阅读说明：本技术 一种起重设备的堆场定位方法、装置、系统及起重设备 (Method, device and system for positioning storage yard of hoisting equipment and hoisting equipment ) 是由 余磊 王艳宾 王君雄 于 2021-09-08 设计创作，主要内容包括：本申请公开了一种起重设备的堆场定位方法、装置、系统及起重设备,获取吊具分别相对于第一定位机构和第二定位机构的位置偏差,以及根据位置偏差,调整吊具的位置以使吊具的中心与定位区域的中心重合,其中,定位区域为方形区域,第一定位机构和第二定位机构构成方形区域平行的两边。通过吊具分别分别相对于第一定位机构和第二定位机构的位置偏差,调整吊具的位置以使吊具可以准确的放置首层集装箱,且提高了首层集装箱定位的精确度。(The application discloses a method, a device and a system for positioning a storage yard of hoisting equipment and the hoisting equipment, which are used for acquiring the position deviation of a lifting appliance relative to a first positioning mechanism and a second positioning mechanism respectively, and adjusting the position of the lifting appliance according to the position deviation so as to enable the center of the lifting appliance to coincide with the center of a positioning area, wherein the positioning area is a square area, and the first positioning mechanism and the second positioning mechanism form two parallel sides of the square area. The position deviation of the lifting appliance relative to the first positioning mechanism and the second positioning mechanism respectively adjusts the position of the lifting appliance so that the lifting appliance can accurately place the first-layer container, and the positioning accuracy of the first-layer container is improved.)

1. A method for positioning a storage yard of hoisting equipment is characterized by comprising the following steps:

acquiring the position deviation of the lifting appliance relative to the first positioning mechanism and the second positioning mechanism respectively; and

according to the position deviation, adjusting the position of the lifting appliance to enable the center of the lifting appliance to coincide with the center of a positioning area; the positioning area is a square area, and the first positioning mechanism and the second positioning mechanism form two parallel sides of the square area.

2. The method of claim 1, wherein the first positioning mechanism comprises a first positioning block and a second positioning block, the first positioning block and the second positioning block are arranged oppositely, and the acquiring the position deviation of the spreader relative to the first positioning mechanism and the second positioning mechanism respectively comprises:

obtaining a first distance difference between a preset point on a first edge of the lifting appliance and the first positioning block;

acquiring a second distance difference between a preset point on a first edge of the lifting appliance and the second positioning block;

the adjusting the position of the spreader according to the position deviation comprises:

and adjusting the position of the lifting appliance according to the first distance difference and the second distance difference, so that the difference value between the first distance difference and the second distance difference is smaller than a first preset difference threshold value.

3. The method of claim 2, wherein the adjusting the position of the spreader according to the first distance difference and the second distance difference comprises:

calculating the first distance difference minus the second distance difference to obtain a first difference value; and

and if the first difference value is larger than the first preset difference value threshold value, adjusting the lifting appliance to move towards the first positioning block.

4. The method of claim 3, wherein the adjusting the position of the spreader according to the first distance difference and the second distance difference comprises:

calculating the second distance difference minus the first distance difference to obtain a second difference value; and

and if the second difference value is larger than the first preset difference value threshold value, adjusting the lifting appliance to move towards the second positioning block.

5. The method of claim 1, wherein the second positioning mechanism comprises a third positioning block and a fourth positioning block, the third positioning block and the fourth positioning block are oppositely disposed, and wherein acquiring the position deviation of the spreader with respect to the first positioning mechanism and the second positioning mechanism respectively comprises:

obtaining a third distance difference between a preset point on a second edge of the lifting appliance and the third positioning block; wherein the second edge is located opposite the first edge;

obtaining a fourth distance difference between a preset point on a second edge of the lifting appliance and the fourth positioning block;

the adjusting the position of the spreader according to the position deviation comprises:

and adjusting the position of the lifting appliance according to the third distance difference and the fourth distance difference, so that the difference value between the third distance difference and the fourth distance difference is smaller than a second preset difference threshold value.

6. The yard positioning method of claim 1, wherein the first positioning mechanism comprises a first positioning block and a second positioning block, the second positioning mechanism comprises a third positioning block and a fourth positioning block, the first positioning block, the second positioning block, the third positioning block and the fourth positioning block are sequentially disposed at four corners of the positioning area, and the obtaining the position deviation of the spreader with respect to the first positioning mechanism and the second positioning mechanism comprises:

acquiring a fifth distance difference of a preset point on the third edge of the lifting appliance relative to the first positioning block; wherein the length of the third side is greater than or equal to the first side;

acquiring a sixth distance difference of a preset point on the fourth edge of the lifting appliance relative to the fourth positioning block; wherein the fourth edge is located opposite the third edge;

the adjusting the position of the spreader according to the position deviation comprises:

and adjusting the position of the lifting appliance according to the fifth distance difference and the sixth distance difference, so that the difference value between the fifth distance difference and the sixth distance difference is smaller than a third preset difference threshold value.

7. A yard positioning device for hoisting equipment, comprising:

the acquiring module is used for acquiring the position deviation of the lifting appliance relative to the first positioning mechanism and the second positioning mechanism respectively; and

the adjusting module is used for adjusting the position of the lifting appliance according to the position deviation so as to enable the center of the lifting appliance to coincide with the center of the positioning area; the positioning area is a square area, and the first positioning mechanism and the second positioning mechanism form two parallel sides of the square area.

