CN113135497B - Box unloading method, system, equipment and storage medium for automatic alignment of integrated card and crane - Google Patents
Box unloading method, system, equipment and storage medium for automatic alignment of integrated card and crane Download PDFInfo
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- CN113135497B CN113135497B CN202110512677.3A CN202110512677A CN113135497B CN 113135497 B CN113135497 B CN 113135497B CN 202110512677 A CN202110512677 A CN 202110512677A CN 113135497 B CN113135497 B CN 113135497B
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 30
- 230000003993 interaction Effects 0.000 claims abstract description 8
- 230000032258 transport Effects 0.000 claims description 3
- 230000006870 function Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention provides a box unloading method, a system, equipment and a storage medium for automatic alignment of a collection card and a crane, wherein the method comprises the following steps: positioning interaction is carried out through the alignment sensors on the two sides of the vehicle body of the collector card and the alignment sensors between the two legs of the container crane, and the vehicle body reaches a box unloading starting position; starting a point cloud sensor behind the headstock to scan the end face of the container to the rear of the headstock to obtain point cloud data; when a vertical plane is fitted in a space range corresponding to a vehicle body according to the point cloud data to obtain the position of the end face of the container, detecting the horizontal distance G between the end face of the container and the point cloud sensor; obtaining a displacement adjustment distance S of the collecting card; and after the collector card is adjusted according to the displacement adjustment distance, the container crane descends to hoist the container. The invention can realize the cooperation loading and unloading operation of the unmanned collecting card and the unmanned gantry crane, and improves the loading and unloading efficiency of the unmanned wharf.
Description
Technical Field
The invention relates to the field of alignment of a collection card, in particular to a box unloading method, a system, equipment and a storage medium for automatic alignment of the collection card and a crane in a crane container operation scene.
Background
The bridge crane business of the yard bridge and the quay bridge is the core mechanical operation of the container terminal, wherein the speed and the safety of the lifting appliance for loading and unloading containers from the collection truck directly affect the operation efficiency of the whole terminal. The conventional method needs to make the truck driver repeatedly move the truck back and forth through visual inspection to finish alignment of the truck and the lifting appliance. However, with economic lifting, the area of the container terminal is enlarged, the workload is increased sharply, the operation fatigue and negligence of a driver are increased, and meanwhile, the collision among a lifting appliance, a container and a collector is difficult to avoid completely, equipment is damaged, and a plurality of potential safety hazards are brought. Meanwhile, the manual alignment reduces the container loading and unloading speed, greatly influences the operation efficiency, and a simple and effective automatic alignment technology for the collection card, which is suitable for all-condition operation and does not depend on manual judgment, is urgently needed.
Therefore, the invention provides a box unloading method, a system, equipment and a storage medium for automatic alignment of a card collector and a crane.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide a box unloading method, a system, equipment and a storage medium for automatically aligning a collecting card and a crane, which overcome the difficulty in the prior art, can realize the matching loading and unloading operation of an unmanned collecting card and an unmanned portal crane, well satisfy the aligning function of the collecting card and greatly improve the unmanned loading and unloading precision and efficiency of the collecting card container.
The embodiment of the invention provides a box unloading method for automatically aligning a collecting card with a crane, which comprises the following steps of:
s110, positioning interaction is carried out between the alignment sensors on two sides of the vehicle body of the collector card and the alignment sensors between two legs of the container crane, and the vehicle body reaches a box unloading starting position;
s120, starting a point cloud sensor behind a vehicle head to scan the end face of the container to the rear of the vehicle head to obtain point cloud data;
s130, when a vertical plane is fitted in a space range corresponding to a vehicle body according to the point cloud data to obtain the position of the end face of the container, detecting the horizontal distance G between the end face of the container and the point cloud sensor;
s140, obtaining a displacement adjustment distance S of the collector card, wherein S=G-G ', G' is a horizontal distance between a vertical plane fitted by the point cloud sensor and the point cloud sensor when the preset collector card is positioned at a box unloading starting position and a perpendicular bisector of a preset container in the length direction is positioned at a hoisting starting position of the container crane;
and S160, after the collector card is adjusted according to the displacement adjustment distance, the container crane descends and lifts the container.
