Loading disc of lifting appliance system, lifting appliance system and method for lifting object by using lifting appliance system

Abstract

The invention provides a carrying disc of a lifting appliance system, the lifting appliance system and a method for lifting an object by using the lifting appliance system. Specifically, a load tray for a sling system has a bottom and a wall extending from one side of the bottom, where the bottom of the load tray is provided with at least two grooves on the other side opposite the wall. The invention further provides a lifting appliance system, a lifting device using the lifting appliance system and a method for lifting an object by using the lifting appliance system.

Description

Technical Field

[0001] The present invention relates to the field of lifting equipment, and in particular to a loading plate of a lifting device system, a lifting device system and a method for lifting an object using the lifting device system. Background Art

[0002] The background description provided here is used to generally introduce the background of this application. The work of the inventors currently named in this background section to the extent described, and the aspects of this description that do not constitute prior art at the time of application, are neither explicitly nor implicitly admitted to be prior art that conflicts with this application.

[0003] Hoisting equipment is widely used in the fields of construction engineering, manufacturing, and cargo transportation. In the prior art, in the application scenarios of hoisting equipment, such as industrial lifting equipment, it is usually necessary to hang or tie a rope on the object to be lifted, and then hang the rope on the hook for lifting. This requires the rope to be stably hung or tied on the object to be lifted to avoid the object falling during the lifting process. This lifting method is relatively cumbersome to operate and has low safety performance. In addition, the slings in the prior art are difficult to accurately position during operation to ensure that they are located directly above the object, so that the object is prone to swinging significantly during the lifting process, thereby causing safety accidents. In the application scenarios of unmanned aerial vehicles, it is necessary to manually load and unload cargo from the cargo hold of the aircraft that has been lowered to the ground, but the landing of the aircraft requires an open area and takes a long time, and the actual landing position of the cargo hold is also difficult to guarantee, for example, it is easily affected by wind.

[0004] Therefore, a new sling system is needed to solve the above problems existing in the prior art. Summary of the invention

[0005] This section introduces a selection of inventive concepts in a simplified form that are further described in the detailed description below. This section is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

[0006] In one aspect of the present application, a carrier pan for a sling system is provided, the carrier pan having a bottom and a wall extending from one side of the bottom, wherein the bottom of the carrier pan is provided with at least two grooves on the other side opposite to the wall.

[0007] Preferably, the groove passes through the bottom of the carrier plate or does not pass through the bottom of the carrier plate.

[0008] Preferably, the inner surface of the groove is provided with friction increasing features which increase the surface friction.

[0009] Preferably, the friction increasing feature provided on the inner surface of the groove is an anti-slip pattern or a frosted surface.

[0010] Preferably, the surface of the carrier platter opposite the surface on which the grooves are provided is provided with friction increasing features which increase the surface friction.

[0011] Preferably, the friction increasing features provided on the surface of the loading tray are anti-slip grooves or a frosted surface.

[0012] Preferably, the wall of the carrier tray is provided with positioning labels on its upper surface.

[0013] Preferably, the positioning label comprises black and white stripes.

[0014] Preferably, the carrier tray is a rectangular carrier tray and the wall forms a rectangular outline, wherein the positioning label further comprises an Apriltag label disposed at each corner of the upper surface of the wall.

[0015] Preferably, at least one pair of opposite walls of the rectangular loading tray are arranged to be inclined toward the outside of the loading tray, so that the opening of the cavity surrounded by the walls is larger than the bottom.

[0016] In another aspect of the present application, a sling system is also provided, which includes a load-bearing device equipped with a hook and a loading pan according to the principle of the present application, wherein the load-bearing device can be suspended on the load-bearing device by a rope, and wherein, when the sling system is in operation, the hook can be inserted into a groove of the loading pan to hook the loading pan.

[0017] Preferably, the hook is generally in a right-angle shape.

[0018] Preferably, the inner surface of the first hook body of the hook is provided with a friction increasing feature for increasing surface friction.

[0019] Preferably, the friction increasing feature arranged on the inner surface of the first hook body of the hook is an anti-slip pattern or a frosted surface.

[0020] Preferably, a position detection device is installed on the bottom surface of the carrying device so as to detect the position of the loading tray when in use.

[0021] Preferably, the detection device is a camera.