8. A yard positioning system for a lifting device, comprising:

the lifting appliance comprises a lifting appliance body, wherein a plurality of sensors are arranged on the lifting appliance body and are used for identifying the offset distances of the lifting appliance body relative to a first positioning block, a second positioning block, a third positioning block and a fourth positioning block respectively;

a controller connected to the spreader, the plurality of sensors, the controller configured to:

acquiring the position deviation of the lifting appliance relative to the first positioning mechanism and the second positioning mechanism respectively; and

according to the position deviation, adjusting the position of the lifting appliance to enable the center of the lifting appliance to coincide with the center of a positioning area; the positioning area is a square area, and the first positioning mechanism and the second positioning mechanism form two parallel sides of the square area.

9. The lift device yard positioning system of claim 8, wherein said plurality of sensors comprise laser scanners and/or cameras.

10. A hoisting device, comprising:

a hoisting device body; and

the yard positioning system of claim 8, the yard positioning system of the lifting device being disposed on the lifting device body.

Technical Field

The application relates to the technical field of yard positioning, in particular to a method, a device and a system for positioning a yard of hoisting equipment and the hoisting equipment.

Background

Currently, in container terminal yards, containers are often stacked together for storage. When stacking containers, it is necessary to align the upper level containers with the lower level containers, which may otherwise cause the stack to collapse. However, when the containers on the first floor are stacked, the containers on the first floor are not uniformly distributed and the containers on the first floor are not accurately positioned because the containers on the first floor have no reference object.

Disclosure of Invention

The present application is proposed to solve the above-mentioned technical problems. The embodiment of the application provides a yard positioning method, a yard positioning device and a yard positioning system of hoisting equipment, and solves the problems that containers on the first floor are not uniformly distributed and the containers on the first floor are not accurately positioned.

According to an aspect of the present application, there is provided a method for locating a yard of a lifting device, including: acquiring the position deviation of the lifting appliance relative to the first positioning mechanism and the second positioning mechanism respectively; according to the position deviation, adjusting the position of the lifting appliance to enable the center of the lifting appliance to coincide with the center of a positioning area; the positioning area is a square area, and the first positioning mechanism and the second positioning mechanism form two parallel sides of the square area.

In an embodiment, the first positioning mechanism includes a first positioning block and a second positioning block, the first positioning block and the second positioning block are disposed oppositely, wherein the acquiring of the position deviation of the spreader with respect to the first positioning mechanism and the second positioning mechanism respectively includes: obtaining a first distance difference between a preset point on a first edge of the lifting appliance and the first positioning block; acquiring a second distance difference between a preset point on a first edge of the lifting appliance and the second positioning block; the adjusting the position of the spreader according to the position deviation comprises: and adjusting the position of the lifting appliance according to the first distance difference and the second distance difference, so that the difference value between the first distance difference and the second distance difference is smaller than a first preset difference threshold value.

In an embodiment, the adjusting the position of the spreader according to the first distance difference and the second distance difference includes: calculating the first distance difference minus the second distance difference to obtain a first difference value; and if the first difference is larger than the difference threshold value, adjusting the lifting appliance to move towards the first positioning block.

In an embodiment, the adjusting the position of the spreader according to the first distance difference and the second distance difference includes: calculating the second distance difference minus the first distance difference to obtain a second difference value; and if the second difference value is larger than the first preset difference value threshold value, adjusting the lifting appliance to move towards the second positioning block.

In an embodiment, the second positioning mechanism includes a third positioning block and a fourth positioning block, the third positioning block and the fourth positioning block are disposed opposite to each other, and acquiring the position deviation of the spreader with respect to the first positioning mechanism and the second positioning mechanism respectively includes: obtaining a third distance difference between a preset point on a second edge of the lifting appliance and the third positioning block; wherein the second edge is located opposite the first edge; obtaining a fourth distance difference between a preset point on a second edge of the lifting appliance and the fourth positioning block; the adjusting the position of the spreader according to the position deviation comprises: and adjusting the position of the lifting appliance according to the third distance difference and the fourth distance difference, so that the difference value between the third distance difference and the fourth distance difference is smaller than a second preset difference threshold value.

In an embodiment, the first positioning mechanism includes a first positioning block and a second positioning block, the second positioning mechanism includes a third positioning block and a fourth positioning block, the first positioning block, the second positioning block, the third positioning block and the fourth positioning block are sequentially disposed at four corners of the positioning area, wherein the acquiring of the position deviation of the spreader relative to the first positioning mechanism and the second positioning mechanism respectively includes: acquiring a fifth distance difference of a preset point on the third edge of the lifting appliance relative to the first positioning block; wherein the length of the third side is greater than or equal to the first side; acquiring a sixth distance difference of a preset point on the fourth edge of the lifting appliance relative to the fourth positioning block; wherein the fourth edge is located opposite the third edge; the adjusting the position of the spreader according to the position deviation comprises: and adjusting the position of the lifting appliance according to the fifth distance difference and the sixth distance difference, so that the difference value between the fifth distance difference and the sixth distance difference is smaller than a third preset difference threshold value.