Preferably, the alignment sensor at least comprises linear laser sensors respectively arranged at two sides of the vehicle body, and the alignment sensors respectively irradiate to two sides along the width of the vehicle body.
Preferably, in step S110, the method further includes the step of sending, by the truck, the length dimension Y of the container loaded by the truck, and the alignment compensation distance X, where the alignment compensation distance x= (Y-W)/2, W is the length dimension of the preset container, to the container crane.
Preferably, the point cloud sensor is a laser point cloud sensor, and is disposed at an upper portion of one side of the vehicle head cab facing away from the vehicle advancing direction.
Preferably, in the step S130, a virtual vertical plane uniquely representing the end face of the closest container is established in the coordinate system of the point cloud sensor, and a plane with the smallest sum of distances from each point in the point cloud data to the virtual vertical plane is used as the end face of the container.
Preferably, in step S140, the header card receives a horizontal distance G' when the preset header card is unloaded, which is wirelessly transmitted by the alignment sensor of the container crane; or alternatively
The container crane is characterized in that the container is pre-stored with a horizontal spacing G' when the container is unloaded by the container pre-stored with the container.
Preferably, step S150 is further included after step S140 and before step S160, where the alignment adjustment distance S is compensated by the alignment compensation distance X, and s=s+x.
Preferably, in the step S160, the container crane adjusts the length of the spreader according to the length dimension Y of the container currently unloaded.
Preferably, the container crane unloads the containers one by one from the head to the tail, and the step S160 is followed by returning to the step S120.
Preferably, the predetermined container is a 20 foot standard container adjacent to the head of the vehicle when the header card transports two 20 foot standard containers.
Preferably, the method further comprises step S170, wherein the point cloud sensors are time-division multiplexed, when the vehicle speed of the collector card is greater than a preset threshold value and the collector card is empty, the subsequent vehicle is identified by scanning the point cloud data behind the vehicle through the laser sensor behind the vehicle head, the distance of the subsequent vehicle is identified, and when the distance is smaller than the preset distance, the brake lamp is started to warn.
The embodiment of the invention also provides a box unloading system for automatically aligning the collector and the crane, which is used for realizing the box unloading method for automatically aligning the collector and the crane, and comprises the following steps:
the vehicle body alignment module performs positioning interaction between alignment sensors on two sides of a vehicle body of the collector card and alignment sensors between two legs of the container crane, and the vehicle body reaches a box unloading starting position;
the point cloud scanning module starts a point cloud sensor behind a vehicle head to scan the end face of the container to the rear of the vehicle head to obtain point cloud data;
the plane fitting module is used for carrying out plane fitting of a vertical plane in a space range corresponding to a vehicle body according to the point cloud data to obtain the position of the end face of the container, and obtaining the horizontal distance G between the end face of the container and the point cloud sensor;
the interval matching module is used for obtaining the displacement adjustment distance S of the collector card, wherein S=G-G ', G' is the horizontal interval between the vertical plane fitted by the point cloud sensor and the point cloud sensor when the preset collector card is positioned at the unloading starting position and the center line of the preset container in the length direction is positioned at the hoisting starting position of the container crane;
and the container crane descends to hoist the container after the container loading and unloading module is lifted and the collector card is adjusted according to the displacement adjustment distance.
Preferably, the displacement compensation module compensates the displacement adjustment distance S by the alignment compensation distance X, s=s+x, and the header card sends the length dimension Y of the container loaded by the header card and the alignment compensation distance X to the container crane, where the alignment compensation distance x= (Y-W)/2, W is the length dimension of the preset container.
The embodiment of the invention also provides box unloading equipment for automatically aligning the collecting card and the crane, which comprises the following components:
a processor;
a memory having stored therein executable instructions of a processor;
the processor is configured to execute the steps of the box unloading method for automatically aligning the integrated card and the crane by executing the executable instructions.
The embodiment of the invention also provides a computer readable storage medium for storing a program, and the program is executed to realize the steps of the box unloading method for automatically aligning the integrated card with the crane.
