based on the calculated center position. Finally, the container truck guidance module outputs a voice control instruction based on the deviation between the actual position of the container truck and the specified loading and unloading position, and guides the container truck to the specified loading and unloading position based on the voice control instruction.

[0015] Furthermore, when the spreader needs to grab a container, the spreader of the lightweight tire crane system is first controlled to move to a corresponding height and position, and then the grabbing and releasing box cameras arranged at the four corners of the spreader are controlled to shoot the container or truck pallet to be grabbed, and the center position information of the container keyhole or the center position information of the bottom lock of the truck pallet is obtained according to the shot image, and the deviation between the actual position of the spreader and the specified grabbing position is calculated according to the center position information of the container keyhole or the center position information of the bottom lock of the truck pallet, and finally the deviation between the actual position of the spreader and the specified grabbing position is transmitted to the lifting trolley travel control module and the spreader control module, the lifting trolley travel control module adjusts the position of the spreader according to the received information, and the spreader control module controls the operating status of the spreader according to the received information, to complete the corresponding automatic grabbing and releasing box operation.

[0016] It can be seen from the above technical solutions that the present invention has the following advantages: 1. Compared with the traditional method of simply increasing the height of the beam or using higher-strength steel, the present invention cleverly introduces a cable structure at the beam of the gantry. It only needs to moderately pull the beam through each cable, which can significantly increase the height and rigidity of the beam and effectively reduce its bending and deformation problems; and its weight can be reduced by about 30% compared with the traditional large-span tire crane, effectively reducing energy consumption and manufacturing costs. Especially in the yard setting with a span of more than 35 meters, the invention can ensure that the beam has excellent rigidity and stability while being lightweight, showing extremely high practical value; 2. Compared with the traditional chain transmission structure, the walking mechanism of the present invention which adopts the planetary reducer for transmission is not only compact in structure and light in weight, but also can use the planetary reducer to provide high torque output, ensuring that the whole equipment can still run smoothly under heavy load; at the same time, it can also use the servo motor as the dual-axis drive motor, and combine with the high-precision positioning sensor to realize the precise control of the walking path and parking position, avoiding the deviation problem; 3. Since the present invention is provided with four sets of independently tilted lifting mechanisms, it can not only realize the tilting and rotating functions of the spreader by controlling the speed of each permanent magnet synchronous motor, but also has a passive anti-sway function, without the need to set up an additional wire rope anti-sway system; 4. The present invention can also improve the automation level of the entire tire crane system through the container truck guidance system module, the large vehicle automatic deviation correction module, and the automatic box grabbing and releasing module, thereby improving the safety and efficiency of the entire operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description will be briefly introduced below. Obviously, the accompanying drawings in the following description 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 structural schematic diagram of a specific embodiment of the present invention; Figure 2 It is a structural schematic diagram of the lower part of the walking mechanism in the present invention; Figure 3 It is a structural schematic diagram of the lifting mechanism in the present invention.

[0019] In the figure: 1. Traveling mechanism; 2. Gantry; 3. Vertical pole; 4. Connecting cable; 5. Lifting trolley; 6. Reinforced cable; 7. Lifting device; 8. Grab and release box camera; 9. Cart camera; 10. Wheel body; 11. Planetary reducer; 12. Dual-axis drive motor; 13. Permanent magnet synchronous motor; 14. Lifting drum; 15. Fixed pulley one; 16. Fixed pulley two. DETAILED DESCRIPTION

[0020] 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 this embodiment.