According to another aspect of the present application, there is provided a yard positioning apparatus of a hoisting device, including: the acquiring module is used for acquiring the position deviation of the lifting appliance relative to the first positioning mechanism and the second positioning mechanism respectively; the adjusting module is used for adjusting the position of the lifting appliance according to the position deviation so as to enable the center of the lifting appliance to coincide with the center of the positioning area; the positioning area is a square area, and the first positioning mechanism and the second positioning mechanism form two parallel sides of the square area.

According to another aspect of the present application, there is provided a yard positioning system of a lifting device, including: the lifting appliance comprises a lifting appliance body, wherein a plurality of sensors are arranged on the lifting appliance body and are used for identifying the offset distances of the lifting appliance body relative to a first positioning block, a second positioning block, a third positioning block and a fourth positioning block respectively; a controller connected to the spreader, the plurality of sensors, the controller configured to: acquiring the position deviation of the lifting appliance relative to the first positioning mechanism and the second positioning mechanism respectively; according to the position deviation, adjusting the position of the lifting appliance to enable the center of the lifting appliance to coincide with the center of a positioning area; the positioning area is a square area, and the first positioning mechanism and the second positioning mechanism form two parallel sides of the square area.

In an embodiment, the plurality of sensors comprises a laser scanner and/or a camera.

According to another aspect of the present application, there is provided a lifting apparatus, comprising: a hoisting device body; the storage yard positioning system of the hoisting equipment is arranged on the hoisting equipment body.

According to the yard positioning method, device and system of the hoisting equipment and the hoisting equipment, the position deviation of the lifting appliance relative to the first positioning mechanism and the second positioning mechanism respectively is obtained, and the position of the lifting appliance is adjusted according to the position deviation so that the center of the lifting appliance coincides with the center of a positioning area, wherein the positioning area is a square area, and the first positioning mechanism and the second positioning mechanism form two parallel sides of the square area. The position deviation of the lifting appliance relative to the first positioning mechanism and the second positioning mechanism respectively adjusts the position of the lifting appliance so that the lifting appliance can accurately place the first-layer container, and the positioning accuracy of the first-layer container is improved.

Drawings

The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally represent like parts or steps.

Fig. 1 is a schematic flowchart of a yard positioning method for a hoisting device according to an exemplary embodiment of the present disclosure.

Fig. 2 is a schematic flowchart of a yard positioning method for a hoisting device according to another exemplary embodiment of the present disclosure.

Fig. 3 is a schematic flow chart of a method for adjusting a spreader according to an exemplary embodiment of the present application.

Fig. 4 is a schematic flow chart of a method for adjusting a spreader according to another exemplary embodiment of the present application.

Fig. 5 is a schematic flowchart of a yard positioning method for a hoisting device according to another exemplary embodiment of the present disclosure.

Fig. 6 is a schematic flowchart of a yard positioning method for a hoisting device according to another exemplary embodiment of the present disclosure.

Fig. 7 is a schematic structural diagram of a yard positioning device of a hoisting apparatus according to an exemplary embodiment of the present application.

Fig. 8 is a schematic structural diagram of a yard positioning device of a hoisting apparatus according to another exemplary embodiment of the present application.

Fig. 9 is a schematic structural diagram of a yard positioning system of a hoisting device according to an exemplary embodiment of the present application.

Fig. 10 is a block diagram of an electronic device provided in an exemplary embodiment of the present application.

Detailed Description

Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be understood that the described embodiments are only some embodiments of the present application and not all embodiments of the present application, and that the present application is not limited by the example embodiments described herein.

Fig. 1 is a schematic flowchart of a yard positioning method for a hoisting device according to an exemplary embodiment of the present disclosure. As shown in fig. 1, the yard positioning method of the hoisting equipment includes the following steps:

step 110: and acquiring the position deviation of the lifting appliance relative to the first positioning mechanism and the second positioning mechanism respectively.

The first positioning mechanism and the second positioning mechanism are arranged on the ground, wherein the first positioning mechanism and the second positioning mechanism can support two corners of the container or support two parallel sides of the container. The first positioning mechanism and the second positioning mechanism are reference objects for the spreader to stack the first-layer containers. This first positioning mechanism and second positioning mechanism all include the water stable layer, are equipped with the concrete base of pouring on the water stable layer, and the concrete base includes the concave station, fixed connection steel backing plate in the concave station, installs the rubber backing plate on the steel backing plate. The position deviation of the spreader relative to the first positioning mechanism and the second positioning mechanism is determined through the first positioning mechanism and the second positioning mechanism, so that the position of the spreader is adjusted through the position deviation, and the first-layer container can be placed at a specified position. The first positioning mechanism and the second positioning mechanism can also be interlocking block floor bricks, the interlocking block floor bricks are widely used in port construction, and are applied to yard backfilling, wharf frontier and pavement paving and the like. The box type of the container comprises 20-ruler single boxes, 20-ruler double boxes, 40-ruler single boxes, 40-ruler double boxes and the like. The containers may include refrigerated boxes, open top boxes, and the like.

Step 120: and adjusting the position of the lifting appliance according to the position deviation so that the center of the lifting appliance is superposed with the center of the positioning area.

And determining the position deviation of the lifting appliance relative to the first positioning mechanism and the second positioning mechanism respectively, thereby determining the offset distance of the lifting appliance from the first positioning mechanism and the offset distance of the lifting appliance from the second positioning mechanism. And adjusting the position of the lifting appliance according to the offset distance so that the center of the lifting appliance is superposed with the center of the positioning area. The position of the first-layer container is determined, and then the containers can be sequentially stacked on the first-layer container by taking the first-layer container as a reference object. The positioning area is a square area, and the first positioning mechanism and the second positioning mechanism form two parallel sides of the square area.

