Anti-over-swinging logistics box hoisting system for freight logistics

Abstract

The present application relates to the field of logistics hoisting, in particular to a logistics box hoisting system for preventing excessive swinging, which obtains the swinging degree of the logistics box in each time period according to the swinging angle and swinging speed of the logistics box in each time period, adjusts the hoisting speed and hoisting direction of the logistics box in each hoisting adjustment time period, adjusts the extension amount of the shock-absorbing hook by obtaining the swinging amplitude and swinging frequency of the logistics box, detects the swinging degree of the logistics box in a windless environment and in each wind speed environment, analyzes the wind speed influence coefficient of the swinging of the logistics box, and feeds back the wind speed influence coefficient, so as to more accurately adjust the hoisting speed and hoisting direction, which helps to improve the stability and safety of logistics transportation and reduce the damage risk of goods in the hoisting process.

Description

Technical Field

[0001] The present invention relates to the field of logistics hoisting, and in particular to a logistics box hoisting system for freight logistics that prevents excessive swinging. Background Art

[0002] In today's globalized economic environment, the freight logistics industry is showing a booming development trend. With the continuous increase in freight transportation volume and the continuous extension of transportation distance, higher requirements are placed on the efficiency, safety and reliability of freight logistics.

[0003] In the freight logistics process, the lifting and transportation of goods are key links. However, in actual operations, due to the influence of various factors, such as the complexity of the transportation environment, the dynamics of vehicle driving, wind and other natural factors, logistics boxes often swing excessively. Excessive swinging will not only damage the goods themselves and affect the quality and integrity of the goods, but may also cause damage to the structure of the logistics box and even cause serious safety accidents, threatening the lives of transportation personnel and the stability of the surrounding environment. In addition, excessive swinging will seriously affect the timeliness of transportation, resulting in low transportation efficiency and increased logistics costs.

[0004] Faced with these problems, researching and developing effective measures to prevent excessive swing has become a top priority.

[0005] The existing Chinese patent application number 2021111464334 discloses a control system and method for under-actuated lifting equipment. The scheme obtains lifting scene information through a lifting scene information acquisition module, obtains the swing angle of the wire rope through a swing angle acquisition module, and calculates the lifting height through a height acquisition module, and then calculates the control frequency required to drive the lifting mechanism trolley and the lifting motor, and transmits it to the frequency converter to implement related actions. It can effectively realize anti-skew lifting and automatic centering, anti-swing and anti-collision functions, thereby improving the safety and efficiency of lifting operations.

[0006] However, this solution has the following shortcomings: it does not adequately analyze the adaptability and stability of the system as a whole under different working conditions and environments. For example, under different wind speed conditions and different lifting speeds, the system may not be able to adapt and adjust well, resulting in reduced work efficiency or failures, causing safety hazards.

[0007] The existing Chinese patent application number 2022107393504 discloses a lifting machinery safety detection device and detection method. This scheme lifts the cargo through a hook and uses a radar ranging sensor to monitor the distance between the lifting object and the support leg. When the wire rope swings, the movable block squeezes the spring to trigger the pressure sensor. The swing amplitude is judged to exceed the standard based on the spring state to decide whether to alarm. The wire rope data is collected through a magnetic memory planning device and a weak magnetic detection device combined with a stroke metering device to detect problems related to its strength loss. If the fatigue value of the wire rope exceeds the range, the image acquisition device records the image and sends it to the operation terminal in combination with the damage information. At the same time, an on-site sound and light alarm is triggered, which can ensure the safety of the lifting process in many aspects and effectively prevent safety accidents during the lifting process.

[0008] However, this solution has the following shortcomings: the solution monitors the degree of swing of the lifted cargo by detecting the distance between the lifted cargo and the outriggers and the swing amplitude of the wire rope, but does not involve adjusting the lifting angle and lifting direction of the lifted cargo, which may cause the lifted cargo to fail to reach the predetermined position accurately, increasing the risk of collision between the cargo and surrounding objects. An unreasonable lifting angle may cause uneven force on the cargo during the lifting process, affecting the stability of the lifting. The inability to adjust the lifting direction will reduce the flexibility of the lifting operation, making it difficult to adapt to different task requirements in a complex working environment, affecting work efficiency. Summary of the Invention

[0009] In order to overcome the shortcomings of the background technology, an embodiment of the present invention provides a logistics box lifting system for freight logistics that prevents excessive swinging, which can effectively solve the problems involved in the above-mentioned background technology.

