Hoisting positioning remote control system and device for port container crane

Abstract

The invention discloses a hoisting positioning remote control system and device for a port container crane, and relates to the technical field of cranes, the hoisting positioning remote control system comprises a remote control terminal, a network transmission unit, an equipment control unit, an offset detection unit, a monitoring and adjusting unit and a reason analysis unit. According to the invention, through sensor fusion detection and image auxiliary judgment of the offset detection unit, the accuracy of hanger position offset detection can be improved, offset detection is carried out before hoisting, during hoisting and after hoisting, and the positions, attitude data and video monitoring pictures of the hanger and the container can be checked in real time through the remote control terminal; position deviation of the lifting appliance is found in time, a remote control terminal sends an instruction to correct the deviation, the positioning precision of the lifting appliance is guaranteed, the lifting appliance can be rapidly and accurately aligned to a container, the grabbing effect on the container is guaranteed, stability is kept in the lifting process, and the situation that the container falls off due to gravity center deviation or shaking is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of cranes, and specifically to a remote control system and device for lifting and positioning of port container cranes. Background Art

[0002] Port container cranes are large mechanical devices specifically used for port container handling operations. During the container handling process, it is necessary to accurately place the container at a designated position, such as the cabin of a ship, the cargo box of a truck, or a specific area of a yard. Operators issue various operation instructions for the crane on a remote control platform within the visible distance at the port, so that the control instructions can be quickly sent to the crane actuator. Through precise positioning of the lifting, deviation of container placement can be avoided.

[0003] For example, Chinese Patent CN117755983A discloses a tower crane remote collaborative lifting operation system and its control method, including: an operation scheduling system and a tower crane remote control system; the tower crane remote control system is provided with a remote control console and a remote data processing device; users input the starting coordinates, ending coordinates of the lifting operation, and the weight of the lifted object through the operation scheduling system; the operation scheduling system matches multiple tower cranes with lifting capacities greater than the lifted object within the area covering the starting coordinates and ending coordinates, and screens out tower cranes with overlapping operation areas from the multiple tower cranes to generate a tower crane group participating in collaborative operation, and sends it to the remote data processing device. The remote data processing device locks the control rights of the tower crane group participating in collaborative operation and transfers the control rights to the remote control console, and the remote control console controls the tower crane to perform collaborative lifting operations.

[0004] In the above patent, although the problems of difficult remote collaborative control of multiple tower cranes to complete the lifting operation task are solved through the operation scheduling system and the remote control system, during the lifting process, it is difficult to position the spreader and the container, and the position of the spreader cannot be accurately obtained, which is not conducive to the spreader quickly and accurately aligning with the container and affects the grasping effect of the spreader on the container. Summary of the Invention

[0005] The purpose of the present invention is to provide a remote control system and device for lifting and positioning of port container cranes to solve the problems in the above background art that during the lifting process, it is difficult to position the spreader and the container, the position of the spreader cannot be accurately obtained, which is not conducive to the spreader quickly and accurately aligning with the container, and affects the grasping effect of the spreader on the container.

[0006] To achieve the above purpose, the present invention provides the following technical solution: A remote control system for lifting and positioning of port container cranes, including a remote control terminal, a network transmission unit, an equipment control unit, an offset detection unit, a monitoring and adjustment unit, and a cause analysis unit; The offset detection unit synchronizes the sensor data collected by the equipment control unit, and conducts sensor fusion monitoring and image recognition assisted monitoring; the offset detection unit includes a fusion detection module, an image assistance module, and a comprehensive judgment module. The fusion detection module fuses the data of the laser range finder sensor, the six-axis inertial measurement unit, and the ultrasonic sensor to detect the position and attitude of the spreader and the container; the image assistance module uses an image recognition algorithm to confirm whether there are position and attitude offsets of the spreader and the container; the comprehensive judgment module comprehensively combines the detection results of the fusion detection module and the image assistance module and outputs the offset results of the spreader and the container. The monitoring and adjustment unit monitors the spreader and the container in real time through the offset detection unit during the entire lifting process, and adjusts the lifting process; the monitoring and adjustment unit includes a dynamic adjustment module, a degree judgment module, a parameter adjustment module, and a warning trigger module. The dynamic adjustment module dynamically adjusts the attitude of the spreader to complete preliminary offset detection and correction; the degree judgment module judges the degree of position offset of the spreader and the container, and takes corresponding correction measures according to the judgment result to complete secondary offset detection.

