CN105159300A - Coil collection station control system and method - Google Patents
Coil collection station control system and method Download PDFInfo
- Publication number
- CN105159300A CN105159300A CN201510607297.2A CN201510607297A CN105159300A CN 105159300 A CN105159300 A CN 105159300A CN 201510607297 A CN201510607297 A CN 201510607297A CN 105159300 A CN105159300 A CN 105159300A
- Authority
- CN
- China
- Prior art keywords
- dolly
- overall process
- camera
- trolley travelling
- coil
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 119
- 230000008569 process Effects 0.000 claims abstract description 84
- 238000012546 transfer Methods 0.000 claims description 24
- 230000000007 visual effect Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000004075 alteration Effects 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 206010001541 Akinesia Diseases 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Landscapes
- Image Analysis (AREA)
- Control And Safety Of Cranes (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a coil collection station control system and a method, so as to solve the problem that positioning is inaccurate when an encoder in the prior art is used. The coil collection station control system comprises a dual-core bar, a trolley, a C-type hook, a camera and a control device, wherein the dual-core bar is used for fixing a to-be-loaded coil; the trolley is used for conveying the to-be-loaded coil fixed by the dual-core bar to the C-type hook; the C-type hook is used for receiving and fixing the coil unloaded by the trolley; the camera is used for recording an overall trolley operation process; the control device is used for controlling the overall trolley operation process and controlling the camera to record the overall trolley operation process and extracting key point information of the overall trolley operation process recorded by the camera in real time to realize real-time trolley positioning. According to the coil collection station control system, the problem of inaccurate encoder positioning in the prior art can be solved, positioning accuracy is improved, and the working efficiency is improved.
Description
Technical field
The present invention relates to automation field, particularly one collection volume station control system and method.
Background technology
In prior art, high-speed rod collection volume station controls to be hold coil of strip tightly by the transfer arm of dolly and fixed arm, will coil to be transported to C type and to hook, and carries out unloading volume realization behind centering location.Wherein, the distance of transfer arm and fixed arm is constant distance, and this constant distance deducts the distance that transfer arm clamping coil of strip is passed by, and is the length coiled.The position of dolly is located by scrambler, measure dolly distance C type when zero-bit and hook the actual range of center line, the distance of coil of strip half is deducted with the actual range of little spacing C type hook center line, namely just in time the center line coiled is hooked with C type and align, to ensure the balance that C type hooks, otherwise coil easily from landing C type hook, comparatively dangerous.
Overturning-free in order to ensure the balance that C type hooks, require higher to coiling position control accuracy.
But the high-precision requirement coiling position is bad to be met, because the length coiled on the one hand is measured by the scrambler on transfer arm, but transfer arm passes through chain drive, due to reasons such as skiddings or after running a period of time,, easily there is error in the null position meeting change of dolly transfer arm.On the other hand; because the specification coiled is different; collect the packing after rolling and all do not cause that to coil center of gravity uneven on an equal basis; need artificial trickle correction centering position location; and due to dolly be continuous auto-action; when locating unsuccessfully, if dolly is switched to Non-follow control not only reduce efficiency, but also protected chain impact is not easy to again repeat to unload volume positioning function fast.
Therefore, it is inaccurate that prior art also exists scrambler location, the problem that error is large.
Summary of the invention
The object of the invention is to solve in prior art exist realize dolly location inaccurate by scrambler, the problem that error is large.For solving the problem, embodiments provide a kind of collection volume station control system and method.
In view of this, the invention provides a kind of collection volume station control system, comprise
Double-core axle, dolly, C type hook, camera and control device,
Described double-core axle is used for fixing to be installed coiling, described dolly is used for described to be installed coiling fixing for described double-core axle to be transported to described C type hook, described C type hooks to be coiled for receiving and securing described in the unloading of described dolly, described camera is used for recording described trolley travelling overall process, described control device is for controlling described trolley travelling overall process and described camera to the record of described trolley travelling overall process, and the key point information of the described trolley travelling overall process of camera record described in extract real-time is to realize the real-time location of described dolly.
The present invention also provides a kind of collection volume station control method, and the method comprises:
Double-core axle fixes to be installed coiling,
Described to be installed coiling fixing for described double-core axle is transported to C type hook by dolly,
Described C type hooks to receive and secure described in the unloading of described dolly and coils,
Trolley travelling overall process described in camera record,
Control device controls described trolley travelling overall process and described camera to the record of described trolley travelling overall process, and the key point information of the described trolley travelling overall process of camera record described in extract real-time is to realize the real-time location of described dolly.