[0022] Preferably, the number of cameras is 4, and the line connecting the geometric centers of each camera forms a rectangle identical to the object carrier.

[0023] Preferably, the hanging device is an unmanned aerial vehicle.

[0024] In yet another aspect of the present application, a hanging device using the hanging tool system according to the principle of the present application is also provided.

[0025] Preferably, the hanging device is an unmanned aerial vehicle.

[0026] In another aspect of the present application, a method for lifting an object using a sling system according to the principles of the present application is also provided, the method comprising the following steps:

[0027] (1) Place the object to be lifted on the loading plate;

[0028] (2) detecting the relative position information between the carrying device and the loading tray, and adjusting the position of the carrying device according to the relative position information to ensure that the carrying device is located at an appropriate position directly above the loading tray;

[0029] (3) Insert the hook into the groove to hook the loading tray;

[0030] (4) Lift the load tray.

[0031] The loading plate of the sling system, the sling system and the method for lifting objects using the same according to the principle of the present application have a simple structure and are easy to operate. They can remain stable during the lifting process to prevent the object to be lifted from falling. They can also accurately identify the position of the object to be lifted and adjust the position of the sling according to the position of the object to be lifted, so that the sling can accurately lift the object, effectively avoiding the problems of cumbersome operation and low safety during lifting operations in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Other or additional features, advantages and details are presented by way of example only in the following detailed description of the embodiments. In the drawings:

[0033] Figure 1 A spreader system according to the principles of the present application is schematically shown;

[0034] Figure 2 A carrier plate according to the principles of the present application is schematically shown;

[0035] Figure 3 The bottom surface structure of a loading tray according to an embodiment is schematically shown;

[0036] Figure 4 The bottom structure of another embodiment of the loading tray is schematically shown;

[0037] Figure 5-7 The diagram schematically shows the different position distributions of black and white stripes and Apriltag labels;

[0038] Figure 8 The structure of the hook according to the principle of the present application is schematically shown;

[0039] Fig. 9 Schematically shows the bottom structure of the carrying device according to the principles of the present application; and

[0040] Fig.10An Apriltag according to the principles of the present application is schematically shown. DETAILED DESCRIPTION

[0041] The following description is merely exemplary in nature and is not intended to limit the present application, application, or uses. Furthermore, there is no intention to be limited by any express or implied theory presented in the preceding technical field, background technology and invention content or the following detailed description. It should be understood that throughout the drawings, corresponding reference numerals identify similar or corresponding parts or features.

[0042] The present application will now be further elaborated. In the following paragraphs, different aspects of the present application are defined in more detail. Unless clearly indicated to the contrary, each aspect so defined can be combined with any other (multiple) aspects. Especially, any feature indicated as preferred or advantageous can be combined with any other (multiple) features indicated as preferred or advantageous.

[0043] See attached Figure 1 , shows a sling system 100 according to the principle of the present application, including a load-bearing device 110 and a loading plate 120, wherein the load-bearing device 110 may be a load-bearing device as disclosed in Chinese patent document CN219771505U, the content of which is incorporated herein by reference. The load-bearing device 120 is suspended on a hanging device (not shown) by ropes 111. Advantageously, four winches 112 are installed on the load-bearing device 110, and the ropes 111 are wound around the winches 112, so that the load-bearing device 110 can be raised and lowered by rotating the winches 112. Figure 1 and attached Fig. 9 Advantageously, a hook 113 and a motor 114 connected to the hook 113 are mounted on the carrying device 110. The motor 114 can drive the hook 113 to rotate so that the hook 113 can hook the object to be lifted. The number of hooks is selected so that the object to be lifted can be stably and balanced during the lifting process. Preferably, the number of hooks 113 can be four, and they are arranged along the longitudinal axis A of the carrying device (see Fig. 9 ) are symmetrically arranged, so that balance and stability can be maintained during the lifting process; more advantageously, the two hooks 113 on the same side of the carrying device can be connected to a motor 114 through a transmission shaft 117, so that the two hooks can move synchronously, while also saving costs.