[0010] The purpose of the present invention can be achieved through the following technical solutions: The present invention provides a logistics box lifting system for freight logistics that prevents excessive swinging, including: a logistics box dynamic capture module, which is used to detect the swing angle and swing speed of the logistics box in each time period.

[0011] The logistics box swing analysis module is used to obtain the swing degree of the logistics box in each time period based on the swing angle and swing speed of the logistics box in each time period, and then filter out the lifting and adjustment time periods of the logistics box.

[0012] The lifting speed control module is used to obtain the swing speed of the logistics box in each lifting adjustment time period, thereby adjusting the lifting speed of the logistics box in each lifting adjustment time period.

[0013] The lifting direction control module is used to obtain the swing direction of each lifting adjustment time period of the logistics box, and then filter out each lifting direction adjustment time period of the logistics box, and then adjust the angle of the lifting direction of each lifting direction adjustment time period.

[0014] The expansion and contraction analysis module is used to obtain the swing amplitude and frequency of the logistics box, analyze the expansion and contraction required by the shock-absorbing hook, and adjust the expansion and contraction amount of the shock-absorbing hook.

[0015] The wind speed impact analysis module is used to detect the degree of swing of the logistics box in a windless environment and at various wind speed environments, thereby analyzing the influence coefficient of wind speed on the swing of the logistics box and providing feedback.

[0016] The management database is used to store the preset logistics box swing speed threshold and the logistics box lifting and transportation path.

[0017] Compared with the existing technology, the present invention has the following beneficial effects: 1. The present invention obtains the swing degree of the logistics box in each time period based on the swing angle and swing speed analysis of the logistics box in each time period, and then screens out the various lifting and adjustment time periods of the logistics box. It can accurately understand the specific swing conditions of the logistics box in different time periods, which helps to take targeted measures to ensure the safety and stability of logistics transportation.

[0018] 2. The present invention obtains the swing speed and swing direction of the logistics box in each lifting adjustment time period, and adjusts the lifting speed and lifting direction of the logistics box in each lifting adjustment time period. The lifting speed and lifting direction can be accurately adjusted in time according to the swing speed and swing direction to ensure the smooth operation of the logistics box during the lifting process, avoid shaking, collision and other problems caused by inappropriate lifting parameters, and improve work efficiency and safety.

[0019] 3. The present invention obtains the swing amplitude and swing frequency of the logistics box, analyzes the expansion and contraction required by the shock-absorbing hook, and adjusts the expansion and contraction amount of the shock-absorbing hook, which can better play a shock-absorbing and buffering role, protect the logistics box and goods, and reduce damage to items caused by vibration.

[0020] 4. The present invention detects the degree of swing of the logistics box in a windless environment and at various wind speed environments, thereby analyzing the influence coefficient of wind speed on the swing of the logistics box and providing feedback. This can clearly understand the influence of wind speed on the swing of the logistics box, so as to formulate appropriate operating strategies under different wind speed conditions and improve overall adaptability and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 This is a system module connection diagram of the present invention.

[0023] Figure 2 for Figure 1 Flow chart of the lifting speed control module.

[0024] Figure 3 for Figure 1 Flowchart of the lifting direction control module. DETAILED DESCRIPTION

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making any creative efforts shall fall within the scope of protection of the present invention.

[0026] See also Figure 1 As shown, a logistics box lifting system for freight logistics that prevents excessive swinging includes a logistics box dynamic capture module, a logistics box swing analysis module, a lifting speed control module, a lifting direction control module, a telescopic amount analysis module, a wind speed impact analysis module, and a management database.

[0027] The management database is connected to the logistics box swing analysis module, the lifting speed control module, the lifting direction control module, the telescopic amount analysis module, and the wind speed impact analysis module, and the logistics box dynamic capture module is connected to the logistics box swing analysis module.

[0028] The logistics box dynamic capture module is used to detect the swing angle and swing speed of the logistics box in different time periods.