According to the yard positioning method of the hoisting equipment, firstly, the position deviation of the lifting appliance relative to the first positioning mechanism and the second positioning mechanism respectively is obtained, and then the position of the lifting appliance is adjusted according to the position deviation so that the center of the lifting appliance is coincided with the center of a positioning area, wherein the positioning area is a square area, and the first positioning mechanism and the second positioning mechanism form two parallel sides of the square area. The position deviation of the lifting appliance relative to the first positioning mechanism and the second positioning mechanism respectively adjusts the position of the lifting appliance so that the lifting appliance can accurately place the first-layer container, and the positioning accuracy of the first-layer container is improved.

Fig. 2 is a schematic flowchart of a yard positioning method for a hoisting device according to another exemplary embodiment of the present disclosure. As shown in fig. 2, the first positioning mechanism includes a first positioning block and a second positioning block, the first positioning block and the second positioning block are disposed oppositely, wherein step 110 may include:

step 111: and acquiring a first distance difference between a preset point on a first edge of the lifting appliance and the first positioning block.

A single line laser scanner, which may be a 2D single line laser scanner or a 3D single line laser scanner, is installed at a preset point on the first side of the spreader. The predetermined point may be a center point of the first edge. First, it can be determined by the scanner where the point scanned by the scanner in the vertically downward direction is located on the ground, which is denoted as the first position. Or scanning by a scanner at a preset angle and determining a first position, wherein the first position is a position between the first positioning block and the second positioning block or the first position is positioned between the first positioning block and the second positioning block, and then determining a second position of the first positioning block by the scanner, wherein the second position is positioned on one side of the first positioning block, and the side is close to the second positioning block or is opposite to the second positioning block. And calculating to obtain a first distance difference between a preset point on the first edge of the lifting appliance and the first positioning block according to the first position and the second position. The first and second positions are distributed on the same horizontal line. The position of the center point of the first positioning block or the position of any point on the first positioning block can be determined, the position of the center point or the position of any point is used as a reference position, then a first distance length between the first position and the reference position is calculated, a second distance length between the reference position and the second position is calculated, and a difference value between the first distance length and the second distance length is calculated to obtain a first distance difference.

Step 112: and acquiring a second distance difference between the preset point on the first edge of the lifting appliance and the second positioning block.

A single line laser scanner, which may be a 2D single line laser scanner or a 3D single line laser scanner, is installed at a preset point on the first side of the spreader. The predetermined point may be a center point of the first edge. First, it can be determined by the scanner where the point scanned by the scanner in the vertically downward direction is located on the ground, which is denoted as the first position. Or scanning by a scanner at a preset angle and determining a first position, wherein the first position is a position between the first positioning block and the second positioning block or the first position is positioned between the first positioning block and the second positioning block, and then determining a third position of the second positioning block by the scanner, wherein the third position is positioned on one side of the second positioning block, and the side is close to the first positioning block or is opposite to the first positioning block. And calculating to obtain a second distance difference between the preset point on the first edge of the lifting appliance and the second positioning block according to the first position and the third position. The first position and the third position are distributed on the same horizontal line. First, the position of the center point of the first positioning block or the position of any point on the first positioning block may be determined, and the position of the center point or the position of any point is used as a reference position, then a first distance length between the first position and the reference position is calculated, a third distance length between the reference position and a third position is calculated, and a difference between the first distance length and the third distance length is calculated to obtain a second distance difference.

In one embodiment, as shown in FIG. 2, step 120 may comprise:

step 121: and adjusting the position of the lifting appliance according to the first distance difference and the second distance difference, so that the difference value between the first distance difference and the second distance difference is smaller than a first preset difference value threshold.

And determining whether the lifting appliance is deviated from the first positioning block and the second positioning block through the first distance difference and the second distance difference. The lifting appliance is moved in the direction close to the first positioning block or the second positioning block, so that the difference value between the first distance difference and the second distance difference is smaller than a first preset difference value threshold.

In addition, before obtaining the first distance difference between the preset point on the first side of the lifting appliance and the first positioning block, the first angle of the first side of the lifting appliance deviating from the first positioning block or the second angle of the first side of the lifting appliance deviating from the second positioning block can be obtained. And adjusting the position of the lifting appliance according to the first angle or the second angle so that the first angle is smaller than or equal to a preset angle threshold value.

If the spreader is used to place a container, the first edge of the spreader may be offset from the first positioning block by a first angle. For example, if the deviation is 45 degrees, the position of the spreader needs to be adjusted so that the angle between the first side of the spreader and the first positioning block is zero or close to zero, and the first side is aligned with the first positioning block and the second positioning block on the same horizontal line. Wherein the preset spreader threshold may be zero degrees.

Fig. 3 is a schematic flow chart of a method for adjusting a spreader according to an exemplary embodiment of the present application.

As shown in fig. 3, step 121 may include:

step 1211: the first difference is calculated by subtracting the second difference from the first difference.

I.e., the first distance difference-the second distance difference is equal to the first difference value. Whether the spreader deviates from the first positioning block and the second positioning block is judged through the first difference, so that the containers are accurately positioned to place the first-layer containers in proper positions more accurately.