As can be seen from the above technical solutions, the embodiment of the present invention has the following advantages:
In the embodiment of the present invention, when the dolly during high-speed rod collection volume station controls is located by scrambler, high-precision requirement is needed owing to coiling position and little truck position, but the length coiled is measured by the scrambler be arranged on transfer arm, and transfer arm can have impact on the accuracy of location because error appears in some extraneous factors, so the present invention is by changing original locator meams, use the overall process of camera record trolley travelling, and the key point marked in trolley travelling process, by the accurate location of image procossing determination dolly, by control device, the position determined is conveyed to dolly again, it is made to complete location, which enhance the accuracy of location, and improve work efficiency.
Term " first ", " second ", " the 3rd " " 4th " etc. (if existence) in instructions of the present invention and claims and above-mentioned accompanying drawing are for distinguishing similar object, and need not be used for describing specific order or precedence.The embodiments described herein should be appreciated that the data used like this can be exchanged in the appropriate case, so that can be implemented with the order except the content except here diagram or description.In addition, term " comprises " and " having " and their any distortion, intention is to cover not exclusive comprising, such as, contain those steps or unit that the process of series of steps or unit, method, system, product or equipment is not necessarily limited to clearly list, but can comprise clearly do not list or for intrinsic other step of these processes, method, product or equipment or unit.
The above, above embodiment only in order to technical scheme of the present invention to be described, is not intended to limit; Although with reference to previous embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is one collection volume station control system structural representation provided by the invention;
Fig. 2 is a kind of system schematic collecting volume station control system provided by the invention;
Fig. 3 is that a kind of arm collecting volume station control system provided by the invention holds state vertical view tightly;
Fig. 4 is a kind of arm open mode vertical view collecting volume station control system provided by the invention;
Fig. 5 is a kind of non-full open position vertical view of transfer arm collecting volume station control system provided by the invention;
Fig. 6 be provided by the invention a kind of collect volume station control system the course of work in image procossing figure;
Fig. 7 is a kind of dolly positioning control image procossing figure collecting volume station control system provided by the invention;
Fig. 8 is a kind of process flow diagram collecting volume station control method provided by the invention.
Embodiment
Embodiments provide a kind of collection volume station control system and method, can solve exist in prior art realize dolly location inaccurate by scrambler, the problem that error is large, improves the accuracy of dolly location.
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Refer to Fig. 1, for a kind of structural representation collecting volume station control system embodiment 1 provided by the invention, as shown in Figure 1, in the present embodiment, this collection volume station control system comprises double-core axle, dolly, C type hooks, camera and control device, described double-core axle is used for fixing to be installed coiling, described dolly is used for described to be installed coiling fixing for described double-core axle to be transported to described C type hook, described C type hooks to be coiled for receiving and securing described in the unloading of described dolly, described camera is used for recording described trolley travelling overall process, described control device is for controlling described trolley travelling overall process and described camera to the record of described trolley travelling overall process, and the key point information of the described trolley travelling overall process of camera record described in extract real-time is to realize the real-time location of described dolly.
Wherein, described dolly is used for be installed the coiling at described double-core axle place to be transported to described C type hook, meanwhile described camera has recorded the overall process of described trolley travelling, in whole control procedure, the image of described camera record for controlling described trolley travelling overall process and described camera to the record of described trolley travelling overall process, and to be gone forward side by side after row relax the location of dolly described in FEEDBACK CONTROL in whole service process again by extract real-time key point information by described control device.
The present invention by adopt camera record operational process and to record image process after again FEEDBACK CONTROL collection volume station control procedure in dolly location, be different from prior art and realize by scrambler mode that described dolly is located, contribute to the accuracy improving location like this, and improve work efficiency.
Preferably, shown in figure 2, for a kind of schematic diagram collecting volume station control system embodiment 2 provided by the invention, the present embodiment can be regarded as a kind of specific implementation on embodiment 1 basis, control system in the present embodiment specifically can comprise double-core axle, dolly, C type hook, camera and control device, wherein, Fig. 2 shows part-structure.Described double-core axle is coiling of will transporting for fixing dolly in systems in which, namely when initial conditions, described coiling is fixed on described double-core axle, and when dolly is parked in described double-core axle place, coiling on described double-core axle can be loaded on described dolly under control of the control means, after loading completes, coil described in described dolly transports under control device controls and carry out unloading volume to described C type hook place.When described dolly is transported to C type hook, under the control of described control device, coiling on described dolly is offloaded to described C type and hooks.