The automatic alignment box unloading method, system, equipment and storage medium for the integrated card and the crane can realize the matching loading and unloading operation of the unmanned integrated card and the unmanned gantry crane, well meet the alignment function of the integrated card and greatly improve the unmanned loading and unloading precision and efficiency of the integrated card container.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the following drawings.
FIG. 1 is a flow chart of a method for automatically aligning an elevator with a truck and unloading a box according to the present invention.
Fig. 2 to 8 are schematic views of an implementation process of the automatic alignment and box unloading method of the truck and crane according to the present invention.
FIG. 9 is a schematic diagram of the automated aligned bin discharge system of the invention.
FIG. 10 is a schematic diagram of the automatic alignment of the truck and crane of the present invention with respect to the bin discharge apparatus. And
Fig. 11 is a schematic structural view of a computer-readable storage medium according to an embodiment of the present invention.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus a repetitive description thereof will be omitted.
FIG. 1 is a flow chart of a method for automatically aligning an elevator with a truck and unloading a box according to the present invention. As shown in fig. 1, an embodiment of the present invention provides a method for unloading a bin with an automatic alignment between a collector and a crane, where a lifting appliance in the embodiment is an unmanned gantry crane, and the collector is an unmanned collector, but not limited thereto, and the method of the present invention includes the following steps:
s110, positioning interaction is carried out between the alignment sensors on two sides of the vehicle body of the collector card and the alignment sensors between two legs of the container crane, and the vehicle body reaches a box unloading starting position.
And S120, starting a point cloud sensor behind the headstock to scan the end face of the container to the rear of the headstock to obtain point cloud data.
S130, when the plane fitting of a vertical plane is carried out in a space range corresponding to the vehicle body according to the point cloud data, the position of the end face of the container is obtained, and the horizontal distance G between the end face of the container and the point cloud sensor is detected.
And S140, obtaining a displacement adjustment distance S of the collector card, wherein S=G-G ', and G' is the horizontal distance between a vertical plane fitted by the point cloud sensor and the point cloud sensor when the preset collector card is positioned at a box unloading starting position and a perpendicular bisector of the preset container in the length direction is positioned at a hoisting starting position of the container crane.
S150, compensating the alignment adjustment distance S by the alignment compensation distance X, s=s+x.
And S160, after the collector card is adjusted according to the displacement adjustment distance, the container crane descends to hoist the container.
In a preferred embodiment, the alignment sensor at least includes linear laser sensors respectively disposed at two sides of the vehicle body, and irradiates to two sides along the width of the vehicle body, but not limited thereto.
In a preferred embodiment, in step S110, the method further includes the step of sending, by the header card, the length dimension Y of the container loaded by the header card and the alignment compensation distance X, where the alignment compensation distance x= (Y-W)/2, W is the length dimension of the preset container, but not limited thereto.
In a preferred embodiment, the point cloud sensor is a laser point cloud sensor, which is disposed at an upper portion of a side of the cab facing away from the vehicle forward direction, but not limited thereto.
In a preferred embodiment, in step S130, a virtual vertical plane uniquely representing the end face of the closest container is established in the coordinate system of the point cloud sensor, and a plane with the smallest sum of distances from each point in the point cloud data to the virtual vertical plane is used as the end face of the container, but not limited thereto.
In a preferred embodiment, in step S140, the header receives a horizontal spacing G' at the time of unloading the preset header wirelessly transmitted by the alignment sensor of the container crane. Or the horizontal spacing G 'of the container crane when the container is unloaded by the preset container is prestored in the container, but the method is not limited to the horizontal spacing G'.
In a preferred embodiment, in step S160, the container crane adjusts the length of the spreader according to the length dimension Y of the container currently unloaded, but not limited thereto.
In a preferred embodiment, the container crane unloads the containers one by one from the head to the tail, and the step S160 is followed by returning to the step S120, but not limited thereto.
In a preferred embodiment, the predetermined container is, but not limited to, a 20 foot standard container adjacent the nose of the truck when the truck is transporting two 20 foot standard containers.