Step 1212: and if the first difference is larger than a first preset difference threshold value, adjusting the lifting appliance to move towards the first positioning block.

If the first difference is greater than the preset difference threshold, it is determined that the preset point on the first edge of the spreader is offset to the second positioning block, and therefore the distance length that the preset point on the first edge of the spreader is close to the first positioning block and needs to be adjusted is the first difference. For example, if the first difference is 3 and the preset difference threshold is 0, it indicates that the first difference is greater than the preset difference threshold. The first difference is larger than the preset difference threshold value, so that the first distance difference of the lifting appliance can be obtained and is larger than the second distance difference. Explaining that the distance length of the preset point on the first side of the lifting appliance far away from the first positioning block is 3, the preset point on the first side of the lifting appliance needs to be adjusted to move close to the first positioning block, and the distance length is 3, so that the first distance difference is equal to the second distance difference, and two corners of the container can be just placed on the corresponding first positioning block and the second positioning block.

Fig. 4 is a schematic flow chart of a method for adjusting a spreader according to another exemplary embodiment of the present application. As shown in fig. 4, step 121 may include:

step 1213: and calculating the second distance difference minus the first distance difference to obtain a second difference value.

The second distance difference-the first distance difference yields a second difference value. The direction of movement of the spreader is determined based on the second difference so that the spreader can place the container in a specified attitude at a specified location.

Step 1214: and if the second difference is larger than the first preset difference threshold, adjusting the lifting appliance to move towards the second positioning block.

If the second difference is larger than the first preset difference threshold, the first distance difference is smaller than the second distance difference, and then the preset point on the first edge of the lifting appliance is far away from the second positioning block and close to the first positioning block. For example, if the first difference is 3 and the preset difference threshold is 0, it indicates that the second difference is greater than the first preset difference threshold. And the second difference is larger than the first preset difference threshold value, so that the second distance difference of the lifting appliance is larger than the first distance difference. The distance length of the preset point on the first side of the spreader far away from the second positioning block is 3, the preset point on the first side of the spreader needs to be adjusted to move close to the second positioning block, and the distance length is 3, so that the first distance difference is equal to the second distance difference, and two container corners of the container can be just placed on the corresponding first positioning block and the second positioning block.

Fig. 5 is a schematic flowchart of a yard positioning method for a hoisting device according to another exemplary embodiment of the present disclosure. As shown in fig. 5, the second positioning mechanism includes a third positioning block and a fourth positioning block, and the third positioning block and the fourth positioning block are disposed oppositely, wherein step 110 may include:

step 113: and obtaining a third distance difference between a preset point on a second edge of the lifting appliance and a third positioning block, wherein the second edge and the first edge are located at opposite positions.

A single line laser scanner is installed at a preset point on the second edge of the spreader, and the single line laser scanner may be a 2D single line laser scanner or a 3D single line laser scanner, wherein the second edge and the first edge are two edges located at the relative position of the spreader, respectively. The preset point may be a center point of the second edge. First, it can be determined by the scanner where the point scanned by the scanner in the vertically downward direction is located on the ground, and this point is denoted as the fourth position. Or scanning by a scanner at a preset angle and determining a fourth position, wherein the fourth position is a position between the third positioning block and the fourth positioning block or the fourth position is between the first positioning block and the second positioning block, and then determining a fifth position of the third positioning block by the scanner. The fifth position is at one side of the third positioning block, and the side is close to or opposite to the fourth positioning block. The fourth position and the fifth position are distributed on the same horizontal line. And calculating to obtain a third distance difference between the preset point on the second edge of the lifting appliance and the third positioning block according to the fourth position and the fifth position. First, the position of the center point of the third positioning block or the position of any point on the third positioning block may be determined, and the position of the center point or the position of any point is used as a reference position, then a third distance length between the fourth position and the reference position is calculated, a fourth distance length between the reference position and the fifth position is calculated, and a difference between the third distance length and the fourth distance length is calculated to obtain a third distance difference.

Step 114: and obtaining a fourth distance difference between the preset point on the second edge of the lifting appliance and the fourth positioning block.

A single line laser scanner, which may be a 2D single line laser scanner or a 3D single line laser scanner, is installed at a preset point on the second edge of the spreader. The preset point may be a center point of the second edge. First, it can be determined by the scanner where the point scanned by the scanner in the vertically downward direction is located on the ground, and this point is denoted as the fourth position. Or scanning by a scanner at a preset angle and determining a fourth position, wherein the fourth position is a position between the third positioning block and the fourth positioning block or the first position is positioned between the third positioning block and the fourth positioning block, and then determining a sixth position of the fourth positioning block by the scanner. And the sixth position is positioned on one side of the fourth positioning block, the side is close to the third positioning block or is opposite to the third positioning block, and according to the fourth position and the sixth position, the fourth distance difference between the preset point on the second side of the lifting appliance and the fourth positioning block is obtained through calculation. The fourth position and the sixth position are distributed on the same horizontal line. First, the position of the center point of the fourth positioning block or the position of any point on the fourth positioning block may be determined, and the position of the center point or the position of any point is used as a reference position, then a fourth distance length between the fourth position and the reference position is calculated, a fifth distance length between the reference position and the sixth position is calculated, and a difference between the fourth distance length and the fifth distance length is calculated to obtain a fourth distance difference.