[0029] The specific analysis method of the swing angle of the logistics box in each time period is: divide the lifting process of the logistics box into several equal-length time periods according to the set duration, recorded as each time period, and select a detection point on the logistics box, recorded as the reference point.

[0030] When the logistics box is stationary, a laser transmitter is used to transmit a laser to the reference point of the logistics box, and the position of the reflection point where the laser is reflected back is obtained, which is recorded as the initial reflection point position of the laser of the logistics box. The three-dimensional coordinates of the initial reflection point position of the laser are also recorded, and the initial distance from the laser transmitter to the reference point of the logistics box is also recorded.

[0031] At the detection time point at the end of each time period, the laser is emitted to the reference point again, the three-dimensional coordinates of the reflection point at each detection time point are recorded, and the position difference between the coordinates of the reflection point at each detection time point and the coordinates of the initial reflection point is calculated; the distance from the laser emitter to the reference point at each detection time point is measured.

[0032] Based on the position difference and the corresponding distance change at each detection time point, the swing angle in each time period is calculated through trigonometric relationship.

[0033] For example, the inverse cosine function Get the swing angle of the logistics box in each time period ,in is the distance from the laser transmitter to the reference point of the logistics box at the detection time point in each time period, is the position difference between the detection time point of the logistics box in each time period and the initial reflection point of the laser, is the initial distance from the laser transmitter to the reference point of the logistics box.

[0034] Accurately quantifying the swing of logistics boxes in different time periods helps to promptly detect abnormal swings and take targeted adjustment measures to improve the safety and stability of lifting.

[0035] The logistics box swing analysis module is used to obtain the swing degree of the logistics box in each time period based on the swing angle and swing speed of the logistics box in each time period, and then filter out the lifting and adjustment time periods of the logistics box.

[0036] The specific analysis method of the swing speed of the logistics box in each time period is: recording the video of the logistics box lifting process through a camera; dividing the video according to the time period to obtain video clips for each time period.

[0037] Extract multiple frames of images from video clips of different time periods at set intervals.

[0038] Image processing algorithms are used to mark the reference points of the logistics box in each frame image; the marked points of each frame image in each time period are connected to form the motion trajectory of the time period, and the trajectory length is measured.

[0039] The trajectory length is divided by the duration of the time period to obtain the swing speed of the time period.

[0040] Being able to intuitively obtain the movement trajectory of the logistics box is conducive to better understanding the dynamic changes of the logistics box, providing data support for optimizing lifting operations and ensuring cargo safety. It also facilitates monitoring and analysis of the entire lifting process, so as to continuously improve and perfect the lifting system in the future.

[0041] The specific analysis method of the logistics box swing analysis module is as follows: reading the swing angle and swing speed of the logistics box in each time period respectively, and calculating the average value of the swing angle of all time periods, and then taking the ratio of the swing angle value of the current time period to the average value as the angle relative value; taking the ratio of the swing speed value of the current time period to the preset swing speed reference value as the speed relative value;

[0042] The product is a product of a preset swing angle weight factor and a preset swing speed weight factor.

[0043] The swing degree of the product in each time period is compared with a preset swing degree threshold to screen each lifting adjustment time period of the product.

[0044] It should be noted that in a specific embodiment, the preset swing angle weight factor and the preset swing speed weight factor can be obtained by collecting corresponding historical data and analyzing by a linear regression equation, which is known to those skilled in the art, and will not be repeated here. The swing angle directly reflects the degree of deviation of the product from the stable state. A larger swing angle may indicate greater instability and potential risk, and has a more significant impact on the safety and normal transportation of the product. A faster swing speed may generate a larger kinetic energy in a short time, increasing the likelihood of accidents such as collisions. Therefore, the weights corresponding to the swing angle and the swing speed are equal.

[0045] It should be noted that the specific analysis method of each lifting adjustment time period of the product is: comparing the swing degree of the product in each time period with a preset swing degree threshold. If the swing degree of the product in a certain time period is greater than or equal to the preset swing degree threshold, it indicates that the product is excessively swinging in that time period, and the parameters of the crane need to be controlled. The time period is recorded as a lifting adjustment time period. If the swing degree of the product in a certain time period is less than the preset swing degree threshold, it indicates that the product is not excessively swinging in that time period. The analysis of each lifting adjustment time period of the product is obtained in this way.