In a preferred embodiment, the method further includes step S170, in which the point cloud sensor is time-division multiplexed, when the vehicle speed of the cluster card is greater than a preset threshold and the cluster card is empty, the laser sensor behind the vehicle head and the back scans the point cloud data behind the vehicle, the comparison of the point cloud database identifies the following vehicle, the preset distance from the laser sensor to the vehicle tail is G ", and the distance between the following vehicle and the laser sensor is G is detected, so as to obtain the real-time distance p= (G-G") from the following vehicle. Through discernment to the distance of follow-up vehicle, when real-time distance P= (G-G ") is less than the safe preset distance Q that the current album of truck speed of safety that the current album of truck speed corresponds, initiatively start the brake lamp at automobile body afterbody and warn (this moment the car does not brake), follow-up vehicle sees behind the brake lamp speed reduction, and both superimposed effect can pull open safe distance more soon, avoids the danger of bumping into the car.
The automatic alignment box unloading method for the collector and the crane can realize the matching loading and unloading operation of the unmanned collector and the unmanned gantry crane, well meet the alignment function of the collector and greatly improve the unmanned loading and unloading precision and efficiency of the collector container.
Fig. 2 to 8 are schematic views of an implementation process of the automatic alignment and box unloading method of the truck and crane according to the present invention. As shown in fig. 2 to 7, the implementation process of the automatic alignment box unloading method of the integrated card and the crane is as follows:
referring to fig. 2 and 3, the unmanned truck 1 is loaded with two 20-foot standard containers 21 and 22 and driven to the unmanned gantry crane 3, the unmanned truck 1 irradiates to two sides along the wide width of the vehicle body through linear laser sensors 11 on two sides of the vehicle body respectively, and performs positioning interaction with sensors 31 between two legs of the unmanned gantry crane 3, so that the vehicle body of the unmanned truck 1 reaches a box unloading position. The method comprises the steps that an integrated card sends the length dimension Y and the alignment compensation distance X of a container loaded by the integrated card to a container crane, wherein the alignment compensation distance X= (Y-W)/2, W is the length dimension of a preset container, and the unmanned integrated card 1 receives the horizontal distance G' when the preset integrated card is unloaded from an alignment sensor of the container crane in a wireless mode.
Referring to fig. 4, an unmanned pallet is pre-stored with two 20 foot containers 21, 22 loaded and the length W1 of the spreader 4 of the crane 3 is first adjusted to match the length of the 20 foot container 21 when the spreader 4 of the crane 3 is unloaded. When a vehicle body arrives at a box unloading starting position A, and a lifting starting position D at which a center line of a first 20-foot container in the 21 length direction is positioned is used for box unloading, under the standard box unloading state, the horizontal distance between the end face C ' of the container measured by the laser point cloud sensor and the point cloud sensor, and the horizontal distance G ' when the container is unloaded by a preset card collection of the container crane are measured, wherein B is the vertical face where the laser point cloud sensor is positioned, and the horizontal distance when the obtained container is unloaded by the card collection of the container crane is used as the horizontal distance G ' when the container is unloaded by the preset card collection of the container crane.
Referring to fig. 5, the container crane unloads the containers one by one from the front to the rear of the vehicle, and when the vehicle body of the unmanned truck 1 arrives at the unloading start position a, the hoisting start position D where the perpendicular bisector in the length direction is located unloads the containers, and when the unmanned truck 1 starts the laser point cloud sensor 12 behind the front, the laser point cloud sensor 12 is disposed on the upper part of one side of the front cab away from the vehicle forward direction, and the laser point cloud sensor can scan the rear container of the front to obtain point cloud data. Performing plane fitting in a space range corresponding to the vehicle body according to the point cloud data to obtain a distance between a fitted plane and the point cloud sensor, for example: and establishing a virtual vertical plane which uniquely represents the end face of the closest container in the coordinate system of the point cloud sensor, and taking the plane with the minimum sum of the distances from each point in the point cloud data to the virtual vertical plane as the end face C of the container, but the method is not limited to the method. The present invention may also use existing or future plane fitting methods based on the laser point cloud sensor 12, and will not be described in detail herein. And detecting the horizontal distance G between the end face of the container and the point cloud sensor. Since g=g', the displacement adjustment distance S of the first 20-foot container 21 is 0, and the spreader 4 of the crane 3 directly performs the discharging of the first 20-foot container 21.