Wherein, when described dolly arrival C type hook place, need first to position, accurate positioning just can be carried out unloading volume, causes C type hook uneven and the appearance of the situation of overturning in order to avoid occur that location is inaccurate.Concrete, under control of the control means, dolly described in FEEDBACK CONTROL is running the location in overall process, the location especially when arriving described C type hook place to the image extract real-time key point information of the described trolley travelling overall process of camera record and after carrying out image procossing.
It should be noted that, in order to image procossing is convenient, the function of the operation overall process of described dolly performed by it can be divided into double-core axle Zhuan Juan district, dolly stop zone and C type and hook unload zone, namely coil described in described dolly loading when described double-core axle loading area, when described dolly stop zone, described dolly moves to the safety stop region at described C type hook place after loading and coiling, when described C type hooks unload zone, described dolly is offloaded to coiling described in loading on described C type hook.
Preferably, described dolly comprises trolley base, transfer arm and fixed arm, and described trolley base is wherein mainly used in coiling described in carrying, and described transfer arm and fixed arm are used for described coiling being held tightly described coiling in transport process, be in arm and hold state tightly, as shown in Figure 3.When Huo Xiejuan district of Zhuan Juan district, roll up for ease of dress or unload volume, the arm of described transfer arm and fixed arm is the state opened, as shown in Figure 4.Shown in Fig. 5 is the state that described transfer arm is not opened completely.
Also it should be noted that, described key point represents with the form of color punctuation, comprises two marginal points of described double-core axle, two marginal points that the location point of described transfer arm, the location point of described fixed arm and described C type hook.As shown in Figure 2, C1, C2, M1, M2, H1, H2 these be all described color punctuation, C1 is wherein the location point of described dolly transfer arm, transfer arm with described dolly moves, be used to indicate the position of described transfer arm, described C2 is the location point of described dolly fixed arm, is used to indicate the position of described fixed arm.Described M1 and M2 is two marginal points of described double-core axle, and described H1 and H2 is two marginal points that described C type hooks.
Preferably, described control device can be PLC.
Further, if the visual range of a described camera is inadequate, the rotatable of the servos control shooting of rotatable scope can be spent by 0 to 180, and the operation overall process of described dolly can be monitored or use dual camera to cover guarded region in angle of visibility.
The course of work of described system is described, the mainly process of described dolly positioning control image procossing below in conjunction with accompanying drawing 6, Fig. 7 and Fig. 8.
As shown in Figure 6; described trolley travelling overall process image comprises double-core axle Zhuan Juan district, dolly stop zone and C Xing Gouxiejuan district; when coiling Zhuan Juan district or Xie Juan district described in described dolly enters into, described double-core axle or described C type hook equal akinesia to play the effect of safeguard protection.Lick in journey at the dress of described dolly, when described color punctuation C2 is consistent with the abscissa positions of described color punctuation M1, described dolly reduces speed now, low-speed motion.When described color punctuation C2 and described color punctuation M2 is in closer distance range, described control device controls described dolly stop motion, described dolly is made to rely on coast to the position of described color punctuation M2, make the horizontal ordinate distance of described color punctuation C2 and described color punctuation M2 in the error range allowed, namely think and arrive dress volume position, at this moment can control the rise of described dolly and carry out dress volume.If the distance of described color punctuation C2 and described color punctuation M2 is comparatively large, then by so repeatedly automatically adjusting until position suitable, dress volume automatic flow can be carried out afterwards again and controls.
It should be noted that, preferably, described color punctuation C2 is through described color punctuation M1, and walking abscissa positions apart from the position of described color punctuation M1 be horizontal ordinate distance between described color punctuation M1 and described color punctuation M2 three/for the moment, described dolly is by switching to low-speed motion at a high speed, and this position needs to carry out trickle adjustment according to on-site actual situations.Described color punctuation C2 and described color punctuation M2 in closer distance range in described distance be as the criterion according to on-the-spot test, this distance can ensure that described dolly deceleration stopping puts in place.
In addition; to in described dolly position fixing process; also described color punctuation M1 and described color punctuation C1 can be utilized to carry out auxiliary judgment; namely except must being judged by described color punctuation C2 and described color punctuation M2; also by the distance of color punctuation C1 and described color punctuation M1 described in comparison, the effect of redundancy protecting can be played.