[0046] The lifting speed control module is used to obtain the swing speed of each lifting adjustment time period of the product, so as to adjust the lifting speed of each lifting adjustment time period of the product.

[0047] Please refer to Figure 2 The specific analysis method of the lifting speed control module is: first, divide each lifting speed according to the set speed difference, and lift the product according to each lifting speed. The swing speed of the product under each lifting speed is analyzed according to the method of analyzing the swing speed of the product in each time period, and a lifting speed-swing speed curve of the product is generated accordingly. The relationship between different lifting speeds and swing speeds can be intuitively understood, which provides a basis for subsequent optimization of lifting speed, and helps to find a more suitable lifting speed to reduce swing and ensure the stability and safety of lifting.

[0048] It should be noted that the specific analysis method of the logistics box lifting speed-swing speed curve is: read the swing speed of the logistics box at each lifting speed, construct a two-dimensional coordinate system with the lifting speed as the horizontal coordinate and the swing speed of the logistics box as the vertical coordinate, and mark points in the two-dimensional coordinate system for the swing speed of the logistics box at each lifting speed, and obtain the logistics box lifting speed-swing speed curve by connecting the marked points in the two-dimensional coordinate system.

[0049] The second step is to read the lifting adjustment time periods and the swing speeds of the logistics box in each time period, and filter out the swing speeds of the logistics box in each lifting adjustment time period from the swing speeds of the logistics box in each time period. At the same time, the preset logistics box swing speed threshold is read from the management database, and the adjusted swing speed of the logistics box in each lifting adjustment time period is obtained by subtracting the swing speed of the logistics box in each lifting adjustment time period from the preset logistics box swing speed threshold. The adjusted swing speed of the logistics box in each lifting adjustment time period is substituted into the logistics box lifting speed-swing speed curve to obtain the lifting speed adjustment value of the logistics box in each lifting adjustment time period, and thereby reduce the lifting speed of the logistics box in each lifting adjustment time period; it can achieve precise adjustment of the lifting speed, better adapt to different situations, avoid the risks brought by excessive swinging, and improve the controllability of the lifting operation.

[0050] The lifting direction control module is used to obtain the swing direction of each lifting adjustment time period of the logistics box, and then filter out each lifting direction adjustment time period of the logistics box, and then adjust the angle of the lifting direction of each lifting direction adjustment time period.

[0051] See also Figure 3 As shown, the specific analysis method of the lifting direction control module is: the first step is to read the laser initial reflection point position of the logistics box and the laser reflection point position of the logistics box at each time period detection time point respectively, and filter out the laser reflection point position of the logistics box at each lifting adjustment time period detection time point, record it as the swing position point of each lifting adjustment time period of the logistics box, and compare it with the laser initial reflection point position of the logistics box to obtain the swing direction of each lifting adjustment time period of the logistics box; the swing position and swing direction of the logistics box in different time periods can be accurately determined, which is helpful to timely detect abnormal swing conditions and take countermeasures to ensure the stability of the lifting operation.

[0052] In the second step, the lifting and transportation path of the logistics box is read from the management database at the same time, and the estimated position of the monitoring time point of the logistics box in each time period is calculated according to the preset logistics box swing speed threshold, and compared with the starting position of the logistics box in the lifting and transportation path of the logistics box to obtain the transportation direction of the logistics box in each time period, and the transportation direction of the logistics box in each lifting and adjustment time period is obtained from it; it can accurately judge whether the lifting direction needs to be adjusted, improve the accuracy and timeliness of the lifting direction control, and avoid transportation problems or safety hazards caused by direction deviation.

[0053] The third step is to compare the swing direction of each lifting adjustment time period of the logistics box with the transportation direction of each lifting adjustment time period of the logistics box. If the swing direction of a lifting adjustment time period of the logistics box is consistent with the transportation direction of the corresponding lifting adjustment time period, it means that the lifting direction of the logistics box in this lifting adjustment time period does not need to be adjusted; otherwise, it means that the lifting direction of the logistics box in this lifting adjustment time period needs to be adjusted. The lifting adjustment time period is recorded as the lifting direction adjustment time period, and the lifting direction adjustment time periods of the logistics box are obtained by analysis. This can achieve comprehensive monitoring and precise adjustment of the lifting process of the logistics box, improve the efficiency and safety of the entire logistics transportation process, reduce losses and risks caused by direction problems, and at the same time, provide strong data support and decision-making basis for optimizing logistics transportation processes and improving management levels.