Then, referring to fig. 6, when the second 20-foot standard container 22 of the unmanned set card 1 is used, the unmanned set card 1 starts the laser point cloud sensor 12 behind the vehicle head again, the laser point cloud sensor 12 is arranged at the upper part of one side of the vehicle head cab, which is away from the vehicle advancing direction, and the laser point cloud sensor can scan the rear container of the vehicle head to obtain point cloud data. Performing plane fitting in a space range corresponding to the vehicle body according to the point cloud data to obtain a distance between a fitted plane and the point cloud sensor, for example: and establishing a virtual vertical plane which uniquely represents the end face of the closest container in the coordinate system of the point cloud sensor, taking the plane with the minimum sum of distances from each point in the point cloud data to the virtual vertical plane as the end face C of the container, and detecting the horizontal distance G between the end face of the container and the point cloud sensor. The displacement adjustment distance S between the positions of the center line E of the 20-foot container in the 22-length direction and the lifting start position D is equal to the position of the end face C 'of the container in the standard unloading state, that is, s=g-G'. After the unmanned aerial vehicle 1 adjusts according to displacement adjustment distance S=G-G', the lifting appliance 4 of the crane 3 lifts the second 20-foot container 22, and automatic unloading of the two 20-foot containers is completed. And (5) after the 20-foot container is unloaded, the point cloud sensor can not acquire a virtual vertical plane any more, and the process is finished.
In a variation, referring to fig. 7, the unmanned pallet 11 is loaded with a 40 feet standard container 23 and driven to the unmanned gantry crane 3, the pallet transmits the length dimension Y (y=40 feet) of the pallet loaded container to the container crane, the alignment compensation distance X, W is the length dimension (w=20 feet) of the preset container, the alignment compensation distance x= (Y-W)/2= (40-20)/2=10 feet, and the unmanned pallet 1 receives the horizontal spacing G' when the preset pallet is unloaded wirelessly transmitted by the alignment sensor of the container crane. The unmanned integrated card 1 starts the laser point cloud sensor 12 behind the locomotive, and the laser point cloud sensor 12 sets up in the upper portion of the one side that the locomotive driver's cabin deviates from the vehicle direction of advance, and the laser point cloud sensor can obtain the point cloud data to the rear container scanning of locomotive. Performing plane fitting in a space range corresponding to the vehicle body according to the point cloud data to obtain a distance between a fitted plane and the point cloud sensor, for example: and establishing a virtual vertical plane which uniquely represents the end face of the closest container in the coordinate system of the point cloud sensor, taking the plane with the minimum sum of distances from each point in the point cloud data to the virtual vertical plane as the end face C of the container, and detecting the horizontal distance G between the end face of the container and the point cloud sensor. The displacement adjustment distance s=g-G ', and since the overall length of the 40-foot standard container 23 is different from the preset 20-foot container (see fig. 4), compensation is also required, in this embodiment, by compensating the displacement adjustment distance S by the displacement compensation distance X (10 feet), s=s+x=g-G' +10. After the unmanned aerial vehicle 1 is adjusted according to the displacement adjustment distance S=G-G' +10, the unmanned gantry crane 3 adjusts the length of the lifting appliance 4 according to the length dimension Y (Y=40 feet) of the container of the current unloading box, and the unmanned gantry crane 3 descends to lift the container.
In another embodiment, referring to fig. 8, the point cloud sensor in the present invention may be time-division multiplexed, when the vehicle speed of the unmanned cluster card 1 is greater than a preset threshold and the cluster card is empty, the laser sensor behind the vehicle head and the back scans the point cloud data behind the vehicle, and the comparison of the point cloud database identifies the following vehicle 15, the preset distance from the laser sensor to the vehicle tail is G ", and when the distance between the following vehicle and the laser sensor is G, the real-time distance between the following vehicle and the laser sensor is p= (G-G") is obtained. Through discernment to the distance of follow-up vehicle, when real-time distance P= (G-G ") is less than the safe preset distance Q that current album truck speed corresponds, initiatively starts the brake lamp at automobile body afterbody and warn (this moment the car does not brake), and the follow-up vehicle sees behind the brake lamp speed reduction, and both superimposed effects can pull apart safe distance more soon, avoids the danger of bumping into the car.