In one embodiment, as shown in fig. 5, step 120 may comprise:

step 122: and adjusting the position of the lifting appliance according to the third distance difference and the fourth distance difference, so that the difference value between the third distance difference and the fourth distance difference is smaller than a second preset difference value threshold.

And determining whether the lifting appliance is deviated from the third positioning block and the fourth positioning block through the third distance difference and the fourth distance difference. And moving the lifting appliance in a direction close to the third positioning block or the fourth positioning block, so that the difference value between the third distance difference and the fourth distance difference is smaller than a second preset difference value threshold. In addition, the position of the first side of the lifting appliance can be adjusted according to the first distance difference and the second distance difference, and then the position of the fourth side of the lifting appliance can be adjusted according to the third distance difference and the fourth distance difference.

In one embodiment, step 122 may be specifically configured to: calculating a third difference value obtained by subtracting the fourth distance difference from the third distance difference; and if the third difference value is larger than the second preset difference value threshold value, the lifting appliance is adjusted to move towards the third positioning block.

If the third difference is greater than the second preset difference threshold, it indicates that the preset point on the second edge of the spreader is offset to the fourth positioning block, and therefore the distance length that the preset point on the second edge of the spreader is close to the third positioning block and needs to be adjusted is the third difference. For example, if the third difference is 3 and the second preset difference threshold is 0, it indicates that the third difference is greater than the second preset difference threshold. And the third difference is larger than the second preset difference threshold value, so that the third distance difference of the lifting appliance is larger than the fourth distance difference. The distance length of the preset point on the second edge of the spreader far from the third positioning block is 3, the preset point on the second edge of the spreader needs to be adjusted to move close to the third positioning block, and the distance length is 3, so that the third distance difference is smaller than or equal to the fourth distance difference, and two corners of the container can be exactly placed on the corresponding third positioning block and the corresponding fourth positioning block.

In one embodiment, step 122 may be specifically configured to: calculating a fourth difference value obtained by subtracting the third distance difference from the fourth distance difference; and if the fourth difference value is larger than the second preset difference value threshold value, the lifting appliance is adjusted to move towards the fourth positioning block.

If the fourth difference is greater than the second preset difference threshold, which indicates that the third distance difference is smaller than the fourth distance difference, the preset point on the second edge of the lifting appliance is far away from the fourth positioning block and close to the third positioning block. For example, if the fourth difference is 3 and the preset difference threshold is 0, it indicates that the fourth difference is greater than the second preset difference threshold. And the fourth difference value is larger than the second preset difference value threshold value, so that the fourth distance difference of the lifting appliance is larger than the third distance difference. The distance length of the preset point on the second edge of the spreader far from the fourth positioning block is 3, the preset point on the second edge of the spreader needs to be adjusted to move close to the fourth positioning block, and the distance length is 3, so that the third distance difference is smaller than or equal to the fourth distance difference, and two corners of the container can be exactly placed on the corresponding third positioning block and the corresponding fourth positioning block.

Fig. 6 is a schematic flowchart of a yard positioning method for a hoisting device according to another exemplary embodiment of the present disclosure. As shown in fig. 6, the first positioning mechanism includes a first positioning block and a second positioning block, the second positioning mechanism includes a third positioning block and a fourth positioning block, the first positioning block, the second positioning block, the third positioning block and the fourth positioning block are sequentially disposed at four corners of the positioning area, wherein step 110 may include:

step 115: and acquiring a fifth distance difference of the preset point on the third edge of the lifting appliance relative to the first positioning block, wherein the length of the third edge is greater than or equal to that of the first edge.

A single line laser scanner, which may be a 2D single line laser scanner or a 3D single line laser scanner, is installed at a preset point on the third side of the spreader. The preset point may be any point or a center point on the third side. First, it can be determined by the scanner where the point scanned by the scanner in the vertically downward direction is located on the ground, which is denoted as the seventh position. Or scanning by a scanner at a preset angle and determining a seventh position, wherein the seventh position is a position between the first positioning block and the fourth positioning block or the seventh position is located between the first positioning block and the fourth positioning block, and then determining an eighth position of the first positioning block by the scanner. And the eighth position is arranged on one side of the first positioning block, the side is close to the fourth positioning block or is opposite to the fourth positioning block, and a fifth distance difference between a preset point on the third side of the lifting appliance and the first positioning block is calculated according to the seventh position and the eighth position. The seventh and eighth positions are distributed on the same horizontal line. First, the position of the center point of the first location block or the position of any point on the first location block may be determined, the position of the center point or the position of any point may be used as a reference position, then a sixth distance length between the seventh position and the reference position may be calculated, a seventh distance length between the reference position and the eighth position may be calculated, and a fifth distance difference may be obtained by a difference between the sixth distance length and the seventh distance length.

Step 116: and acquiring a sixth distance difference of the preset point on the fourth edge of the lifting appliance relative to the fourth positioning block, wherein the fourth edge and the third edge are located at opposite positions.