[0007] Preferably, during the sensor fusion detection of the fusion detection module, the following contents are further included: A1. Calculate the distance between the spreader and the top corner of the container through the laser range finder sensors installed at the four corners of the spreader. A2. Through the six-axis inertial detection unit installed on the spreader, real-time monitor the acceleration, angular velocity, and attitude angle of the spreader in three-dimensional space. A3. Monitor the relative position between the spreader and the crane structure through the ultrasonic sensors installed on the crane.

[0008] Preferably, during the image recognition assisted detection, the following contents are further included: B1. Identification pattern setting and image acquisition: Set identification patterns on the surfaces of the spreader and the container, install cameras at different positions of the crane, and collect images of the spreader and the container through the cameras. B2. Image recognition algorithm analysis: Use the image recognition algorithm to process and analyze the collected images to judge whether there are position offsets of the spreader and the container, as well as the degree and direction of the offsets.

[0009] Preferably, the remote control terminal is used for the operator to send control commands, and to view in real time the position, attitude data, and video monitoring screen of the crane spreader and the container. The network transmission unit is used to transmit the real-time monitoring data, video stream, and control commands of the sensors between the remote control terminal and the equipment control unit. The cause analysis unit analyzes the reasons for the position offset of the container according to the results of the box position detection after the lifting by the monitoring and adjustment unit.

[0010] Preferably, the equipment control unit is used to receive instructions from the remote control terminal, control the operation of the crane and the actions of the spreader, and at the same time collect various sensor data and transmit the data to the remote control terminal. The equipment control unit includes an instruction receiving module, a data acquisition module, and a data synchronization module. The instruction receiving module is used to receive control instructions sent by the remote control terminal.

[0011] Preferably, the data acquisition module collects the position and attitude data of the spreader and the container through various sensors; the data synchronization module stores the data collected by the data acquisition module in the local database and synchronizes it to the remote control terminal.

[0012] Preferably, the parameter adjustment module adjusts the operation parameters of the crane and the attitude of the spreader in real time; the early warning trigger module constructs an early warning mechanism and triggers a system warning when the spreader and the container deviate severely.

[0013] The hoisting positioning device for a port container crane uses the above-mentioned remote control system for hoisting positioning of a port container crane, and includes a boom. Ultrasonic sensor assemblies are installed at both ends of the boom. A driving mechanism is slidably connected to one side of the boom. The bottom of the driving mechanism is connected to a hoisting assembly through a steel wire rope and a pulley block. A six-axis inertial measurement assembly is fixedly connected to the top of the hoisting assembly. A hoisting main body is fixedly connected to the bottom of the hoisting assembly. Extension pieces are slidably connected to both sides of the hoisting main body.

[0014] Preferably, a gear four is rotatably connected to one side of the extension piece. Two racks are engaged with both the upper and lower sides of the gear four. Both racks are slidably connected to the extension piece, and both racks are engaged with a gear three. The shaft part of the gear three is rotatably connected to the extension piece. A reinforcement block is fixedly connected to one side of the gear three. The reinforcement block is connected to a connecting piece through a bolt. One end of the connecting piece is fixedly connected to a clamping jaw. A hydraulic push rod two is fixedly connected to the top of one of the racks. One side of the hydraulic push rod two is fixedly connected to the extension piece.