When the arm of described dolly is held tightly in process, described color punctuation C1 no longer moves, and namely thinks that the arm of described dolly is held tightly, and now described dolly can move and continue follow-up automatic flow.
Arrive at described dolly in the process of described Xie Juan district being located by described dolly, when described color punctuation C2 arrives the abscissa positions same with described color punctuation H2, described control device controls described dolly by dropping to low-speed motion at a high speed, described in the image that described camera is recorded between color punctuation H1 with described color punctuation C1 horizontal ordinate pixel count and between described color punctuation H2 and described color punctuation C2 the pixel count of horizontal ordinate whether the same in the error range allowed, and whether alignd with the two ends that described C type hooks by the two ends distance coiled described in judgement, whether align center (namely by the distance of D1 and D2 in comparison diagram 7) judges whether location is suitable in the described position coiled, if between described color punctuation H1 and described color punctuation C1 horizontal ordinate pixel count and between described color punctuation H2 and described color punctuation C2 the pixel count of horizontal ordinate in the error range allowed, the described position align center coiled, then think that described dolly is suitable in the location at place of described Xie Juan district, if improper, trickle adjustment can be carried out by advancing or retreating.When after the arm of described dolly is opened and is declined by described coil be unloaded to described C type hook upper after, judge whether described color punctuation H1 is consistent with the ordinate of described color punctuation H2 and in the scope that error allows, namely can think that described C type hooks and do not have out of trim, when ordinate higher than described color punctuation H2 of the ordinate of described color punctuation H1, namely judge that described C type hooks to tilt to the right, otherwise, tilt to the left; If detect that described C type hooks out of trim, the automatic resetting flow process of described dolly, described dolly needs to rise and coils left described in holding tightly or move right until described C type hooks balance (thinking when namely judging that the ordinate difference of described color punctuation H1 and described color punctuation H2 is in error range that described C type hooks to balance).Wherein it should be noted that, during the automatic resetting of described dolly, described dolly needs walking how far can have two kinds of methods apart from just suitable, one is taken multiple measurements by experience, develop described color punctuation H1 and the described difference of color punctuation H2 ordinate and the relation table of orientation distance, by searching the distance of the fixed described carriage walking of this voting; Another kind method is the proportionate relationship according to described color punctuation H1 and described color punctuation H2 ordinate and total amount, can substantially consider according to linear relationship, calculates and judges that described dolly needs the distance of walking.
Be understandable that, described color punctuation C2 does not also arrive described color punctuation H2 place, and the abscissa positions of described color punctuation C2 apart from the abscissa positions of described color punctuation H2 be horizontal ordinate distance between described color punctuation H1 and described color punctuation H2 three/for the moment, described dolly is by switching to low speed at a high speed, and trickle adjustment also can be carried out according to on-site actual situations in this position.
It should be noted that, in the described image of described camera record, the corresponding actual object distance value of the pixel distance value of two color punctuations is linearly proportional, for these those skilled in the art, described linear ratio relation can by finding or being drawn by on-the-spot actual measurement in described camera technical parameter book.In addition, wherein said equally can be understood as in the error range allowed, distance between two pixels relatively time, leave certain surplus, at this moment described dolly can be stopped, make described dolly rely on coast to keep the distance between two pixels equal, and time in error range, can think that location is suitable.
Whether one collection volume station control system provided by the invention, by adopting trolley travelling overall process described in camera record, marks the key position point of described trolley travelling, suitable to dolly location described in the pixel multilevel iudge of these key points by image procossing.This locator meams to described dolly is different from prior art and realizes the mode of locating described dolly by scrambler, add that image procossing feeds back the accuracy that the mode controlling the location of dolly not only increases location by camera record trolley travelling, do not use scrambler and limit switch, also save expense, improve work efficiency.
Accordingly, present invention also offers a kind of collection volume station control method, described method comprises:
Double-core axle fixes to be installed coiling,
Described to be installed coiling fixing for described double-core axle is transported to C type hook by dolly,
Described C type hooks to receive and secure described in the unloading of described dolly and coils,
Trolley travelling overall process described in camera record,
Control device controls described trolley travelling overall process and described camera to the record of described trolley travelling overall process, and the key point information of the described trolley travelling overall process of camera record described in extract real-time is to realize the real-time location of described dolly.