[0021] Embodiment 1 like Figures 1 to 3As shown, the first embodiment provides a lightweight tire crane system, which includes a gantry 2, a lifting trolley 5 is installed on the horizontal beam of the gantry 2 in a sliding manner, the lifting trolley 5 is communicatively connected to a lifting trolley travel control module for controlling the driving state of the lifting trolley 5, and a sling 7 is installed below the lifting trolley 5, and the sling 7 is installed on the lifting trolley 5 through four sets of lifting mechanisms. Specifically in the first embodiment, the four sets of lifting mechanisms are arranged in a 2×2 rectangular array, and each set of lifting mechanisms includes a permanent magnet synchronous motor installed on the lifting trolley 5, a fixed pulley 1 installed on the lifting trolley 5, and a fixed pulley 2 installed on the sling 7. Among them, the output end of the permanent magnet synchronous motor is transmission-connected to a lifting drum, and a lifting rope is wound on the surface of the lifting drum, and one end of the lifting rope is fixed to the lifting trolley 5 after passing through the fixed pulley 1 and the fixed pulley 2 in sequence. The four fixed pulleys 2 are respectively installed at the four corners of the sling 7, and the installation angle of each fixed pulley 2 is 45 degrees. At this time, since the present embodiment 1 is provided with four sets of independent lifting mechanisms, it can realize the tilting and rotating functions of the sling 7 by controlling the speed of each permanent magnet synchronous motor; at the same time, since the four lifting ropes are inclined at an angle of 45 degrees under the action of the corresponding fixed pulleys 2, it also has a passive anti-sway function, and there is no need to set up an additional wire rope anti-sway system.

[0022] In addition, as a preference, the present embodiment 1 is also provided with grab and release box cameras at the four corners of the sling 7, and the grab and release box cameras are communicatively connected to the lifting trolley travel control module and the sling control module used to control the working state of the sling 7, so that when performing the grab and release box action, it can first use the grab and release box camera to shoot the container or truck pallet to be grabbed, and obtain the center position information of the container keyhole or the center position information of the bottom lock of the truck pallet according to the shot image, calculate the deviation between the actual position of the sling 7 and the specified grabbing position according to the center position information of the container keyhole or the center position information of the bottom lock of the truck pallet, and finally transmit the deviation between the actual position of the sling 7 and the specified grabbing position to the lifting trolley travel control module and the sling control module, the lifting trolley travel control module adjusts the position of the sling 7 according to the received information, and the sling control module controls the operating state of the sling 7 according to the received information to complete the corresponding automatic grab and release box operation.

[0023] A truck guiding module is provided at the middle position of the crossbeam of the gantry 2, and the truck guiding module includes a guiding camera provided in the middle part of the crossbeam of the gantry 2, and the guiding camera is communicatively connected to a truck guiding controller. After sensing that a truck enters a loading and unloading operation area, the guiding camera in the truck guiding module first captures a lane image through the guiding camera, and then obtains lane information of the truck and position information of the edge of the truck pallet or the container on the truck pallet based on the image captured by the guiding camera; then, the center position of the truck pallet or the center position of the container is calculated based on the acquired position information, and the deviation between the actual position of the truck and the specified loading and unloading position is calculated based on the calculated center position; finally, the truck guiding module outputs a voice control instruction based on the deviation between the actual position of the truck and the specified loading and unloading position, and guides the truck to the specified loading and unloading position based on the voice control instruction.

[0024] The tops of the columns on both sides of the gantry 2 are provided with upright poles 3, and connecting cables 4 are connected between the upright poles 3 at the upper ends of the columns on both sides, and the connecting cables 4 are located above the crossbeam of the gantry 2, and reinforcing cables 6 are connected between the connecting cables 4 and the crossbeam of the gantry 2. Compared with the traditional method of simply increasing the height of the crossbeam or using higher strength steel, the present embodiment, which cleverly introduces a cable structure at the crossbeam of the gantry 2, can significantly improve the height and rigidity of the crossbeam and effectively reduce its bending and deformation problems by only pulling the crossbeam moderately through each cable; and its weight can be reduced by about 30% compared with the traditional large-span tire crane, which effectively reduces energy consumption and manufacturing costs. Especially in the yard setting with a span of more than 35 meters, this embodiment can ensure that the crossbeam has excellent rigidity and stability while being lightweight, showing extremely high practical value.

[0025] A walking mechanism 1 is provided at the bottom of the columns on both sides of the gantry 2. The walking mechanism 1 includes a dual-axis drive motor installed at the bottom of the column of the gantry 2. Both output ends of the dual-axis drive motor are connected to a planetary reducer. The output end of the planetary reducer is connected to a tire, and the tire is driven to rotate by the cooperation of the dual-axis drive motor and the planetary reducer. Compared with the traditional chain transmission structure, the walking mechanism 1 of the first embodiment that adopts a planetary reducer for transmission is not only compact in structure and light in weight, but also can use the planetary reducer to provide high torque output, ensuring that the entire equipment can still travel smoothly under heavy load; at the same time, it can also use a servo motor as a dual-axis drive motor, and combine it with a high-precision positioning sensor to achieve precise control of the walking path and parking position to avoid deviation problems.