A single line laser scanner, which may be a 2D single line laser scanner or a 3D single line laser scanner, is installed at a preset point on the fourth side of the spreader. Wherein, the third edge and the fourth edge are two edges which are positioned at the relative position of the lifting appliance respectively. The preset point may be any point or center point on the fourth side. First, it can be determined by the scanner where the point scanned by the scanner in the vertically downward direction is located on the ground, and this point is referred to as the ninth position. Or scanning by a scanner at a preset angle and determining a ninth position, wherein the ninth position is a position between the second positioning block and the third positioning block or the ninth position is between the second positioning block and the third positioning block, and then determining a tenth position of the fourth positioning block by the scanner. And calculating a sixth distance difference according to the ninth position and the tenth position, wherein the ninth position is at one side of the first positioning block, and the side is close to the third positioning block or is opposite to the third positioning block. First, the position of the center point of the fourth positioning block or the position of any point on the fourth positioning block may be determined, and the position of the center point or the position of any point is used as a reference position, then an eighth distance length between the ninth position and the reference position is calculated, a ninth distance length between the reference position and the tenth position is calculated, and a difference between the eighth distance length and the ninth distance length is calculated to obtain a sixth distance difference.

In one embodiment, as shown in fig. 6, step 120 may comprise:

step 123: and adjusting the position of the lifting appliance according to the fifth distance difference and the sixth distance difference, so that the difference value between the fifth distance difference and the sixth distance difference is equal to a third preset difference value threshold.

And determining whether the position on the diagonal line of the lifting appliance is deviated from the first positioning block and the fourth positioning block according to the fifth distance difference and the sixth distance difference. And moving the lifting appliance in a direction close to the first positioning block or the fourth positioning block, so that the fifth distance difference is smaller than or equal to the sixth distance difference.

In one embodiment, step 123 may be implemented as: calculating a fifth difference value by subtracting the sixth distance difference from the fifth distance difference; and if the fifth difference is larger than the third preset difference threshold, adjusting the lifting appliance to move towards the first positioning block.

If the fifth difference is greater than the third preset difference threshold, it indicates that the preset point on the third edge of the spreader deviates away from the first positioning block, and the preset point on the fourth edge deviates close to the fourth positioning block. Therefore, the preset point on the third edge of the lifting appliance needs to be adjusted to be close to the first positioning block, and the adjusted distance length is a third difference value. For example, if the third difference is 3 and the third preset difference threshold is 0, it indicates that the fifth difference is greater than the third preset difference threshold. And the fifth difference is larger than the third preset difference threshold value, so that the fifth distance difference of the lifting appliance is larger than the sixth distance difference. The distance length of the preset point on the third edge of the lifting appliance far away from the first positioning block is 3, the preset point on the third edge of the lifting appliance needs to be adjusted to move close to the first positioning block, and the distance length is 3, so that the fifth distance difference is smaller than or equal to the sixth distance difference, and box corners on two diagonal lines of the container can be exactly placed on the corresponding first positioning block and the corresponding fourth positioning block.

In one embodiment, step 122 may be specifically configured to: calculating a sixth difference value by subtracting the fifth distance difference from the sixth distance difference; and if the sixth difference value is larger than the third preset difference value threshold value, adjusting the lifting appliance to move towards the fourth positioning block.

If the sixth difference is greater than the third preset difference threshold, which indicates that the fifth distance difference is smaller than the sixth distance difference, the preset point on the fourth side of the lifting appliance is far away from the fourth positioning block and the preset point on the third side of the lifting appliance is close to the first positioning block. For example, if the third difference is 3 and the third preset difference threshold is 0, it indicates that the sixth difference is greater than the third preset difference threshold. And the sixth difference is larger than the third preset difference threshold value, so that the sixth distance difference of the lifting appliance is larger than the fifth distance difference. The distance length of the preset point on the fourth side of the lifting appliance far away from the fourth positioning block is 3, the preset point on the fourth side of the lifting appliance needs to be adjusted to move close to the fourth positioning block, and the distance length is 3, so that the fifth distance difference is smaller than or equal to the sixth distance difference, and two container corners on the diagonal of the container can be just placed on the corresponding first positioning block and the corresponding fourth positioning block.

Fig. 7 is a schematic structural diagram of a yard positioning device of a hoisting apparatus according to an exemplary embodiment of the present application. As shown in fig. 7, the yard positioning apparatus 20 of the lifting device includes: an obtaining module 201, configured to obtain position deviations of the spreader with respect to the first positioning mechanism and the second positioning mechanism, respectively; and the adjusting module 202 is configured to adjust the position of the spreader according to the position deviation so that the center of the spreader coincides with the center of a positioning area, where the positioning area is a square area, and the first positioning mechanism and the second positioning mechanism form two parallel sides of the square area.

The application provides a storage yard positioner of hoisting equipment obtains the position deviation of hoist for first positioning mechanism and second positioning mechanism respectively through obtaining module 201, and adjusting module 202 is according to the position deviation, adjusts the position of hoist so that the center of hoist and the center coincidence of positioning area, and wherein, positioning area is square region, and first positioning mechanism and second positioning mechanism constitute the parallel both sides of square region. The position deviation of the lifting appliance relative to the first positioning mechanism and the second positioning mechanism respectively adjusts the position of the lifting appliance so that the lifting appliance can accurately place the first-layer container, and the positioning accuracy of the first-layer container is improved.

Fig. 8 is a schematic structural diagram of a yard positioning device of a hoisting apparatus according to another exemplary embodiment of the present application. As shown in fig. 8, the first positioning mechanism includes a first positioning block and a second positioning block, the first positioning block and the second positioning block are arranged relatively, and the obtaining module 201 may include: a first distance difference obtaining unit 2011, configured to obtain a first distance difference between a preset point on a first side of the spreader and the first positioning block; a second distance difference obtaining unit 2012, configured to obtain a second distance difference between the preset point on the first edge of the spreader and the second positioning block;

in one embodiment, as shown in fig. 8, the adjusting module 202 may include: the first adjusting subunit 2021 is configured to adjust the position of the spreader according to the first distance difference and the second distance difference, so that a difference between the first distance difference and the second distance difference is smaller than a first preset difference threshold.

