CN215828194U - Accurate positioner of hoist based on machine vision - Google Patents
Accurate positioner of hoist based on machine vision Download PDFInfo
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- CN215828194U CN215828194U CN202122511102.8U CN202122511102U CN215828194U CN 215828194 U CN215828194 U CN 215828194U CN 202122511102 U CN202122511102 U CN 202122511102U CN 215828194 U CN215828194 U CN 215828194U
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Abstract
The utility model discloses a precise positioning device for a lifting appliance based on machine vision, which adopts a detection system, a controller and an output unit, wherein the controller is used for acquiring the position information of the lifting appliance and a load acquired by the detection system, and controlling the output unit to do corresponding action to complete the butt joint of the lifting appliance and the load; the detection system comprises a binocular camera, a main rotary encoder and a suspension arm angle sensor which are arranged on the lifting appliance, wherein the binocular camera is matched with a target on the load for use and is used for identifying the target on the load and acquiring the position information of the load; the main rotary encoder is used for detecting the main rotary angle of the sling cart in real time; and the suspension arm angle sensor is used for detecting the amplitude of the suspension arm of the sling cart in real time. The utility model effectively eliminates various errors which can not be detected by the front-end sensor, such as sensor installation deviation, mechanism clearance, structural deformation and the like, improves the detection precision of a control system, and improves the detection precision from the previous decimeter level to the millimeter level; the redundancy of detection is increased, and the safety and the reliability of the system are improved.
Description
Technical Field
The utility model relates to the technical field of engineering cranes, and particularly discloses a precise lifting appliance positioning device based on machine vision.
Background
The locking pin of the lifting appliance is locked with the load corner fitting hole, so that the rigid connection between the lifting appliance and the load is realized, the lifting connection mode is efficient, and the lifting connection mode is more common in the lifting process of the container and certain large specific loads. The fit clearance of lockpin and corner fitting hole is millimeter level, and to the lifting device that working amplitude and lifting height all are ten meters, positioning accuracy is high, and the realization degree of difficulty is big.
In the prior art, the detection precision of the working amplitude and the lifting height of the engineering crane is in the decimeter level, and the fixed-point installation is realized because the installation precision in the lifting industry is not high or the lifting object is pulled by using a rope manually under the condition that the lifting positioning precision is not enough. The hoisting positioning precision can be improved by improving the precision of the sensor for detection, but the final hoisting point is positioned after three degrees of freedom of rotation, amplitude variation and hoisting lifting are superposed, and the positioning precision of the hoisting point cannot reach millimeter level due to the clearance of each mechanism, structural deformation, flexibility of a steel wire rope and the like.
Therefore, the positioning precision of the hoisting point of the existing engineering crane cannot reach millimeter level, which is a technical problem to be solved urgently.
SUMMERY OF THE UTILITY MODEL
The utility model provides a precise positioning device for a lifting appliance based on machine vision, and aims to solve the technical problem that the positioning precision of a lifting point of an existing engineering crane cannot reach a millimeter level.
The utility model provides a lifting appliance accurate positioning device based on machine vision, which comprises a detection system, a controller and an output unit, wherein,
the detection system is used for acquiring position information of a sling and a load of the sling, and comprises a binocular camera, a main rotary encoder and a suspension arm angle sensor which are arranged on the sling, wherein the binocular camera is matched with a target on the load for use and is used for identifying the target on the load and acquiring the position information of the load; the main rotary encoder is used for detecting the main rotary angle of the sling cart in real time; the suspension arm angle sensor is used for detecting the amplitude of the suspension arm of the sling cart in real time;
the controller is respectively electrically connected with the detection system and the output unit and is used for acquiring the position information of the lifting appliance and the load acquired by the detection system and controlling the output unit to do corresponding actions to complete the butt joint of the lifting appliance and the load.
Further, the boom angle sensor comprises a first angle sensor and a second angle sensor,
the first angle sensor is arranged at the vertical arm of the sling cart and used for detecting the angle change of the vertical arm in real time;
the second angle sensor is arranged at the position of the lifting arm of the sling cart and used for detecting the angle change of the lifting arm in real time.