FIG. 9 is a schematic diagram of the automated aligned bin discharge system of the invention. As shown in fig. 9, the embodiment of the present invention further provides a box unloading system 5 for automatically aligning an elevator with an elevator, for implementing the box unloading method for automatically aligning an elevator with an elevator, where the box unloading system for automatically aligning an elevator with an elevator includes:
the car body alignment module 51 performs positioning interaction with the alignment sensors between the two sides of the car body of the collector card and the alignment sensors between the two legs of the container crane, and the car body reaches the unloading starting position.
The point cloud scanning module 52 starts a point cloud sensor behind the headstock to scan the end face of the container to the rear of the headstock to obtain point cloud data.
The plane fitting module 53 performs plane fitting of a vertical plane in a space range corresponding to the vehicle body according to the point cloud data to obtain the position of the end face of the container, and obtains the horizontal distance G between the end face of the container and the point cloud sensor.
The distance matching module 54 obtains the displacement adjustment distance S of the set card, where s=g-G ', G' is the horizontal distance between the point cloud sensor and the vertical plane after fitting of the point cloud sensor when the preset set card is located at the unloading start position and the perpendicular bisector of the preset container in the length direction is located at the hoisting start position of the container crane.
The displacement compensation module 55 compensates the displacement adjustment distance S by the alignment compensation distance X, s=s+x, and the header sends the length dimension Y of the container loaded by the header and the alignment compensation distance X, where the alignment compensation distance x= (Y-W)/2, W is the length dimension of the preset container to the container crane.
And a lifting and loading box module 56, wherein the container crane descends to lift the container after the collector card is adjusted according to the displacement adjustment distance.
The automatic alignment box unloading system for the collector card and the crane can realize the matching loading and unloading operation of the unmanned collector card and the unmanned gantry crane, well meet the alignment function of the collector card, and greatly improve the unmanned loading and unloading precision and efficiency of the collector card container.
The embodiment of the invention also provides box unloading equipment for automatically aligning the collecting card and the crane, which comprises a processor. A memory having stored therein executable instructions of a processor. The processor is configured to execute the steps of the box unloading method for automatically aligning the integrated card and the crane by executing the executable instructions.
As above, the automatic alignment box unloading equipment for the collector card and the crane can realize the matching loading and unloading operation of the unmanned collector card and the unmanned gantry crane, well meet the alignment function of the collector card, and greatly improve the unmanned loading and unloading precision and efficiency of the collector card container.
Those skilled in the art will appreciate that the various aspects of the invention may be implemented as a system, method, or program product. Accordingly, aspects of the invention may be embodied in the following forms, namely: an entirely hardware embodiment, an entirely software embodiment (including firmware, micro-code, etc.) or an embodiment combining hardware and software aspects may be referred to herein as a "circuit," module "or" platform.
FIG. 10 is a schematic diagram of the automatic alignment of the truck and crane of the present invention with respect to the bin discharge apparatus. An electronic device 600 according to this embodiment of the invention is described below with reference to fig. 10. The electronic device 600 shown in fig. 10 is merely an example, and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.
As shown in fig. 10, the electronic device 600 is in the form of a general purpose computing device. Components of electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one memory unit 620, a bus 630 connecting the different platform components (including memory unit 620 and processing unit 610), a display unit 640, etc.
Wherein the storage unit stores program code executable by the processing unit 610 such that the processing unit 610 performs the steps according to various exemplary embodiments of the present invention described in the above-described electronic prescription flow processing method section of the present specification. For example, the processing unit 610 may perform the steps as shown in fig. 1.
The storage unit 620 may include readable media in the form of volatile storage units, such as Random Access Memory (RAM) 6201 and/or cache memory unit 6202, and may further include Read Only Memory (ROM) 6203.
The storage unit 620 may also include a program/utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.
Bus 630 may be a local bus representing one or more of several types of bus structures including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or using any of a variety of bus architectures.
The electronic device 600 may also communicate with one or more external devices 700 (e.g., keyboard, pointing device, bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 600, and/or any device (e.g., router, modem, etc.) that enables the electronic device 600 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 650. Also, electronic device 600 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet, through network adapter 660. The network adapter 660 may communicate with other modules of the electronic device 600 over the bus 630. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with electronic device 600, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage platforms, and the like.