In an embodiment, the first adjusting subunit 2021 may be specifically configured to: calculating the first distance difference minus the second distance difference to obtain a first difference value; and if the first difference value is larger than a first preset difference value threshold value, adjusting the lifting appliance to move towards the first positioning block.

In an embodiment, the first adjusting subunit 2021 may be specifically configured to: calculating a second difference value obtained by subtracting the first distance difference from the second distance difference; and if the second difference value is larger than the first preset difference value threshold value, adjusting the lifting appliance to move towards the second positioning block.

In an embodiment, as shown in fig. 8, the second positioning mechanism includes a third positioning block and a fourth positioning block, the third positioning block and the fourth positioning block are disposed opposite to each other, and the obtaining module 201 may include: a third distance difference obtaining unit 2013, configured to obtain a third distance difference between the preset point on the second edge of the spreader and the third positioning block; wherein the second edge and the first edge are located at opposite positions; and a fourth distance difference obtaining unit 2014, configured to obtain a fourth distance difference between the preset point on the second edge of the spreader and the fourth positioning block.

In one embodiment, as shown in fig. 8, the adjusting module 202 may include: a second adjusting subunit 2022, configured to adjust the position of the spreader according to the third distance difference and the fourth distance difference, so that a difference between the third distance difference and the fourth distance difference is smaller than a second preset difference threshold.

In an embodiment, as shown in fig. 8, the first positioning mechanism includes a first positioning block and a second positioning block, the second positioning mechanism includes a third positioning block and a fourth positioning block, the first positioning block, the second positioning block, the third positioning block and the fourth positioning block are sequentially disposed at four corners of the positioning area, and the obtaining module 201 may include: a fifth distance difference acquisition unit 2015 for acquiring a fifth distance difference of a preset point on the third side of the spreader relative to the first positioning block; wherein the length of the third side is greater than or equal to the first side; a sixth distance difference obtaining unit 2016 configured to obtain a sixth distance difference between the preset point on the fourth side of the spreader and the fourth positioning block; wherein the fourth edge and the third edge are located at opposite positions;

in one embodiment, as shown in fig. 8, the adjusting module 202 may include: a third adjusting subunit 2023, configured to adjust the position of the spreader according to the fifth distance difference and the sixth distance difference, so that a difference between the fifth distance difference and the sixth distance difference is smaller than a third preset difference threshold.

Fig. 9 is a schematic structural diagram of a yard positioning system of a hoisting device according to an exemplary embodiment of the present application. As shown in fig. 9, the yard positioning system 30 of the lifting device includes: hoist body 31 and controller 32 are equipped with a plurality of sensors 32 on the hoist body, and sensor 32 is used for discerning the skew distance of hoist body 31 for first locating piece, second locating piece, third locating piece and fourth locating piece respectively, and controller 33 is connected with hoist, a plurality of sensors 32, and the controller is used for: acquiring the position deviation of the lifting appliance relative to the first positioning mechanism and the second positioning mechanism respectively; according to the position deviation, adjusting the position of the lifting appliance to enable the center of the lifting appliance to coincide with the center of the positioning area; the positioning area is a square area, and the first positioning mechanism and the second positioning mechanism form two parallel sides of the square area.

In an embodiment, the sensor comprises a laser scanner and/or a camera.

The application provides a hoisting device, includes: a hoisting device body; the storage yard positioning system of the hoisting equipment is arranged on the hoisting equipment body.

Next, an electronic apparatus according to an embodiment of the present application is described with reference to fig. 10. The electronic device may be either or both of the first device and the second device, or a stand-alone device separate from them, which stand-alone device may communicate with the first device and the second device to receive the acquired input signals therefrom.

FIG. 10 illustrates a block diagram of an electronic device in accordance with an embodiment of the present application.

As shown in fig. 10, the electronic device 10 includes one or more processors 11 and memory 12.

The processor 11 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

Memory 12 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer readable storage medium and executed by the processor 11 to implement the yard positioning method of the lifting apparatus of the various embodiments of the present application described above and/or other desired functions. Various contents such as an input signal, a signal component, a noise component, etc. may also be stored in the computer-readable storage medium.

In one example, the electronic device 10 may further include: an input device 13 and an output device 14, which are interconnected by a bus system and/or other form of connection mechanism (not shown).

When the electronic device is a stand-alone device, the input means 13 may be a communication network connector for receiving the acquired input signals from the first device and the second device.

The input device 13 may also include, for example, a keyboard, a mouse, and the like.

The output device 14 may output various information including the determined distance information, direction information, and the like to the outside. The output devices 14 may include, for example, a display, speakers, a printer, and a communication network and its connected remote output devices, among others.

Of course, for simplicity, only some of the components of the electronic device 10 relevant to the present application are shown in fig. 10, and components such as buses, input/output interfaces, and the like are omitted. In addition, the electronic device 10 may include any other suitable components depending on the particular application.

The computer program product may be written with program code for performing the operations of embodiments of the present application 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 and partly on a remote computing device, or entirely on the remote computing device or server.

The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but 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 include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.