[0054] The specific analysis method for adjusting the angle of the lifting direction in each lifting direction adjustment time period is: reading the swing direction of the logistics box in each lifting direction adjustment time period, and at the same time reading the swing angle of the logistics box in each time period, screening out the swing angle of the logistics box in each lifting direction adjustment time period, and moving the logistics box to the lifting direction of each lifting direction adjustment time period according to the swing angle of the logistics box in each lifting direction adjustment time period by a corresponding angle; the swing direction of the logistics box can be corrected more accurately, ensuring that it moves in the desired direction, and reducing the instability and risk caused by the deviation of the swing direction.

[0055] The expansion and contraction analysis module is used to obtain the swing amplitude and frequency of the logistics box, analyze the expansion and contraction required by the shock-absorbing hook, and adjust the expansion and contraction amount of the shock-absorbing hook.

[0056] The specific analysis method of the expansion and contraction analysis module is as follows: read the swing angle of the logistics box in each time period, select the maximum and minimum values ​​respectively, and obtain the swing amplitude of the logistics box by taking the difference, which is recorded as , use the laser rangefinder to obtain the length of the lifting rope of the logistics box in real time at each time period , and based on the simple pendulum frequency calculation formula Get the swing frequency of the logistics box ,in Indicates the number of time periods, represents the acceleration due to gravity, Represents pi, and calculates the swing force based on the centripetal force model principle. The specific formula is Get the swing force of the logistics box , A proportional constant representing the preset swing strength, Express the weight of the logistics box using Hooke's law Get the required extension and contraction of the shock-absorbing hook , It indicates the preset swing force and the elastic coefficient of the shock-absorbing hook, thereby adjusting the expansion and contraction amount of the shock-absorbing hook; it can accurately determine the expansion and contraction amount required for the shock-absorbing hook, thereby achieving effective buffering and shock absorption of the swing of the logistics box, ensuring the stability of the transportation process, and better protecting the logistics box and goods, extending the service life of the equipment.

[0057] It should be noted that the preset proportional constant of the swing force Obtained through experimental calibration. For example, in a windless environment, a logistics box with a known weight M is subjected to controlled swinging. The swing force F is measured by a force sensor, and the proportional constant of the swing force is inferred by combining the formula. , after multiple working condition tests, the average value is taken as the proportional constant of the preset swing force .

[0058] The wind speed impact analysis module is used to detect the degree of swing of the logistics box in a windless environment and at various wind speed environments, thereby analyzing the influence coefficient of wind speed on the swing of the logistics box and providing feedback.

[0059] The specific analysis method for the swing degree of the logistics box in a windless environment and in various wind speed environments is: according to the set wind speed, the windless environment and the different wind speed environments are simulated respectively, which are recorded as a windless environment and various wind speed environments respectively, and the logistics box is hoisted at the same lifting speed. The swing degree of the logistics box in each time period is analyzed according to the method of analyzing the swing degree of the logistics box in each time period to obtain the swing degree baseline value in a windless environment and the swing degree value in each wind speed environment respectively; it helps to fully understand the impact of different environmental conditions on the swing of the logistics box, and provide a more targeted reference for actual operation, so that appropriate measures can be taken to control the swing in different environments.

[0060] The specific analysis method of the wind speed impact analysis module is: respectively calculating the relative deviation between the swing degree value under each wind speed environment and the swing degree baseline value under a windless environment, and obtaining the arithmetic mean of the relative deviations of all wind speed environments, thereby obtaining the wind speed influence coefficient on the swing of the logistics box, and feeding it back to the system; it can quantify the degree of influence of wind speed on the swing of the logistics box, so that operators can clearly understand the importance of the wind speed factor, thereby better responding to different wind speed conditions in actual operations and improving the safety and reliability of operations.

[0061] The management database is used to store the preset logistics box swing speed threshold and the logistics box lifting and transportation path.