[0015] Preferably, laser ranging sensor assemblies are fixedly connected to the four corners of the bottom of the hoisting main body. A hydraulic push rod one is embedded in the hoisting main body. A connecting disk is fixedly connected to the bottom of the hydraulic push rod one. A motor is fixedly connected to one side of the connecting disk. A gear two is fixedly connected to the bottom of the motor. A gear one is engaged with one side of the gear two. A gear ring is engaged with one side of the gear one. A gear five is engaged with the inner wall of the gear ring. A support plate is fixedly connected to the bottom of the gear five. A support piece is rotatably connected to the top of the gear five. The support piece is clamped at the bottom of the connecting disk. A pressure sensor is fixedly connected to the inner wall of the support piece.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. In the present invention, the accuracy of the spreader position offset detection can be improved through the sensor fusion detection and image-assisted judgment of the offset detection unit. The offset detection is performed before, during and after lifting. The position, posture data and video monitoring screen of the spreader and the container can be viewed in real time through the remote control terminal, and the position offset of the spreader can be discovered in time. The offset is corrected by sending instructions through the remote control terminal to ensure the positioning accuracy of the spreader, so that the spreader can be quickly and accurately aligned with the container, ensure the grabbing effect of the container, and keep it stable during the lifting process to prevent the container from falling due to the center of gravity offset or shaking; 2. In the present invention, the gear ring is meshed with gear five, and the hydraulic push rod one drives the connecting plate and the connecting plate to move downward. During the downward movement, gear one drives the gear ring to rotate, and the gear ring drives gear five to rotate. Gear five and the support plate rotate synchronously to realize the expansion of the support plate, increase the contact area between the bottom of the support and the container, ensure that the bottom of the hydraulic push rod one stably contacts the container, and achieve stable clamping of the container through four symmetrically arranged claws, thereby improving the stability of the container during lifting. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a system block diagram of the hoisting positioning remote control system for the port container crane of the present invention; Figure 2 This is a flow chart of the hoisting positioning remote control system for the port container crane of the present invention; Figure 3 It is a schematic diagram of the installation of the three-dimensional structure of the hoisting and positioning device for the port container crane of the present invention; Figure 4 This is a schematic diagram of the installation structure of the driving mechanism of the hoisting and positioning device for the port container crane of the present invention; Figure 5 This is a schematic diagram of the installation structure of the six-axis inertial measurement assembly of the hoisting and positioning device for the port container crane of the present invention; Figure 6 It is a schematic diagram of the installation of the second structure of the hydraulic push rod of the hoisting and positioning device for the port container crane of the present invention; Figure 7 This is a schematic diagram of the installation structure of the laser distance measuring sensor of the hoisting and positioning device for the port container crane of the present invention; Figure 8 It is a schematic diagram of the installation of the connecting plate structure of the hoisting and positioning device for the port container crane of the present invention; Figure 9 It is a schematic diagram of the installation of the gear ring structure of the hoisting and positioning device for the port container crane of the present invention.

[0018] In the figure: 1. Remote control terminal; 2. Network transmission unit; 3. Equipment control unit; 31. Instruction receiving module; 32. Data acquisition module; 33. Data synchronization module; 4. Offset detection unit; 41. Fusion detection module; 42. Image assistance module; 43. Comprehensive judgment module; 5. Monitoring and adjustment unit; 51. Dynamic adjustment module; 52. Degree judgment module; 53. Parameter adjustment module; 54. Early warning trigger module; 6. Cause analysis unit; 7. Boom; 71. Ultrasonic sensor assembly; 8. Driving mechanism; 9. Lifting assembly; 91. Lifting main body; 911. Laser ranging sensor assembly; 912. Motor; 913. Hydraulic push rod 1; 914. Support; 915. Connecting plate; 916. Gear 1; 917. Pressure sensor; 918. Gear 2; 919. Tooth ring; 92. Six-axis inertial measurement assembly; 93. Extension; 94. Hydraulic push rod 2; 941. Gear 3; 942. Connector; 943. Rack; 944. Gear 4; 945. Reinforcement block; 946. Claw; 95. Support plate; 96. Gear 5. Specific embodiments

[0019] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0020] Embodiment 1: Refer to Figure 1 - Figure 2 As shown: The remote control system for lifting and positioning of a port container crane includes a remote control terminal 1, a network transmission unit 2, an equipment control unit 3, an offset detection unit 4, a monitoring and adjustment unit 5, and a cause analysis unit 6.

[0021] The remote control terminal 1 is used for the operator to send control instructions and view the position, attitude data, and video monitoring screen of the crane spreader and the container in real time.

[0022] The network transmission unit 2 is used to transmit the real-time monitoring data, video stream, and control instructions of the sensors between the remote control terminal 1 and the equipment control unit 3. It adopts a hybrid networking method of 5G network and wired optical fiber. The 5G network is used to transmit data with high real-time requirements, such as the real-time monitoring data and video stream of the sensors, while the wired optical fiber is used to transmit key control instructions and important equipment status data.