Further, binocular camera includes first binocular camera and second binocular camera, and first binocular camera and second binocular camera are located the both sides of hoist respectively, and the target includes first target and second target, and the both sides of load are located respectively to first target and second target.
Further, the output unit includes a main swing motor,
the main rotation motor is respectively connected with the controller and the main rotation mechanism and is used for controlling the main rotation mechanism to do main rotation action under the instruction of the controller.
Further, the output unit comprises a luffing valve group and a erecting valve group,
the amplitude variation valve group is respectively connected with the controller and the amplitude variation oil cylinder and is used for controlling the amplitude variation oil cylinder to perform amplitude variation action under the instruction of the controller;
the erecting valve group is respectively connected with the controller and the erecting oil cylinder and is used for controlling the erecting oil cylinder to do erecting action under the instruction of the controller.
Further, the output unit includes a spreader swing motor,
the hanger rotation motor is respectively connected with the controller and the hanger rotation mechanism and used for controlling the hanger rotation mechanism to do hanger rotation action under the instruction of the controller.
Further, the output unit comprises a lifting oil cylinder valve group of the lifting appliance,
the lifting oil cylinder valve group of the lifting appliance is respectively connected with the controller and the lifting oil cylinder and used for controlling the lifting oil cylinder to do lifting action under the instruction of the controller.
Further, the main rotary encoder is an absolute encoder or an incremental encoder.
Further, a main swing encoder is installed at a swing center of the main swing mechanism or on the main swing motor.
Furthermore, the lifting appliance is provided with a lock pin, and the load is correspondingly provided with an angle piece matched with the lock pin.
The beneficial effects obtained by the utility model are as follows:
the utility model provides a lifting appliance accurate positioning device based on machine vision, which adopts a detection system, a controller and an output unit, wherein the detection system is used for acquiring the position information of a lifting appliance and a load of a lifting car; the detection system comprises a binocular camera, a main rotary encoder and a suspension arm angle sensor which are arranged on the lifting appliance, wherein the binocular camera is matched with a target on the load for use and is used for identifying the target on the load and acquiring the position information of the load; the main rotary encoder is used for detecting the main rotary angle of the sling cart in real time; and the suspension arm angle sensor is used for detecting the amplitude of the suspension arm of the sling cart in real time. The lifting appliance accurate positioning device based on machine vision is arranged on a terminal actuator (lifting appliance) to form position information closed-loop feedback, effectively eliminates various errors which cannot be detected by a front end sensor, such as sensor installation deviation, mechanism clearance, structural deformation and the like, improves the detection precision of a control system, and is improved to a millimeter level from the previous decimeter level; the front-end sensor detection is combined with the terminal visual feedback, so that the detection redundancy is increased, and the safety and the reliability of the system are improved.
Drawings
Fig. 1 is a functional block diagram of a first embodiment of a precise positioning device for a spreader based on machine vision according to the present invention;
FIG. 2 is a functional block diagram of an embodiment of the boom angle sensor shown in FIG. 1;
FIG. 3 is a functional block diagram of one embodiment of the binocular camera shown in FIG. 1 in use with a target;
fig. 4 is a functional block diagram of a second embodiment of the precise positioning device for a spreader based on machine vision provided by the utility model;
FIG. 5 is an installation diagram of a first view of an embodiment of the precise positioning device for a spreader based on machine vision provided by the utility model;
fig. 6 is a schematic installation diagram of a second view of an embodiment of the precise positioning device for a spreader based on machine vision provided by the utility model.
The reference numbers illustrate:
10. a detection system; 20. a controller; 30. an output unit; 11. a binocular camera; 12. a main rotary encoder; 13. a boom angle sensor; 14. a target; 131. a first angle sensor; 132. a second angle sensor; 111. a first binocular camera; 112. a second binocular camera; 141. a first target; 142. a second target; 31. a main swing motor; 32. a variable amplitude valve bank; 33. erecting the valve group; 34. a spreader swing motor; 35. lifting the oil cylinder valve group by a lifting appliance; 100. a spreader; 200. loading; 110. a main swing mechanism; 120. a variable amplitude oil cylinder; 130. erecting an oil cylinder; 140. a hanger slewing mechanism; 150. lifting the oil cylinder; 160. a vertical arm; 170. a suspension arm; 180. a lock pin; 190. a corner fitting.
