The Research Of Attitude Detection System On Port Container Crane Spreader

With the rapid development on wisdom logistics of China, which greatly promote the throughput of port container. A key factor to improve the efficiency of port operations is that the cranes operate spreader alignment the container precisely. The wind or shocks and the uneven load may cause deflection spreader skewed vibration of spreader. Moreover, due to the frequently movement of lifting, panning and hanging off spreader, inevitably it will be cause big swing of spreader, resulting in security risks. Detect the attitude of the spreader real-timely, it not only conducive to spreader lock keyhole rapidly and accurately, helping to improve the efficiency of port operations, but also help to gain the spreader operator working conditions and prevent accidents effectively. Therefore, detecting the operating state of the container spreader has important research value and practical significance.Currently, the performance of MEMS inertial sensors is quite superior, high reliability, low cost, long life, which is widely used in gesture detection system. The attitude detection system of port container crane spreader which is researched in this paper can be used to detect attitude of container spreader. This system takes the LSM303DLH, L3GD20 sensor as the main data acquisition modules, the STM32F303 as the absolutely necessary micro controller, and based on the technique of MEMS sensors attitude detection, to achieve detect container spreader attitude real-timely and dynamic monitoring by the PC machine interface.First, analyze the related automation technology applied in on container handling of current automated container terminal, and the development of container spreader position detection technique in details. Then, discuss the necessity of this research.Second, by collecting and reading the relevant literature, Based on the working principle and error sources of MEMS inertial sensors, testing the performance of data acquisition module LSM303DLHC of development board. Debug by serial debugging software online, analysis of the error of the module. On this basis, combining theoretical knowledge of attitude solver, using sensors attitude fusion algorithm based on the gradient descent, in order to correct the error of sensor data.Third, design the framework of container spreader detection system. Give the design of console computer software with the IAR development platform. Achieve the communication module of console computer, the data collection module and the data output module.At last, Using Python to design the PC monitor inspection interface of container spreader detected system, analyzing the system performance on parameter β for optimize the fusion algorithm of system. By debugging between console computer and the host computer, comparative analyzing the data before fusion algorithms and the data after fusion algorithm, verifying the fusion algorithm performance based on gradient descent used in this paper. Obtain the feasibility of the algorithm. From the 3D models of container spreader through the PC, intuitive, reliable and real-timely display the container spreader gesture.