[0023] The equipment control unit 3 is installed on the crane body and integrates controller, data acquisition and communication functions. It is responsible for receiving instructions from the remote control terminal 1, controlling the operation of the crane and the actions of the spreader; at the same time, collecting various sensor data and transmitting the data to the remote control terminal 1.

[0024] The equipment control unit 3 includes an instruction receiving module 31, a data acquisition module 32 and a data synchronization module 33. The instruction receiving module 31 is used to receive the control instructions sent by the remote control terminal 1. The data acquisition module 32 collects the position and attitude data of the spreader and the container through various sensors. The data synchronization module 33 stores the data collected by the data acquisition module 32 in the local database and synchronizes it to the remote control terminal 1.

[0025] The offset detection unit 4 is used to synchronize the sensor data collected in the equipment control unit 3 and perform sensor fusion monitoring and image recognition assisted monitoring; the offset detection unit 4 includes a fusion detection module 41, an image assistance module 42 and a comprehensive judgment module 43. The fusion detection module 41 combines the data of the laser range finder, the six-axis inertial measurement unit and the ultrasonic sensor to perform sensor fusion detection, and detects the position and attitude data of the spreader and the container; During the sensor fusion detection, the following contents are also included: 1. Laser range finders are installed at the four corners of the spreader respectively. The sensors continuously emit laser beams to the four top corners of the container and measure the round-trip time of the laser, so as to calculate the distance between the spreader and the top corners of the container. Under normal circumstances, the distance from each laser range finder to the corresponding top corner of the container is relatively stable. When the spreader or the container has a position offset, for example, the spreader tilts to the left, the distances measured by the two left laser range finders will decrease, while the distances measured by the two right sensors will increase. By real-time analysis of these distance data, once it is found that the change in the distance value exceeds the preset normal fluctuation range, it can be judged that the spreader and the container may have a position offset; 2. The six-axis inertial measurement unit IMU is composed of three mutually perpendicular accelerometers and three mutually perpendicular gyroscopes, and is installed on the spreader, which can continuously monitor the acceleration, angular velocity and attitude angle of the spreader in three-dimensional space. When the spreader attitude is normal, the attitude angle data output by the IMU is within a specific range. If the spreader has attitude offsets such as rolling, pitching or yawing, the attitude angles detected by the IMU will change significantly. During normal lifting, the pitch angle of the spreader is kept within ±5°. If the IMU detects that the pitch angle exceeds this range, it indicates that the spreader attitude has an offset. At the same time, combined with the acceleration and angular velocity data, the motion state and offset trend of the spreader can be judged; 3. The ultrasonic sensor installed on the crane structure is mainly used to monitor the relative position between the spreader and the crane structure. By emitting ultrasonic waves and receiving the reflected ultrasonic signal, the distance between the spreader and the sensor is calculated. During normal operation, there is a certain safety distance between the spreader and the crane structure, and this distance is relatively stable. When the spreader deviates horizontally due to collision or other reasons, the distance data measured by the ultrasonic sensor will change, and the system can judge that the position of the spreader is abnormal based on this.

[0026] When performing image recognition-assisted detection, the following contents are also included: 1. Identification pattern setting and image acquisition: Identification patterns are set on the surfaces of the spreader and the container, and cameras are installed at different positions on the crane. The cameras can cover the operation area of the spreader and the container and collect images in real time. The images collected by the cameras contain the identification patterns on the spreader and the container and the environmental information around them; 2. Image recognition algorithm analysis: The image recognition algorithm is used to process and analyze the collected images. The algorithm first identifies the position and angle of the identification pattern in the image. Under normal circumstances, the relative position and angle of the identification patterns on the spreader and the container in the image are fixed. When a position deviation occurs, the position of the identification pattern in the image will move and the angle will also rotate. If the angle of the identification pattern rotates a certain number of degrees relative to the initial state, such as rotating 10°, it indicates that the spreader or the container has a posture deviation. By continuously monitoring and analyzing the changes in the position and angle of the identification pattern, the system can accurately judge whether there is a position deviation of the spreader and the container, as well as the degree and direction of the deviation.