Detailed Description
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
As shown in fig. 1, a first embodiment of the present invention provides a precise positioning device for a lifting appliance based on machine vision, which includes a detection system 10, a controller 20 and an output unit 30, wherein the detection system 10 is configured to obtain position information of a lifting appliance 100 and a load 200 of a lifting car, the detection system 10 includes a binocular camera 11, a main rotary encoder 12 and a boom angle sensor 13, which are disposed on the lifting appliance, the binocular camera 11 is used in cooperation with a target 14 on the load 200 to identify the target 14 on the load 200 and obtain the position information of the load 200; the main rotary encoder 12 is used for detecting the main rotary angle of the sling cart in real time; the boom angle sensor 13 is used for detecting the amplitude of the boom of the sling cart in real time; the controller 20 is electrically connected to the detection system 10 and the output unit 30, and is configured to collect position information of the spreader and the load acquired by the detection system 10, and control the output unit 30 to perform corresponding actions, so as to complete the docking between the spreader 100 and the load 200.
In the above structure, please refer to fig. 2, and fig. 2 is a functional block diagram of an embodiment of the boom angle sensor shown in fig. 1, in this embodiment, the boom angle sensor 13 includes a first angle sensor 131 and a second angle sensor 132, the first angle sensor 131 is disposed at the lift arm 160 of the sling cart for detecting the angle change of the lift arm in real time; the second angle sensor 132 is provided at the boom 170 of the sling for detecting boom angle changes in real time. In the example, the change of the angle of the vertical arm and the change of the angle of the suspension arm are respectively detected by the first angle sensor 131 and the second angle sensor 132, so that the amplitude of the suspension arm of the sling cart is obtained, and the detection precision is high.
Preferably, referring to fig. 3, fig. 3 is a schematic diagram illustrating functional modules of an embodiment when the binocular camera and the targets shown in fig. 1 are used together, in this embodiment, the binocular camera 11 includes a first binocular camera 111 and a second binocular camera 112, the first binocular camera 111 and the second binocular camera 112 are respectively located at two sides of the spreader 100, the target 14 includes a first target 141 and a second target 142, and the first target 141 and the second target 142 are respectively located at two sides of the load 200. In the present embodiment, the position information of the load 200 is acquired by the first binocular camera 111 and the second binocular camera 112, and the detection accuracy is high.
Further, referring to fig. 4, fig. 4 is a functional block diagram of a second embodiment of the precise positioning device for a spreader based on machine vision according to the present invention, on the basis of the first embodiment, the output unit 30 includes a main revolving motor 31, a luffing valve set 32, a erecting valve set 33, a spreader revolving motor 34, and a spreader lifting cylinder valve set 35, wherein the main revolving motor 31 is respectively connected to the controller 20 and the main revolving mechanism 110, and is configured to control the main revolving mechanism 110 to perform a main revolving motion under the instruction of the controller 20. The amplitude valve group 32 is respectively connected with the controller 20 and the amplitude cylinder 120, and is used for controlling the amplitude cylinder 120 to perform amplitude variation action under the instruction of the controller 20. The erecting valve group 33 is respectively connected to the controller 20 and the erecting cylinder 130, and is used for controlling the erecting cylinder 130 to perform erecting action under the instruction of the controller 20. The spreader rotation motor 34 is respectively connected to the controller 20 and the spreader rotation mechanism 140, and is used for controlling the spreader rotation mechanism 140 to perform spreader rotation under the instruction of the controller 20. The lifting cylinder valve set 35 of the lifting tool is respectively connected to the controller 20 and the lifting cylinder 150, and is used for controlling the lifting cylinder 150 to perform a lifting action under the instruction of the controller 20. In the present embodiment, the main rotary encoder 12 may be an absolute encoder or an incremental encoder, and all of them are within the protection scope of the present patent. The main swing encoder 12 is installed at a swing center of the main swing mechanism 110 or on the main swing motor 31. Referring to fig. 5 and 6, in the present embodiment, the spreader 100 is provided with a lock pin 180, and the load 200 is correspondingly provided with a corner piece 190 adapted to the lock pin 180.