The embodiment of the invention also provides a computer readable storage medium for storing a program, and the method for unloading the bin of the automatic alignment of the integrated card and the crane is realized when the program is executed. In some possible embodiments, the aspects of the present invention may also be implemented in the form of a program product comprising program code for causing a terminal device to carry out the steps according to the various exemplary embodiments of the invention as described in the electronic prescription stream processing method section of this specification, when the program product is run on the terminal device.
As described above, when the program of the computer readable storage medium of the embodiment is executed, the cooperation loading and unloading operation of the unmanned truck and the unmanned gantry crane can be realized, the truck alignment function can be well satisfied, and the unmanned loading and unloading precision and efficiency of the truck container can be greatly improved.
Fig. 11 is a schematic structural view of a computer-readable storage medium of the present invention. Referring to fig. 11, a program product 800 for implementing the above-described method according to an embodiment of the present invention is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable storage medium may also be any readable medium that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).
In conclusion, the automatic alignment box unloading method, system, equipment and storage medium for the integrated card and the crane can realize the matching loading and unloading operation of the unmanned integrated card and the unmanned gantry crane, well meet the integrated card alignment function and greatly improve the unmanned loading and unloading precision and efficiency of the integrated card container.
The foregoing is a further detailed description of the invention in connection with the preferred embodiments, and it is not intended that the invention be limited to the specific embodiments described. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the invention, and these should be considered to be within the scope of the invention.
Claims (15)
1. The box unloading method for automatically aligning the collection card and the crane is characterized by comprising the following steps of:
s110, positioning interaction is carried out between the alignment sensors on two sides of the vehicle body of the collector card and the alignment sensors between two legs of the container crane, and the vehicle body reaches a box unloading starting position;
s120, starting a point cloud sensor behind a vehicle head to scan the end face of the container to the rear of the vehicle head to obtain point cloud data;
s130, when a vertical plane is fitted in a space range corresponding to a vehicle body according to the point cloud data to obtain the position of the end face of the container, detecting the horizontal distance G between the end face of the container and the point cloud sensor;
s140, obtaining a displacement adjustment distance S of the collector card, wherein S=G-G ', G' is a horizontal distance between a vertical plane fitted by the point cloud sensor and the point cloud sensor when the preset collector card is positioned at a box unloading starting position and a perpendicular bisector of a preset container in the length direction is positioned at a hoisting starting position of the container crane;
and S160, after the collector card is adjusted according to the displacement adjustment distance, the container crane descends and lifts the container.
2. The method for automatically aligning and unloading a truck and crane according to claim 1, wherein the alignment sensor comprises at least linear laser sensors respectively arranged at two sides of the vehicle body, and irradiates to two sides along the width of the vehicle body.
3. The method according to claim 2, wherein in step S110, the method further comprises the step of the header sending the length dimension Y of the container loaded by the header to the container crane, the alignment compensation distance X, and the alignment compensation distance x= (Y-W)/2, W is the length dimension of the preset container.
4. The method for automatically aligning and unloading a truck and a crane according to claim 1, wherein the point cloud sensor is a laser point cloud sensor and is arranged at the upper part of one side of the head cab away from the advancing direction of the vehicle.
5. The method according to claim 4, wherein in step S130, a virtual vertical plane uniquely representing the end face of the closest container is established in the coordinate system of the point cloud sensor, and a plane with the smallest sum of distances from each point in the point cloud data to the virtual vertical plane is used as the end face of the container.
6. The method for automatically aligning and unloading an elevator according to claim 1, wherein in step S140, the elevator receives a horizontal distance G' when the elevator is unloaded from a preset elevator wirelessly transmitted by an alignment sensor of the container crane; or alternatively
The container crane is characterized in that the container is pre-stored with a horizontal spacing G' when the container is unloaded by the container pre-stored with the container.
7. The method for automatically aligning and unloading a truck and crane according to claim 1, wherein the steps S140 and S160 are followed by a step S150 of compensating the alignment adjustment distance S by an alignment compensation distance X, s=s+x.