[0027] The image assistance module 42 collects images through the camera and uses the image recognition algorithm to confirm whether there are position and posture deviations of the spreader and the container; the comprehensive judgment module 43 is used to comprehensively fuse the detection results of the detection module 41 and the image assistance module 42 and output the deviation results of the spreader and the container.

[0028] The monitoring and adjustment unit 5 monitors the spreader and the container in real time before, during, and after hoisting through the deviation detection unit 4, and adjusts the hoisting process according to the monitoring results; the monitoring and adjustment unit 5 includes a dynamic adjustment module 51, a degree judgment module 52, a parameter adjustment module 53, and a warning trigger module 54. The dynamic adjustment module 51 is used to send adjustment instructions through the remote control terminal 1, and the equipment control unit 3 dynamically adjusts the spreader and the support structure; the degree judgment module 52 is used to judge the degree of position deviation of the spreader and the container during hoisting; the parameter adjustment module 53 adjusts the operating parameters of the crane and the posture of the spreader in real time according to the data of the anemometer and the six-axis inertial measurement unit; the warning trigger module 54 constructs a warning trigger mechanism. When the deviation of the spreader and the container is serious, it triggers a system warning and manually corrects the posture of the container.

[0029] When constructing the warning trigger mechanism, set the offset threshold based on historical data and simulation analysis. Set the dynamic adjustment range of the threshold according to the load capacity differences of containers and cranes of different models and the real-time changes in the operating environment. When lifting a heavier or special-sized container, appropriately reduce the offset threshold; when the wind force gradually increases and approaches the upper limit of safe operation, correspondingly reduce the angular offset threshold. The system can automatically correct the offset threshold dynamically according to the preset algorithm based on the weight and size of the input container and the real-time monitored environmental parameters including wind speed and wind direction.

[0030] Analyze and process the real-time collected data to determine whether it exceeds the threshold range. When it exceeds the threshold range, trigger a warning to remind the operator to verify the offset of the spreader and the container and immediate intervention is required. Design a dedicated manual correction operation interface on the remote control terminal 1. This interface clearly displays the current real-time position and attitude data of the spreader and the container, as well as the offset amounts in each direction. The operator sends instructions to the equipment control unit 3 by clicking buttons or operating the joystick to adjust the attitude of the spreader, and then correct the attitude of the container. At the same time, the system records each manual correction operation in detail, including the operation time, the operator, the operation content, and the state data of the spreader and the container before and after the operation.

[0031] The cause analysis unit 6 analyzes the reasons for the offset of the container position based on the comparison between the monitoring results after the lifting by the monitoring and adjustment unit 5 and the reference data before the lifting.

[0032] Analyze whether the position offset is caused by equipment factors, environmental factors or operation factors. For the offset caused by problems with the crane itself, arrange maintenance personnel for inspection; for the offset caused by environmental factors, adjust the subsequent lifting strategy. At the same time, store the final position and attitude data for subsequent operation analysis and optimization.

[0033] Example 2: According to Figure 3 - Figure 9As shown in the figure, the lifting and positioning device for a port container crane uses the above-mentioned remote control system for lifting and positioning of a port container crane, including a boom 7. Ultrasonic sensor assemblies 71 are installed at both ends of the boom 7. A driving mechanism 8 is slidably connected to one side of the boom 7. The bottom of the driving mechanism 8 is connected to a lifting assembly 9 through a steel wire rope and a pulley block. A six-axis inertial measurement assembly 92 is fixedly connected to the top of the lifting assembly 9. A lifting main body 91 is fixedly connected to the bottom of the lifting assembly 9. Extension members 93 are slidably connected to both sides of the lifting main body 91. A fourth gear 944 is rotatably connected to one side of the extension member 93. The fourth gear 944 meshes with racks 943 on both the upper and lower sides. Both racks 943 are slidably connected to the extension member 93, and both racks 943 mesh with a third gear 941. The shaft of the third gear 941 is rotatably connected to the extension member 93. A reinforcing block 945 is fixedly connected to one side of the third gear 941. The reinforcing block 945 is connected to a connecting member 942 through a bolt. One end of the connecting member 942 is fixedly connected to a jaw 946. A second hydraulic push rod 94 is fixedly connected to the top of one of the racks 943. One side of the second hydraulic push rod 94 is fixedly connected to the extension member 93.