[0062] This system obtains the degree of swing of the logistics box in each time period based on the swing angle and swing speed analysis of the logistics box in each time period, and adjusts the lifting speed and lifting direction of the logistics box in each lifting adjustment time period. By obtaining the swing amplitude and swing frequency of the logistics box, the required extension and contraction amount of the shock-absorbing hook is analyzed, and the extension and contraction amount of the shock-absorbing hook is adjusted. By detecting the swing degree of the logistics box in a windless environment and at various wind speed environments, the influence coefficient of wind speed on the swing of the logistics box is analyzed and fed back. The lifting speed and lifting direction can be adjusted more accurately, which helps to improve the stability and safety of logistics transportation and reduce the risk of damage to goods during lifting.

[0063] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention, which are still covered by the scope of protection of the present invention.

Claims

1. A logistics box lifting system for freight logistics that prevents excessive swinging, characterized in that: include: The logistics box dynamic capture module detects the swing angle and swing speed of the logistics box in each time period; The logistics box swing analysis module obtains the swing degree of each time period based on the swing angle and swing speed analysis, and selects the lifting adjustment time period accordingly; a lifting speed control module for obtaining the swing speed during the lifting adjustment period, and adjusting the lifting speed during the lifting adjustment period accordingly; The lifting direction control module obtains the swing direction of the lifting adjustment time period, selects the lifting direction adjustment time period, and adjusts the lifting direction angle of each lifting direction adjustment time period; The expansion and contraction analysis module obtains the swing amplitude and frequency of the logistics box, analyzes the expansion and contraction required by the shock-absorbing hook, and adjusts the expansion and contraction of the shock-absorbing hook accordingly; The wind speed impact analysis module detects the degree of swing of the logistics box in a windless environment and in environments with different wind speeds, analyzes the influence coefficient of wind speed on the swing of the logistics box and provides feedback; The specific analysis method of the swing angle of the logistics box in each time period is as follows: Divide the lifting process of the logistics box into several equal-length time periods according to the set duration, recorded as each time period, and select a detection point on the logistics box, recorded as the reference point; When the logistics box is stationary, a laser transmitter is used to transmit a laser to the reference point of the logistics box, and the position of the reflected point of the laser is obtained, which is recorded as the initial reflection point position of the laser of the logistics box. The three-dimensional coordinates of the initial reflection point position of the laser are also recorded, and the initial distance from the laser transmitter to the reference point of the logistics box is also recorded; At the detection time point at the end of each time period, the laser is emitted to the reference point again, the three-dimensional coordinates of the reflection point at each detection time point are recorded, and the position difference between the coordinates of the reflection point at each detection time point and the coordinates of the initial reflection point is calculated; Measure the distance from the laser transmitter to the reference point at each detection time point; Based on the position difference and the corresponding distance change at each detection time point, the swing angle in each time period is calculated through trigonometric relationship; The specific analysis method of the lifting direction control module is as follows: The first step is to read the initial laser reflection point position of the logistics box and the laser reflection point position of the logistics box at each time period detection time point, and filter out the laser reflection point position of the logistics box at each lifting and adjustment time period detection time point, record it as the swing position point of the logistics box in each lifting and adjustment time period, and compare it with the initial laser reflection point position of the logistics box to obtain the swing direction of the logistics box in each lifting and adjustment time period; In the second step, the lifting and transportation path of the logistics box is read from the management database at the same time. The estimated position of the logistics box at each monitoring time point in each time period is calculated based on the preset logistics box swing speed threshold. The estimated position is compared with the starting position of the logistics box in the lifting and transportation path of the logistics box to obtain the transportation direction of the logistics box in each time period. From this, the transportation direction of the logistics box in each lifting and adjustment time period is obtained; The third step is to compare the swing direction of each lifting adjustment time period of the logistics box with the transportation direction of each lifting adjustment time period of the logistics box. If the swing direction of a lifting adjustment time period of the logistics box is consistent with the transportation direction of the corresponding lifting adjustment time period, it means that the lifting direction of the logistics box in this lifting adjustment time period does not need to be adjusted. Otherwise, it means that the lifting direction of the logistics box in this lifting adjustment time period needs to be adjusted. The lifting adjustment time period is recorded as the lifting direction adjustment time period, and the lifting direction adjustment time periods of the logistics box are obtained by analysis.