[0044] See attached Figure 2 and Figure 3The loading tray 120 has a bottom and a wall 122 extending from one side of the bottom, wherein a groove 121 is provided at the bottom of the loading tray 120 on the other side opposite to the wall 122, so that the hook 113 installed on the carrying device 110 can be inserted into the groove 121 to hook the loading tray 120. The loading tray 120 may preferably be rectangular. Preferably, there are at least two grooves. In one embodiment, the groove 121 may pass through the bottom of the loading tray 120, and preferably, the groove is symmetrically arranged along one of the center lines of the loading tray 120 to pass through the bottom of the loading tray 120, see Figure 3 In another embodiment, the groove 121 does not have to pass through the bottom of the carrier plate 120, see Figure 4 As shown. When in use, the object to be lifted can be placed on the loading tray 120, and then the loading tray 120 can be hooked by the hook 113 to lift the carrying device 110, thereby achieving lifting, thereby avoiding the problems of complex operation and low safety performance caused by hanging or tying ropes on the object for lifting in the prior art. Advantageously, the inner surface of the groove 121 can be provided with a friction-increasing feature that increases the surface friction, such as anti-skid patterns or frosted surfaces, so as to increase the friction after it contacts the hook, so that the hook is not easy to slide, and further enhance the stability of the lifting process. Advantageously, the wall 122 of the loading tray 120 forms a rectangular profile, such as being continuous, so as to form a cavity 125 with an opening with the bottom of the loading tray 120, thereby preventing the object from sliding off the loading tray 120. Preferably, the surface of the loading tray 120 facing the opening side can also be provided with a friction-increasing feature that increases the surface friction, such as anti-skid patterns or frosted surfaces, so as to prevent the object from sliding on the loading tray 120. Advantageously, at least one pair of opposite walls 122 of the rectangular loading tray 120 is tilted toward the outside of the loading tray 120, thereby making the opening of the cavity 125 larger than the bottom, making it easier to place / remove the lifted object from the opening. Alternatively, the loading tray 120 may not be provided with the wall 122.

[0045] Advantageously, a positioning tag may be provided on the upper surface of the wall 122 of the loading tray 120 so that the detection device of the sling system can detect the exact position of the loading tray, thereby adjusting the position of the carrying device 110 so that it is located at an appropriate position above the loading tray for lifting. The positioning tag may be an electronic positioning tag or a visual positioning tag. Figure 5The positioning tag may include black and white stripes 123 as a visual tag, and the stripes 123 are arranged on the upper surface of each wall 122 of the rectangular loading tray 120, so that the outline of the loading tray 120 can be shown, so that the detection device of the sling system can detect the loading tray 120 at a position far / high from the loading tray 120, while avoiding the label from being blocked by the goods. The positioning tag may also include an Apriltag label 124 as a visual label, so that the detection device can more accurately detect the position of the carrying device 110 relative to the loading tray 120. The Apriltag label 124 can be set at each corner of the upper surface of the wall 122. Specifically, it can be as shown in the attached Figure 5 As shown, it is arranged in the stripe 123, and it can also be arranged in the stripe 123. Figure 6 As shown, it is arranged outside the stripe 123, or as Figure 7 As shown, the Apriltag label 124 is arranged inside the stripe 123. Alternatively, the Apriltag label 124 can also be arranged at each corner of the carrier tray 120 without being blocked by the goods. Since the stripe 123 has a larger area, the detection device can detect the carrier tray 120 at a position farther / higher from the carrier tray 120, so as to adjust the position of the carrier device 110; when the carrier device 110 is closer / lower to the carrier tray 120, the detection device can achieve a more accurate adjustment of the position of the carrier device 110 by detecting the Apriltag label. It is easy for those skilled in the art to understand that, in the case where the wall 122 is not provided, the positioning label can be provided at the edge of the bottom of the carrier tray 120.

[0046] Refer to the attached Figure 8 , shows a hook 113 according to the principle of the present application. The hook 113 includes a first hook body 113a and a second hook body 113b, and the first hook body 113a and the second hook body 113b are formed so that the hook 113 is generally in a right angle shape. This right angle structure enables the inner surface of the first hook body 113a as a whole or a large part thereof to contact the groove 121 when the hook 113 hooks the loading plate 120, thereby increasing the friction between the hook 113 and the groove 121. Advantageously, the size of the hook 123 can be adapted to the groove 121, so that the hook 123 is not easy to slide or fall off in the groove 121. Advantageously, the inner surface of the first hook body 113a, that is, the surface in contact with the groove, can be provided with a friction increasing feature that increases the surface friction, for example, it can be an anti-slip pattern or a frosted surface to further increase the friction. Advantageously, the first hook body 113a is generally triangular, so as to facilitate insertion into the groove 121. Advantageously, a hollow structure may be provided on the hook 113 to reduce the weight of the hook 113 .