[0034] Laser ranging sensor assemblies 911 are fixedly connected to the four corners of the bottom of the lifting main body 91. A first hydraulic push rod 913 is embedded in the lifting main body 91. A connecting disk 915 is fixedly connected to the bottom of the first hydraulic push rod 913. A motor 912 is fixedly connected to one side of the connecting disk 915. A second gear 918 is fixedly connected to the bottom of the motor 912. The second gear 918 meshes with a first gear 916 on one side. The first gear 916 meshes with a tooth ring 919 on one side. The inner wall of the tooth ring 919 meshes with a fifth gear 96. A support plate 95 is fixedly connected to the bottom of the fifth gear 96. A support member 914 is rotatably connected to the top of the fifth gear 96. The support member 914 is engaged with the bottom of the connecting disk 915. A pressure sensor 917 is fixedly connected to the inner wall of the support member 914.

[0035] In this embodiment, the ultrasonic sensor assembly 71 can detect the distances between the driving mechanism 8 and the root and the end of the boom 7. When the spreader approaches the root of the boom 7 during hoisting or lowering, the sensor gives an early warning to prevent the spreader from colliding with the root of the boom 7. When hoisting over-length or over-height goods, it can assist the operator to accurately judge whether the spreader exceeds the safe working range of the boom 7 and avoid danger. Through the driving structure inside the driving mechanism 8, the driving mechanism 8 can be driven to move horizontally along the boom 7, and the wire rope can also be driven to wind up or unwind, so as to realize the lifting and lowering of the lifting assembly 9, thereby changing the use height of the lifting main body 91 and the extension member 93. The six-axis inertial measurement assembly 92 can perform six-axis inertial measurement on the lifting main body 91. The laser distance measurement sensor assembly 911 calculates the distance between the spreader and the top corner of the container, and can judge whether there is a position offset between the spreader and the container. The use height of the support member 914 can be adjusted by the hydraulic push rod 1 913. When the spreader moves downward, the support plate 95 at the bottom of the support member 914 can be first contacted with the top of the container. The pressure sensor 917 can detect the pressure applied to the container. According to the pressure data, the use heights of the four hydraulic push rods 1 913 can be adjusted respectively, so as to balance the pressure received by the top of the container and ensure that all four support members 914 can stably contact the surface of the container, effectively reducing the shaking and positioning deviation caused by the offset of the container's center of gravity or the unevenness of the surface.

[0036] The motor 912 can provide power for the driving of the iris mechanism. The motor 912 drives the gear 2 918 to rotate, and the gear 2 918 drives the gear 1 916 to rotate. The toothed ring 919 can drive a plurality of gears 5 96 to rotate at the same time, so as to realize the unfolding of a plurality of support plates 95. When the support plates 95 are unfolded, the pressure can be dispersed, and even when there are uneven areas on the surface of the container, it can contact more stably, reducing the sliding or unstable situation caused by excessive local pressure; The hydraulic push rod 2 94 can provide power for the movement of the rack 943. The extension member 93 can guide the movement of the rack 943. The rack 943 is used to drive two gears 3 941 to rotate. The reinforcement block 945 rotates synchronously with the gear 3 941. The connecting member 942 can realize the connection between the jaw 946 and the reinforcement block 945. By rotating the reinforcement block 945, the use position of the jaw 946 can be changed, and then the contact or separation between the jaw 946 and the container can be controlled. The container is clamped by four jaws 946 to realize the stable hoisting of the container.

[0037] The working principle of the present invention: First, the remote control terminal 1 controls the device control unit 3 to collect data of the spreader and the container. According to the collected data, the offset detection unit 4 performs offset detection before hoisting. If the spreader has an offset, the dynamic adjustment module 51 performs dynamic adjustment to complete the correction of the spreader.