Concrete, described double-core axle is transported to described C type hook by described dolly by described to be installed coiling after described double-core axle place fixes under the control of described control device, and under the control of described control device, described coiling is offloaded on described C type hook, this overall process is always by described camera record, and the image of described camera record key point information of trolley travelling described in extract real-time under the control of described control device carries out the location of dolly in operational process described in FEEDBACK CONTROL after image procossing.
One collection volume station provided by the invention control method, the location of dolly in operational process described in FEEDBACK CONTROL by the operation overall process of dolly described in camera record and carry out image procossing under the control of described control device after.This locator meams to described dolly is different from prior art and realizes the mode of locating described dolly by scrambler, add that image procossing feeds back the accuracy that the mode controlling the location of dolly not only increases location by camera record trolley travelling, do not use scrambler and limit switch, also save expense, improve work efficiency.
The invention provides a kind of collection volume station control method embodiment 3,8 described method is described in detail by reference to the accompanying drawings.Shown in accompanying drawing 8, described method step is as follows:
Step S801, double-core axle fix to be installed coiling;
Described to be installed coiling fixing for described double-core axle is transported to C type hook by step S802, dolly;
Step S803, described C type hook to receive and secure described in the unloading of described dolly and coil;
Trolley travelling overall process described in step S804, camera record;
Step S805, control device control described trolley travelling overall process and described camera to the record of described trolley travelling overall process, and the key point information of the described trolley travelling overall process of camera record described in extract real-time is to realize the real-time location of described dolly.
Below in conjunction with the concrete implementation step of accompanying drawing 8 detailed description collection volume station control method.
Step S801, double-core axle fix to be installed coiling;
Concrete, described double-core axle fixes described to be installedly to coil in described double-core axle Zhuan Juan district, wait for described dolly dress volume.Two marginal points of described double-core axle are wherein labeled as two color punctuations, and the color of described color punctuation select comparatively large with background frame aberration, conveniently to locate particular location in image processing process.
Described to be installed coiling fixing for described double-core axle is transported to C type hook by step S802, dolly;
Concrete, described dolly is under the control of described control device, to be installed the coiling at described double-core axle place is loaded on described dolly and under the control of described control device, is transported to described C type hook place, the transfer arm of described dolly and fixed arm are labeled as two color punctuations, and described dolly is when loading is coiled, described transfer arm and described fixed arm are the states opened, when described coil loading after, described transfer arm and described fixed arm are in the state that arm is held tightly.
Step S803, described C type hook to receive and secure described in the unloading of described dolly and coil;
Concrete, described dolly by described coil be transported to described C type hook place after, described C type hooks to receive and secure described in the unloading of described dolly and coils, and two marginal points that described C type hooks, as two color punctuations, use the location of described dolly in described image processing process.
Trolley travelling overall process described in step S804, camera record;
Concrete, described camera records the running status of described dolly in described trolley travelling overall process, comprise record described dolly load described in coil, run described in coil and unload described in the process coiled, and described camera needs to photograph trolley travelling gamut, if the visual range of a camera is inadequate, the rotatable of the servos control shooting of rotatable scope can be spent by 0 to 180, and the operation overall process of described dolly can be monitored in angle of visibility, or use dual camera to cover guarded region.
Step S805, control device control described trolley travelling overall process and described camera to the record of described trolley travelling overall process, and the key point information of the described trolley travelling overall process of camera record described in extract real-time is to realize the real-time location of described dolly;
Concrete, described control device controls the overall process of trolley travelling, comprise and control to coil described in described dolly loading, the process such as to coil described in coiling described in operation and unloading, and control the operation that described camera records described dolly in described trolley travelling overall process, and the key point information of the described trolley travelling overall process of camera record described in extract real-time carries out image processing process, running the location in overall process with dolly described in FEEDBACK CONTROL.
It should be noted that, described key point represents with the form of color punctuation, comprises two marginal points of described double-core axle, two marginal points that the location point of described transfer arm, the location point of described fixed arm and described C type hook.Described control device also comprises and marking described key point before the key point information of the described trolley travelling overall process of camera record described in extract real-time, because described key point indicates with the form of described color punctuation, so the mark being labeled as described color punctuation of described key point, need manually to mark, system can record the color of described color punctuation and position automatically.The mark of described color punctuation comprises manually selects color punctuation in the visual range of described camera, and the color of the color punctuation selected is larger with background frame aberration, is convenient to position the particular location of target in image processing process.By described color punctuation position relationship in the picture, can the motion of dolly described in FEEDBACK CONTROL.