[0047] Refer to the attached Figure 1A fluid power device 115 is provided on the carrying device 110. The fluid power device 115 can be at the four corners of the rectangular carrying device 110 so as to provide power in different directions to the carrying device 110 according to the instructions of the controller (not shown) of the sling control system to adjust the position of the carrying device 110.

[0048] See attached Fig. 9 , shows the bottom surface of the carrier 110 according to the principles of the present application, and a camera 116 as a detection device is installed on the bottom surface of the carrier 110, which is used to detect the stripes 123 and the Apriltag label 124 on the carrier plate 120. The camera 116 can be an Openmv camera, which is an open source visual system based on a microcontroller and is specially designed for machine vision and embedded image processing applications. The Openmv camera has the characteristics of small size and low power consumption, and is easy to use the programming interface and has powerful image processing functions. Advantageously, the number of cameras 116 is four, and the line connecting the geometric centers of each camera 116 forms a rectangle that is the same or substantially the same as the rectangular carrier plate 120, so that each camera 116 is aligned with the four corners of the carrier plate 120, and the stripes 123 and the Apriltag label 124 are more accurately and conveniently identified.

[0049] When the carrying device 110 is at a higher position from the loading plate 120, for example, greater than 10 meters, the camera 116 can identify the stripes 123 and calculate the position of the camera 116 relative to the loading plate 120 through a feature extraction and comparison algorithm known in the art. If the camera 116 is not directly above the loading plate 120, the camera 116 will feed back the deviation information of the X-axis and Y-axis in the horizontal direction to the controller, and then the controller adjusts the position of the carrying device 110 by sending instructions to the lifting equipment or the fluid power device 115 to make it as directly above the loading plate 120 as possible. Taking the application scenario of unmanned aerial vehicle as an example, if the camera 116 detects that the position deviation between the carrying device 110 and the loading tray 120 in the horizontal direction is large, the controller can control the unmanned aerial vehicle to move and thereby drive the carrying device 110 suspended thereon to move, so that the carrying device 110 is located directly above the loading tray for lifting operations; if the camera 116 detects that the position deviation between the carrying device 110 and the loading tray 120 in the horizontal direction is small, the controller can control the fluid power device 115 to provide power to the carrying device 110, so that it is located directly above the loading tray 120 for lifting operations.

[0050] When the carrier 110 is at a lower position from the carrier tray 120, for example, less than 5 meters, the camera 116 can accurately adjust the position of the carrier 110 by identifying the Apriltag label 124, ensuring that the carrier 110 is in an appropriate position to enable the hook 113 to accurately hook the carrier tray 120. It is easy for those skilled in the art to understand that Apriltag is a visual reference system, and the detection program in the camera 116 can identify the ID of the Apriltag label it detects and its precise 3D position and direction relative to the camera. Those skilled in the art can choose, for example, according to application requirements. Fig.10 Any one of the Apriltag tag family shown. The Apriltag tag recognition process mainly includes the following steps:

[0051] 1. Image preprocessing: The built-in program of the camera 116 preprocesses the image detected by the camera 116. The preprocessing may include grayscale, noise reduction, image enhancement and other operations to improve the effect of subsequent processing;

[0052] 2. Edge detection: Execute edge detection algorithm on the preprocessed image to extract edge information in the image;

[0053] 3. Corner detection: Based on edge information, the image is corner-detected. Apriltag labels usually have four corners, which can help determine the position and posture of the label.

[0054] 4. Binarization and segmentation: Based on the corner information, the image is binarized to separate the labeled area from the background;

[0055] 5. AprilTag detection: In the segmented image, the AprilTag tag is identified using a specific template matching algorithm, which compares the tag in the image with the predefined template and calculates the match.

[0056] 6. Tag identification and pose estimation: By decoding the binary code on the tag, the algorithm is executed to identify the tag ID or other information, and once the AprilTag tag is detected, the algorithm uses the tag's corner point information to estimate the tag's pose relative to the camera 116, including position, rotation, and scale, to obtain the required pose information.