[0038] After correction, the spreader is used to lift and transport the container. When the lifting main body 91 moves above the container, the driving mechanism 8 drives the lifting assembly 9 to move downward, causing the lifting main body 91 to approach the container. The six-axis inertial measurement assembly 92 can detect the position and attitude of the lifting main body 91. The lifting main body 91 gradually moves downward. At this time, the hydraulic push rod 1 913 drives the connecting plate 915 and the support member 914 to move downward. During the downward movement, multiple support plates 95 unfold to disperse the pressure, enabling the support member 914 to contact the top of the container more stably. When the bottom of the support member 914 contacts the container, the pressure sensor 917 can detect the pressure applied to the container. If the pressures of the four pressure sensors 917 are unbalanced, the telescopic movement of the hydraulic push rod 1 913 can be used for adjustment to balance the pressures received by the pressure sensors 917. Then, the hydraulic push rod 2 94 is used to drive the upper rack 943 to move. The upper rack 943 drives the fourth gear 944 to rotate, and at the same time drives the lower rack 943 to move. When the two racks 943 move, they drive the third gears 941 on both sides of the fourth gear 944 to rotate. The reinforcement block 945 rotates synchronously with the third gear 941, rotating the connecting member 942 and the jaw 946 toward the side close to the container, causing the inner wall of the jaw 946 to contact the container. The container is clamped and fixed by four symmetrically arranged jaws 946. The driving mechanism 8 drives the lifting main body 91 and the container to move upward for lifting and transportation.

[0039] During the lifting and transportation, the equipment control unit 3 and the offset detection unit 4 are used for secondary offset detection. When a position offset is detected, the degree judgment module 52 judges the degree of the offset. If it is a slight offset, the working parameters of the crane and the driving mechanism 8 are adjusted through the parameter adjustment module 53 to improve the offset. After improvement, normal lifting and transportation can be carried out until the lifting and transportation are completed. If there is a severe offset, the early warning trigger module 54 triggers the early warning of the system, and the operator manually corrects the attitude of the container to resume normal lifting and transportation until the lifting and transportation are completed.

[0040] After the lifting and transportation are completed, the offset detection unit 4 is used to detect the position of the box body and judge whether there is an offset between the box body and the preset position. If there is no offset, the lifting result can be output. If there is an offset, the cause analysis unit 6 analyzes the cause of the offset, which is convenient for analyzing and optimizing subsequent operations.

[0041] Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A remote control system for hoisting and positioning of port container cranes, characterized in that: It includes a remote control terminal (1), a network transmission unit (2), a device control unit (3), an offset detection unit (4), a monitoring and adjustment unit (5), and a cause analysis unit (6); The offset detection unit (4) synchronizes the sensor data collected in the device control unit (3), and performs sensor fusion monitoring and image recognition assisted monitoring; The offset detection unit (4) includes a fusion detection module (41), an image assistance module (42), and a comprehensive judgment module (43). The fusion detection module (41) fuses the data of the laser range finder sensor, the six-axis inertial measurement unit, and the ultrasonic sensor to detect the position and attitude of the spreader and the container; The image assistance module (42) uses an image recognition algorithm to confirm whether there is a position and attitude offset between the spreader and the container; The comprehensive judgment module (43) comprehensively combines the detection results of the fusion detection module (41) and the image assistance module (42), and outputs the offset results of the spreader and the container; The monitoring and adjustment unit (5) monitors the spreader and the container in real time through the offset detection unit (4) during the entire lifting process, and adjusts the lifting process; The monitoring and adjustment unit (5) includes a dynamic adjustment module (51), a degree judgment module (52), a parameter adjustment module (53), and a warning trigger module (54). The dynamic adjustment module (51) dynamically adjusts the attitude of the spreader to complete preliminary offset detection and correction; The degree judgment module (52) judges the position offset degree of the spreader and the container, and takes corresponding correction measures according to the judgment result to complete secondary offset detection.

2. The remote control system for hoisting and positioning of a port container crane according to claim 1, characterized in that: When performing sensor fusion detection by the fusion detection module (41), it also includes the following: A1. Calculate the distance between the spreader and the top corner of the container through the laser range finder sensors installed at the four corners of the spreader; A2. Through the six-axis inertial detection unit installed on the spreader, real-time monitor the acceleration, angular velocity, and attitude angle of the spreader in three-dimensional space; A3. Monitor the relative position between the spreader and the crane structure through the ultrasonic sensors installed on the crane.