As shown in fig. 1 to 6, the working principle of the device for accurately positioning a spreader based on machine vision provided by this embodiment is as follows:
the sling cart is mainly composed of a main swing mechanism 110, a vertical arm 160, a suspension arm 170 and a sling 100. The first dual-purpose camera 111 at the front left of the spreader 100 identifies the first target 141 of the load 200; the second binocular camera 112 at the right and back of the spreader 100 recognizes the second target 142 on the load 200, and the first target 141, the second target 142 and the geometric center position are obtained after the signals are processed by the controller 20. And calculating the angle and the target amplitude of the main rotary target according to the position information of the geometric center of the load.
The main rotary encoder 12 detects the main rotary angle in real time, the main rotary mechanism 110 performs an action to make the actual main rotary angle approach to its target angle, and then the real-time measured abscissa values of the first target 141 and the second target 142 are used to correct the actual main rotary angle to form a double closed loop, so that the main rotary angle and the target angle are completely coincident.
The first angle sensor 131 and the second angle sensor 132 respectively detect the angle changes of the vertical arm and the suspension arm and convert the angle changes into the amplitude of the suspension arm of the transshipment sling truck, the vertical arm 160 passes through the vertical cylinder 130, the suspension arm 170 adjusts the working amplitude through the amplitude-variable cylinder 120, the first angle sensor 131 and the second angle sensor 132 are a first closed loop for amplitude measurement and control, and whether the ordinate values of the first target 141 and the second target 142 are equal is a second closed loop, so that the actual amplitude of the sling truck is equal to the target amplitude.
The spreader rotating mechanism 140 changes the yaw angle of the spreader 100, and when the real-time abscissa and ordinate of the first target 141 and the second target 142 are equal to their designed position sizes (the designed position sizes of the first target 141 and the second target 142 relative to the geometric center of the load), the spreader rotates to the position.
The amplitude cylinder 120 and the erecting cylinder 130 synchronously act to vertically descend the lifting appliance 100 and the lock pin 180 thereof; the height of the lock pin 180 can be changed by the telescopic lifting cylinder 150 of the lifting appliance; the luffing cylinder 120 and the erecting cylinder 130 have long strokes, the lifting cylinder 150 has short strokes, and the lifting device lock pin 180 is vertically inserted into the corner fitting 190 by combining the luffing cylinder 120 and the erecting cylinder to complete accurate butt joint of the lifting device 100 and the load 200.
Compared with the prior art, the precise positioning device for the lifting appliance based on the machine vision is characterized in that a detection system, a controller and an output unit are adopted, the detection system is used for acquiring the position information of the lifting appliance and the load of the lifting car, the controller is respectively electrically connected with the detection system and the output unit and is used for acquiring the position information of the lifting appliance and the load acquired by the detection system and controlling the output unit to do corresponding actions so as to complete the butt joint of the lifting appliance and the load; the detection system comprises a binocular camera, a main rotary encoder and a suspension arm angle sensor which are arranged on the lifting appliance, wherein the binocular camera is matched with a target on the load for use and is used for identifying the target on the load and acquiring the position information of the load; the main rotary encoder is used for detecting the main rotary angle of the sling cart in real time; and the suspension arm angle sensor is used for detecting the amplitude of the suspension arm of the sling cart in real time. The accurate lifting appliance positioning device based on machine vision is installed on a terminal actuator (lifting appliance) to form position information closed-loop feedback, various errors which cannot be detected by a front end sensor, such as sensor installation deviation, mechanism clearance, structural deformation and the like, are effectively eliminated, the detection precision of a control system is improved, and the detection precision is improved to a millimeter level from the previous decimeter level; the front-end sensor detection is combined with the terminal visual feedback, so that the detection redundancy is increased, and the safety and the reliability of the system are improved.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the utility model. It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the utility model. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A precise positioning device for a lifting appliance based on machine vision is characterized by comprising a detection system (10), a controller (20) and an output unit (30), wherein,
the detection system (10) is used for acquiring position information of a sling and a load of the sling, the detection system (10) comprises a binocular camera (11) arranged on the sling, a main rotary encoder (12) and a suspension arm angle sensor (13), the binocular camera (11) is matched with a target (14) on the load for use, and is used for identifying the target (14) on the load and acquiring the position information of the load; the main rotary encoder (12) is used for detecting the main rotary angle of the sling cart in real time; the suspension arm angle sensor (13) is used for detecting the amplitude of the suspension arm of the sling cart in real time;
the controller (20) is respectively electrically connected with the detection system (10) and the output unit (30) and is used for acquiring the position information of the lifting appliance and the load acquired by the detection system (10) and controlling the output unit (30) to do corresponding actions to complete the butt joint of the lifting appliance and the load.
