The invention discloses a correction control method and device for head and tail alignment of a rubber-tyred gantry crane and a readable medium. The correction control method comprises the steps that the current front wheel offset and the current offset angle of the rubber-tyred gantry crane are obtained based on machine vision, and whether the absolute value of the current front wheel offset or the absolute value of the current offset angle is larger than zero or not is judged; according to the judgment result, determining whether a first deviation correction amount is set or not and starting a control period, and obtaining the variation of the front wheel deviation amount and the variation of the deviation angle in the running process of the rubber-tyred gantry crane according to the first deviation correction amount; according to the average value of the variation of the deviation angle, calculating the time required when the rubber-tyred gantry crane is straightened to 0 degree from the current deviation angle in the running process of the rubber-tyred gantry crane at the first deviation correction amount, and calculating the predicted value of the front wheel deviation of the rubber-tyred gantry crane running at the first deviation correction amount within the time; and whether the tire type gantry crane needs reverse deviation correction is determined according to the predicted value, automatic deviation correction is achieved, and the safety of equipment operation is improved.

    本发明公开了一种轮胎式龙门吊首尾对齐的纠偏控制方法、装置及可读介质,基于机器视觉获取轮胎式龙门吊的当前的前轮偏移量和当前的偏移角度,判断当前的前轮偏移量的绝对值或者当前的偏移角度的绝对值是否大于零;根据判断结果确定是否设定第一纠偏量并开启控制周期,获取轮胎式龙门吊以第一纠偏量行驶的过程中前轮偏移量的变化量以及偏移角度的变化量;根据偏移角度的变化量的平均值计算轮胎式龙门吊以第一纠偏量行驶的过程中从当前的偏移角度摆正至0°时所需要的时间,并计算在该时间内轮胎式龙门吊以第一纠偏量行驶的前轮偏移量的预测值,根据预测值确定轮胎式龙门吊是否需要反向纠偏,实现自动纠偏,提高设备运行的安全性。


    Access

    Download


    Export, share and cite



    Title :

    Deviation correction control method and device for head and tail alignment of rubber-tyred gantry crane and readable medium


    Additional title:

    轮胎式龙门吊首尾对齐的纠偏控制方法、装置及可读介质


    Contributors:
    HU YU (author) / LUO YONGXIANG (author) / LIU JIANTAO (author) / ZHANG QIANG (author) / WEI QIUXIN (author)

    Publication date :

    2023-11-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



    Wheel braking device of rubber-tyred container gantry crane

    ZHANG YI / SUN KAI / YU LEI et al. | European Patent Office | 2024

    Free access


    Rubber-tyred gantry crane walking positioning, correcting and container truck alignment anti-lifting method

    LU RONGGUO / LIU CHANGMAN / HE PING et al. | European Patent Office | 2016

    Free access

    Double-container lifting method of automatic rubber-tyred container gantry crane

    MEI JIANKUI / WANG YONG / WANG XIAOLEI et al. | European Patent Office | 2024

    Free access

    Method for controlling cart steering attitude of rubber-tyred container gantry crane

    ZHANG FENGFENG / HOU JUNTAO / ZHA YAN et al. | European Patent Office | 2022

    Free access