[0057] In the implementation scheme according to the principles of the present application, the four corners of the rectangular loading tray 120 are respectively provided with Apriltag labels with different IDs corresponding to each camera 116. The camera 116 can calculate the relative height of the load-bearing device 110 and the loading tray 120 and the offset of the X-axis and Y-axis in the horizontal direction through the detected Apriltag labels, thereby obtaining the position and posture information of the pallet. For example, when the Apriltag label detected by one of the cameras 116 is not the Apriltag label corresponding to it, it indicates that the load-bearing device 110 is deflected by a certain angle, such as 90°, relative to the loading tray 120. At this time, the camera can transmit the deviation information to the controller, and the controller sends instructions to the lifting device or the fluid power device 115, so as to adjust the load-bearing device 120 to an appropriate position. Through the recognition of the Apriltag label by the camera 116, the relative position of the load-bearing device 110 and the loading tray 120 can be accurately adjusted, so that the load-bearing device 110 is in a position suitable for hooking the loading tray 120 with the hook 113, and the lifting operation is smoothly performed.

[0058] The sling system 100 according to the principles of the present application can be applied to a sling device including, but not limited to, an unmanned or manned aircraft, a bridge crane, a gantry crane, a stacking crane, a boom crane, a floating crane, or a mast crane, etc. As is apparent to those skilled in the art, when in use, the load-bearing device 110 of the sling system 100 is suspended on the sling device by a rope.

[0059] The present application also provides a method for lifting an object using the sling system 100 according to the principles of the present application, and the method may include the following steps:

[0060] (1) Place the object to be lifted on the loading plate 120;

[0061] (2) detecting the relative position information between the carrier device 110 and the carrier tray 120, and adjusting the position of the carrier device 110 according to the relative position information to ensure that the carrier device 110 is located at an appropriate position directly above the carrier tray 120;

[0062] (3) Insert the hook into the groove of the loading tray to load the tray;

[0063] (4) Lift the load tray.

[0064] Although at least one exemplary embodiment is described in the foregoing detailed description, it should be understood that there are a large number of variations. It should also be understood that an exemplary embodiment or multiple exemplary embodiments described herein are merely examples and are not intended to limit the scope, applicability or configuration of the present application in any way. On the contrary, the foregoing detailed description will provide convenient guidance for those skilled in the art to implement an exemplary embodiment or multiple exemplary embodiments. It should be understood that various changes, modifications or changes, etc. can be made to the functions and arrangements of elements without departing from the scope of the present application as set forth in the attached claims and their equivalents.

Claims

1. A carrier plate, It is characterized in that The loading tray comprises a bottom and a wall extending from one side of the bottom, wherein the bottom of the loading tray is provided with at least two grooves on another side opposite to the wall.

2. The carrier plate according to claim 1, It is characterized in that The groove passes through the bottom of the loading tray or does not pass through the bottom of the loading tray.

3. The carrier plate according to claim 2, It is characterized in that The inner surface of the groove is provided with friction increasing features that increase surface friction.

4. The carrier plate according to claim 3, It is characterized in that The friction increasing feature arranged on the inner surface of the groove is an anti-slip pattern or a frosted surface.

5. The carrier plate according to claim 3, It is characterized in that The carrier plate has a friction increasing feature on a surface opposite to the surface on which the grooves are provided to increase surface friction.

6. The carrier plate according to claim 5, It is characterized in that The friction increasing features arranged on the surface of the loading plate are anti-skid patterns or frosted surfaces.

7. The carrier plate according to any one of claims 1 to 6, It is characterized in that The wall of the loading tray is provided with a positioning label on its upper surface.

8. A spreader system, It is characterized in that The sling system comprises a load-bearing device with a hook mounted thereon and a loading pan as claimed in any one of claims 1 to 7, wherein the load-bearing device can be suspended on the load-bearing device by a rope, and wherein when the sling system is in operation, the hook can be inserted into a groove of the loading pan to hook the loading pan.

9. A lifting device using the lifting device system according to claim 8.

10. A method of lifting an object using the sling system according to claim 8, It is characterized in that The method comprises the following steps: (1) placing the object to be lifted on the loading plate; (2) detecting relative position information between the carrying device and the loading tray, and adjusting the position of the carrying device according to the relative position information to ensure that the carrying device is located at an appropriate position directly above the loading tray; (3) inserting the hook into the groove to hook the loading tray; (4) Lift the loading tray.

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