[0026] In addition, as a preference, the first embodiment of the present invention is further provided with a large vehicle correction module at the traveling mechanism 1, the large vehicle correction module comprising a large vehicle camera installed at the traveling mechanism 1, the shooting direction of the large vehicle camera facing the working lane, and when the lightweight tire crane system is traveling in the yard, the working lane is first photographed by the large vehicle camera installed at the traveling mechanism 1, and then the Canny edge detection algorithm is used to identify the road boundary and other structural features in the photographed image, and the Harris corner detection technology is used to extract stable feature points in the photographed image to obtain the actual driving path; then the actual driving path is compared with the preset ideal path, and the deviation angle and distance of the lightweight tire crane system are calculated; finally, the fuzzy control algorithm is applied to generate a correction instruction, and the correction instruction controls the lightweight tire crane system to adjust to the ideal path to complete the large vehicle correction operation, thereby ensuring that the entire tire crane always travels in the specified lane.

[0027] Embodiment 2 Embodiment 2 provides a lightweight tire crane control method, which applies the above-mentioned lightweight tire crane system, and when the lightweight tire crane system is traveling in the yard, the truck correction module first uses the truck camera installed at the walking mechanism 1 to shoot the working lane, and then uses the Canny edge detection algorithm to identify the road boundaries and other structural features in the captured image, and uses the Harris corner detection technology to extract stable feature points in the captured image to obtain the actual driving path; then compares the actual driving path with the preset ideal path, and calculates the deviation angle and distance of the lightweight tire crane system; finally, the fuzzy control algorithm is applied to generate a correction instruction, and the correction instruction controls the lightweight tire crane system to adjust to the ideal path to complete the truck correction operation.

[0028] When a container truck needs to load or unload containers, the container truck moves along the operating lane located in the middle of the yard. After sensing that the container truck has entered the loading and unloading operation area, the container truck guidance module first captures the lane image through a guidance camera installed in the middle of the crossbeam of the gantry 2, and then obtains the lane information where the container truck is located, as well as the position information of the edge of the container truck pallet or the container on the container truck pallet based on the image captured by the guidance camera; then, the center position of the container truck pallet or the center position of the container is calculated based on the acquired position information, and the deviation between the actual position of the container truck and the specified loading and unloading container position is calculated based on the calculated center position. Finally, the container truck guidance module outputs a voice control instruction based on the deviation between the actual position of the container truck and the specified loading and unloading container position, and guides the container truck to the specified loading and unloading container position according to the voice control instruction.

[0029] When the spreader 7 needs to grab a container, the spreader 7 of the lightweight tire crane system is first controlled to move to the corresponding height and position, and then the grabbing and releasing box cameras set at the four corners of the spreader 7 are controlled to shoot the container or truck pallet to be grabbed, and the center position information of the container keyhole or the center position information of the bottom lock of the truck pallet is obtained according to the shot image, and the deviation between the actual position of the spreader 7 and the specified grabbing position is calculated according to the center position information of the container keyhole or the center position information of the bottom lock of the truck pallet, and finally the deviation between the actual position of the spreader 7 and the specified grabbing position is transmitted to the lifting trolley travel control module and the spreader control module, the lifting trolley travel control module adjusts the position of the spreader 7 according to the received information, and the spreader control module controls the operating state of the spreader 7 according to the received information to complete the corresponding automatic grabbing and releasing box operation.

[0030] The terms "first", "second", "third", "fourth", etc. (if any) in the description and claims of the present embodiment and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0031] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A lightweight tire crane system, comprising a gantry, a lifting trolley is horizontally slidably mounted on the crossbeam of the gantry, and a lifting device is mounted on the lifting trolley; the bottoms of the columns on both sides of the gantry are provided with walking mechanisms; characterized in that: Vertical poles are arranged on the tops of the columns on both sides of the gantry, and connecting cables are connected between the vertical poles at the upper ends of the columns on both sides. The connecting cables are located above the crossbeams of the gantry, and reinforcing cables are connected between the connecting cables and the crossbeams of the gantry.