2. The machine vision based spreader precision positioning device according to claim 1, wherein the boom angle sensor (13) comprises a first angle sensor (131) and a second angle sensor (132),
the first angle sensor (131) is arranged at the vertical arm of the sling cart and used for detecting the angle change of the vertical arm in real time;
the second angle sensor (132) is arranged at the boom of the sling cart and used for detecting the change of the angle of the boom in real time.
3. The machine vision based spreader precision positioning device according to claim 1, wherein the binocular camera (11) comprises a first binocular camera (111) and a second binocular camera (112), the first binocular camera (111) and the second binocular camera (112) being located on both sides of the spreader, respectively, the target (14) comprises a first target (141) and a second target (142), the first target (141) and the second target (142) being located on both sides of the load, respectively.
4. Machine vision based spreader fine positioning device according to claim 1, wherein the output unit (30) comprises a main swing motor (31),
the main rotation motor (31) is respectively connected with the controller (20) and the main rotation mechanism and is used for controlling the main rotation mechanism to do main rotation action under the instruction of the controller (20).
5. Machine vision based spreader fine positioning device according to claim 1, wherein the output unit (30) comprises a luffing valve block (32) and a erecting valve block (33),
the amplitude variation valve group (32) is respectively connected with the controller (20) and the amplitude variation oil cylinder and is used for controlling the amplitude variation oil cylinder to perform amplitude variation action under the instruction of the controller (20);
the erecting valve group (33) is respectively connected with the controller (20) and the erecting oil cylinder and is used for controlling the erecting oil cylinder to do erecting action under the instruction of the controller (20).
6. Machine vision based spreader fine positioning device according to claim 1, wherein the output unit (30) comprises a spreader slewing motor (34),
and the lifting appliance rotating motor (34) is respectively connected with the controller (20) and the lifting appliance rotating mechanism and is used for controlling the lifting appliance rotating mechanism to do lifting appliance rotating action under the instruction of the controller (20).
7. Machine vision based precise positioning device for spreaders according to claim 1, characterized in that the output unit (30) comprises a spreader lift cylinder valve block (35),
the lifting oil cylinder valve group (35) of the lifting appliance is respectively connected with the controller (20) and the lifting oil cylinder and used for controlling the lifting oil cylinder to do lifting action under the instruction of the controller (20).
8. Machine vision based spreader fine positioning device according to claim 1, characterized in that the main rotary encoder (12) is an absolute encoder or an incremental encoder.
9. Machine vision based spreader fine positioning device according to claim 4, wherein the main slewing encoder (12) is mounted at the slewing center of the main slewing mechanism or on the main slewing motor (31).
10. The device for accurately positioning the lifting appliance based on the machine vision as claimed in any one of the claims 1 to 9, wherein the lifting appliance is provided with a lock pin, and the load is correspondingly provided with a corner fitting matched with the lock pin.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202122511102.8U CN215828194U (en) | 2021-10-19 | 2021-10-19 | Accurate positioner of hoist based on machine vision |
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| CN202122511102.8U CN215828194U (en) | 2021-10-19 | 2021-10-19 | Accurate positioner of hoist based on machine vision |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113955640A (en) * | 2021-10-19 | 2022-01-21 | 中联恒通机械有限公司 | Lifting appliance accurate positioning system and method based on machine vision |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113955640A (en) * | 2021-10-19 | 2022-01-21 | 中联恒通机械有限公司 | Lifting appliance accurate positioning system and method based on machine vision |
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