3. The remote control system for lifting and positioning of port container cranes according to claim 1, wherein: When performing image recognition assisted detection, it also includes the following: B1. Identification pattern setting and image acquisition: Set identification patterns on the surfaces of the spreader and the container, install cameras at different positions of the crane, and collect images of the spreader and the container through the cameras; B2. Image recognition algorithm analysis: Use the image recognition algorithm to process and analyze the collected images to judge whether there is a position offset between the spreader and the container, as well as the degree and direction of the offset.

4. The remote control system for hoisting and positioning of a port container crane according to claim 1, characterized in that: The remote control terminal (1) is used for the operator to send control instructions, and view the position, attitude data, and video monitoring screen of the crane spreader and the container in real time. The network transmission unit (2) is used to transmit the real-time monitoring data, video stream, and control instructions of the sensors between the remote control terminal (1) and the device control unit (3). The cause analysis unit (6) analyzes the reasons for the position offset of the container according to the results of the box position detection after the lifting by the monitoring and adjustment unit (5).

5. The remote control system for lifting and positioning of port container cranes according to claim 1, characterized in that: The equipment control unit (3) is used to receive instructions from the remote control terminal (1), control the operation of the crane and the actions of the spreader, and at the same time collect various sensor data and transmit the data to the remote control terminal (1). The equipment control unit (3) includes an instruction receiving module (31), a data acquisition module (32) and a data synchronization module (33). The instruction receiving module (31) is used to receive the control instructions sent by the remote control terminal (1).

6. The remote control system for lifting and positioning of port container cranes according to claim 1, characterized in that: The data acquisition module (32) collects the position and attitude data of the spreader and the container through various sensors; The data synchronization module (33) stores the data collected by the data acquisition module (32) in the local database and synchronizes it to the remote control terminal (1).

7. The remote control system for hoisting and positioning of a port container crane according to claim 1, wherein: The parameter adjustment module (53) adjusts the operation parameters of the crane and the spreader attitude in real time; The warning trigger module (54) constructs a warning mechanism and triggers a system warning when the spreader and the container are severely offset.

8. Hoisting and positioning device for port container crane, characterized in that: The remote control system for hoisting and positioning of a port container crane as described in any one of claims 1-7 is used, which includes a boom (7). Ultrasonic sensor assemblies (71) are installed at both ends of the boom (7). A driving mechanism (8) is slidably connected to one side of the boom (7). The bottom of the driving mechanism (8) is connected to a hoisting assembly (9) through a steel wire rope and a pulley block. A six-axis inertial measurement assembly (92) is fixedly connected to the top of the hoisting assembly (9). A hoisting main body (91) is fixedly connected to the bottom of the hoisting assembly (9). Extension pieces (93) are slidably connected to both sides of the hoisting main body (91).

9. The hoisting and positioning device for a port container crane according to claim 8, wherein: A gear four (944) is rotatably connected to one side of the extension piece (93). A rack (943) is engaged with both the upper and lower sides of the gear four (944). Both racks (943) are slidably connected to the extension piece (93), and both racks (943) are engaged with a gear three (941). The shaft of the gear three (941) is rotatably connected to the extension piece (93). A reinforcing block (945) is fixedly connected to one side of the gear three (941). The reinforcing block (945) is connected to a connecting piece (942) through a bolt. One end of the connecting piece (942) is fixedly connected to a jaw (946). A hydraulic push rod two (94) is fixedly connected to the top of one of the racks (943). One side of the hydraulic push rod two (94) is fixedly connected to the extension piece (93).

10. The lifting and positioning device for a port container crane according to claim 8, wherein: Four corners at the bottom of the hoisting main body (91) are fixedly connected with laser distance measurement sensor assemblies (911). A first hydraulic push rod (913) is embedded inside the hoisting main body (91). The bottom of the first hydraulic push rod (913) is fixedly connected with a connection plate (915). A motor (912) is fixedly connected to one side of the connection plate (915). The bottom of the motor (912) is fixedly connected with a second gear (918). A first gear (916) is meshed with one side of the second gear (918). A toothed ring (919) is meshed with one side of the first gear (916). A fifth gear (96) is meshed with the inner wall of the toothed ring (919). The bottom of the fifth gear (96) is fixedly connected with a support plate (95). A support member (914) is rotatably connected to the top of the fifth gear (96). The support member (914) is clamped at the bottom of the connection plate (915). A pressure sensor (917) is fixedly connected to the inner wall of the support member (914).

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