2. The lightweight tire crane system according to claim 1, characterized in that: The walking mechanism comprises a double-axis driving motor installed at the bottom of the column of the gantry, both output ends of the double-axis driving motor are drivingly connected to a planetary reducer, and the output end of the planetary reducer is drivingly connected to a tire.

3. The lightweight tire crane system according to claim 1, characterized in that: Four lifting mechanisms are provided at the lifting trolley, and the four lifting mechanisms are arranged in a 2×2 rectangular array, and each lifting mechanism includes a permanent magnet synchronous motor installed on the lifting trolley and a fixed pulley 1 installed on the lifting trolley and a fixed pulley 2 installed on the sling. The output end of the permanent magnet synchronous motor is transmission-connected to a lifting drum, and a lifting rope is wound on the surface of the lifting drum. One end of the lifting rope is fixed on the lifting trolley after passing through the fixed pulley 1 and the fixed pulley 2 in sequence.

4. The lightweight tire crane system according to claim 3, characterized in that: The four fixed pulleys 2 are respectively installed at the four corners of the sling, and the installation angle of each fixed pulley 2 is 45 degrees.

5. The lightweight tire crane system according to claim 1, characterized in that: Grab and release box cameras are provided at the four corners of the spreader, and the grab and release box cameras are communicatively connected to the lifting trolley travel control module and the spreader control module.

6. The lightweight tire crane system according to claim 1, characterized in that: A truck deviation correction module is provided at the traveling mechanism. The truck deviation correction module includes a truck camera installed at the traveling mechanism. The shooting direction of the truck camera faces the working lane.

7. The lightweight tire crane system according to claim 1, characterized in that: A container truck guiding module is provided at the crossbeam of the gantry.

8. A lightweight tire crane control method, characterized in that: According to any one of claims 1 to 7, when the lightweight tire crane system is traveling in a storage yard, the trolley correction module firstly photographs the working lane through a trolley camera installed at the traveling mechanism, and then uses the Canny edge detection algorithm to identify the road boundary and other structural features in the photographed image, and uses the Harris corner detection technology to extract stable feature points in the photographed image to obtain the actual driving path; The actual driving path is then compared with the preset ideal path to calculate the deviation angle and distance of the lightweight tire crane system; finally, a fuzzy control algorithm is applied to generate a correction instruction, which controls the lightweight tire crane system to adjust to the ideal path to complete the truck correction operation.

9. The lightweight tire crane control method according to claim 8, characterized in that: When a container truck needs to load or unload containers, it moves along the operating lane in the middle of the yard. After sensing that the container truck has entered the loading and unloading operation area, the container truck guidance module first captures the lane image through the guidance camera installed in the middle of the crossbeam of the gantry, and then obtains the lane information where the container truck is located, as well as the position information of the edge of the container truck pallet or the container on the container truck pallet based on the image captured by the guidance camera; then, the center position of the container truck pallet or the center position of the container is calculated based on the acquired position information, and the deviation between the actual position of the container truck and the specified loading and unloading position is calculated based on the calculated center position. Finally, the container truck guidance module outputs a voice control instruction based on the deviation between the actual position of the container truck and the specified loading and unloading position, and guides the container truck to the specified loading and unloading position based on the voice control instruction.

10. The lightweight tire crane control method according to claim 9, characterized in that: When the spreader needs to grab a container, the spreader of the lightweight tire crane system is first controlled to move to the corresponding height and position, and then the grabbing and releasing box cameras set at the four corners of the spreader are controlled to shoot the container or truck pallet to be grabbed, and the center position information of the container keyhole or the center position information of the bottom lock of the truck pallet is obtained according to the shot image, and the deviation between the actual position of the spreader and the specified grabbing position is calculated according to the center position information of the container keyhole or the center position information of the bottom lock of the truck pallet, and finally the deviation between the actual position of the spreader and the specified grabbing position is transmitted to the lifting trolley travel control module and the spreader control module, the lifting trolley travel control module adjusts the position of the spreader according to the received information, and the spreader control module controls the operating status of the spreader according to the received information, to complete the corresponding automatic grabbing and releasing box operation.

Images