2. The anti-excessive swing freight logistics box lifting system according to claim 1 is characterized in that: The specific analysis method of the swing speed of the logistics box in each time period is: Record the logistics box lifting process video through a camera; divide the video according to the time period to obtain video clips for each time period; Extract multiple frames of images from video clips of each time period at set intervals; Use image processing algorithms to mark the reference points of the logistics box in each frame image; connect the marked points of each frame image in each time period to form the motion trajectory of that time period, and measure the trajectory length; The trajectory length is divided by the duration of the time period to obtain the swing speed of the time period.

3. The anti-excessive swing freight logistics box lifting system according to claim 2 is characterized in that: The specific analysis method of the logistics box swing analysis module is: Read the swing angle and swing speed in each time period; Calculating the degree of swing in each time period based on the swing angle, the swing speed, a preset swing angle weight factor, the swing speed weight factor, the swing speed reference value, and the number of time periods; The swing degree of each time period is compared with a preset swing degree threshold, and the time period in which the swing degree exceeds the threshold is selected as the lifting adjustment time period.

4. The anti-excessive swing freight logistics box lifting system according to claim 3 is characterized in that: The specific analysis method of the lifting speed control module is: The first step is to divide the lifting speeds into different categories according to the set speed difference, and then lift the logistics box according to each lifting speed. The swing speed of the logistics box at each lifting speed is analyzed by analyzing the swing speed of the logistics box in each time period, and the lifting speed-swing speed curve of the logistics box is generated based on this. The second step is to read the lifting adjustment time periods and the swing speeds of the logistics box in each time period, and filter out the swing speeds of the logistics box in each lifting adjustment time period from the swing speeds of the logistics box in each time period. At the same time, read the preset logistics box swing speed threshold from the management database, and obtain the adjusted swing speed of the logistics box in each lifting adjustment time period by subtracting the swing speed of the logistics box in each lifting adjustment time period from the preset logistics box swing speed threshold. Substitute it into the logistics box lifting speed-swing speed curve to obtain the lifting speed adjustment value of the logistics box in each lifting adjustment time period, and thereby reduce the lifting speed of the logistics box in each lifting adjustment time period.

5. The anti-excessive swing freight logistics box lifting system according to claim 4 is characterized in that: The specific analysis method for adjusting the angle of the lifting direction in each lifting direction adjustment time period is as follows: Read the swing direction of the logistics box in each lifting direction adjustment time period, and at the same time read the swing angle of the logistics box in each time period, filter out the swing angle of the logistics box in each lifting direction adjustment time period, and move the logistics box to the lifting direction of each lifting direction adjustment time period according to the swing angle of the logistics box in each lifting direction adjustment time period. The corresponding angle.

6. The anti-excessive swing freight logistics box lifting system according to claim 1 is characterized in that: The specific analysis method of the expansion and contraction analysis module is as follows: Read the swing angle in each time period, find the maximum and minimum values ​​and calculate the difference to get the swing amplitude; obtain the rope length in real time through the laser ranging device Read the rope length in each time period and calculate the swing frequency based on the number of time periods, gravity acceleration and pi; Calculate the swing force of the logistics box based on the swing amplitude, swing frequency, rope length, preset swing force proportional constant and logistics box weight; According to the swing force and the preset elastic coefficient of the shock-absorbing hook, the required expansion and contraction amount of the shock-absorbing hook is calculated using Hooke's law and adjusted accordingly.

7. The anti-excessive swing freight logistics box lifting system according to claim 1 is characterized in that: The specific analysis method for the swing degree of the logistics box under the windless environment and various wind speed environments is as follows: According to the set wind speed, the environments of no wind and different wind speeds are simulated respectively, which are recorded as no wind environment and various wind speed environments respectively. The logistics box is hoisted at the same lifting speed, and the swing degree of the logistics box in the no wind environment and various wind speed environments is analyzed according to the method of analyzing the swing degree of the logistics box in each time period.

8. The anti-excessive swing logistics box lifting system for freight logistics according to claim 7 is characterized in that: The specific analysis method of the wind speed impact analysis module is: Read the degree of swing in a windless environment and at various wind speed environments; based on the number of wind speed environments and the ratio of the degree of swing in each wind speed environment to the degree of swing in a windless environment, calculate the coefficient of influence of wind speed on the swing of the logistics box and provide feedback.

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