8. A method for automatically aligning an elevator with an elevator according to claim 3, wherein in step S160, the container crane adjusts the length of a spreader according to the length dimension Y of the container currently being unloaded.
9. The method for automatically aligning and unloading a container crane according to claim 1, wherein the container crane unloads the containers one by one from the head to the tail, and the step S160 is followed by returning to the step S120.
10. The method of automatically aligning an elevator with an elevator according to claim 1, wherein the predetermined container is a 20 foot standard container adjacent to a vehicle head when the elevator transports two 20 foot standard containers.
11. The method for automatically aligning and unloading a truck and a crane according to claim 1, further comprising step S170, wherein the point cloud sensor is time-division multiplexed, when the truck speed of the truck is greater than a preset threshold value and the truck is empty, the laser sensor behind the truck head scans the point cloud data behind the truck, identifies the following vehicle, identifies the distance of the following vehicle, and when the distance is smaller than the preset distance, starts a brake lamp to warn.
12. A bin stripping system for automatically aligning a pallet with a crane, the bin stripping method for automatically aligning a pallet with a crane according to claim 1, comprising:
the vehicle body alignment module performs positioning interaction between alignment sensors on two sides of a vehicle body of the collector card and alignment sensors between two legs of the container crane, and the vehicle body reaches a box unloading starting position;
the point cloud scanning module starts a point cloud sensor behind a vehicle head to scan the end face of the container to the rear of the vehicle head to obtain point cloud data;
the plane fitting module is used for carrying out plane fitting of a vertical plane in a space range corresponding to a vehicle body according to the point cloud data to obtain the position of the end face of the container, and obtaining the horizontal distance G between the end face of the container and the point cloud sensor;
the interval matching module is used for obtaining the displacement adjustment distance S of the collector card, wherein S=G-G ', G' is the horizontal interval between the vertical plane fitted by the point cloud sensor and the point cloud sensor when the preset collector card is positioned at the unloading starting position and the center line of the preset container in the length direction is positioned at the hoisting starting position of the container crane;
and the container crane descends to hoist the container after the container loading and unloading module is lifted and the collector card is adjusted according to the displacement adjustment distance.
13. The method according to claim 12, wherein the displacement compensation module compensates the displacement adjustment distance S by a displacement compensation distance X, s=s+x, and the collector sends the length dimension Y of the container loaded by the collector, the displacement compensation distance X, and the displacement compensation distance x= (Y-W)/2, W is the length dimension of the preset container to the container crane.
14. The utility model provides a collection card and automatic case equipment that unloads of registering of loop wheel machine which characterized in that includes:
a processor;
a memory having stored therein executable instructions of a processor;
wherein the processor is configured to perform the steps of the method for cartoning automatically aligned with a crane of any one of claims 1 to 11 via execution of executable instructions.
15. A computer-readable storage medium storing a program, wherein the program when executed performs the steps of the method for automatically aligning a pick-up card with a crane according to any one of claims 1 to 11.
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| CN113753142B (en) * | 2021-07-30 | 2022-10-14 | 上海西井信息科技有限公司 | Unmanned platform vehicle passenger carrying system, method, equipment and storage medium |
| CN113636362B (en) * | 2021-10-12 | 2021-12-28 | 北京主线科技有限公司 | Automatic operation method and system for unmanned container truck in port empty box yard |
| CN114839971B (en) * | 2022-04-12 | 2024-10-15 | 宁波梅东集装箱码头有限公司 | Unmanned integrated card control method, unmanned integrated card control system, storage medium and intelligent terminal |
| CN115077385B (en) * | 2022-07-05 | 2023-09-26 | 北京斯年智驾科技有限公司 | Unmanned container pose measuring method and measuring system thereof |
| CN115849195B (en) * | 2022-11-16 | 2023-12-19 | 上海西井科技股份有限公司 | Self-adaptive alignment calibration method, system, equipment and storage medium for transportation equipment |
| CN115849189B (en) * | 2022-11-16 | 2024-01-30 | 上海西井科技股份有限公司 | Point cloud-based lifting appliance secondary anchoring method, system, equipment and storage medium |
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