In addition, also needing to ensure illuminance on-the-spot in described camera record image process and the white balance treatment effect of described camera, also can block foreign material by arranging background screen, to avoid described color punctuation identification error.The size of described color punctuation needs the position ensureing at least to occupy in the picture 5 pixels cannot be identified to avoid too little.
Because embodiment 2 has had detailed description to described collection volume station control procedure when descriptive system, so the detailed implementation process of described collection volume station control method with reference to the description of said system embodiment, can repeat no more herein.
One collection volume station provided by the invention control method, the location of dolly in operational process described in FEEDBACK CONTROL by the operation overall process of dolly described in camera record and carry out image procossing under the control of described control device after.This locator meams to described dolly is different from prior art and realizes the mode of locating described dolly by scrambler, add that image procossing feeds back the accuracy that the mode controlling the location of dolly not only increases location by camera record trolley travelling, do not use scrambler, also save expense, improve work efficiency.In addition, prior art not only needs the length by coiling described in various indirect mode calculating in control procedure, also need the position of counting of carriers, and carry out various loaded down with trivial details data reduction, and the method for the present invention by directly measuring, eliminate more intermediate computations, make to control more accurately with reliable.
Claims (12)
1. a collection volume station control system, it is characterized in that, described system comprises:
Double-core axle, dolly, C type hook, camera and control device;
Described double-core axle is used for fixing to be installed coiling;
Described dolly is used for described to be installed coiling fixing for described double-core axle to be transported to described C type hook;
Described C type hooks to be coiled for receiving and securing described in the unloading of described dolly;
Described camera is used for recording described trolley travelling overall process;
Described control device is for controlling described trolley travelling overall process and described camera to the record of described trolley travelling overall process, and the key point information of the described trolley travelling overall process of camera record described in extract real-time is to realize the real-time location of described dolly.
2. system according to claim 1, is characterized in that, described trolley travelling overall process comprise described dolly load described in coil, run described in coil and unload described in coil.
3. system according to claim 2, is characterized in that, the described trolley travelling overall process image of described camera record comprises double-core axle Zhuan Juan district, dolly stop zone and C Xing Gouxiejuan district.
4. system according to claim 1, is characterized in that, described dolly comprises trolley base, transfer arm and fixed arm.
5. system according to claim 4, is characterized in that, described key point indicates with the form of color punctuation, comprises two marginal points of described double-core axle, two marginal points that the location point of described transfer arm, the location point of described fixed arm and described C type hook.
6. system according to claim 1, is characterized in that, described control device is PLC.
7. a collection volume station control method, it is characterized in that, described method comprises:
Double-core axle fixes to be installed coiling;
Described to be installed coiling fixing for described double-core axle is transported to C type hook by dolly;
Described C type hooks to receive and secure described in the unloading of described dolly and coils;
Trolley travelling overall process described in camera record;
Control device controls described trolley travelling overall process and described camera to the record of described trolley travelling overall process, and the key point information of the described trolley travelling overall process of camera record described in extract real-time is to realize the real-time location of described dolly.
8. method according to claim 7, is characterized in that, described trolley travelling overall process comprise described dolly load described in coil, run described in coil and unload described in coil.
9. method according to claim 7, is characterized in that, described control device also comprises described key point mark before the key point information of the described trolley travelling overall process of camera record described in extract real-time.
10. method according to claim 9, it is characterized in that, described key point indicates with the form of color punctuation, comprise two marginal points of described double-core axle, two marginal points that the location point of described transfer arm, the location point of described fixed arm and described C type hook, described key point is labeled as described color punctuation mark.
11. methods according to claim 10, is characterized in that, described color punctuation mark comprises manually selects color punctuation in the visual range of described camera.
12. methods according to claim 10, is characterized in that, shared by described color punctuation, the size of picture screen is at least 5 pixels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510607297.2A CN105159300B (en) | 2015-09-22 | 2015-09-22 | One kind collection volume station control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510607297.2A CN105159300B (en) | 2015-09-22 | 2015-09-22 | One kind collection volume station control system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105159300A true CN105159300A (en) | 2015-12-16 |
| CN105159300B CN105159300B (en) | 2018-01-23 |
Family
ID=54800185
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510607297.2A Expired - Fee Related CN105159300B (en) | 2015-09-22 | 2015-09-22 | One kind collection volume station control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105159300B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105562439A (en) * | 2016-02-18 | 2016-05-11 | 内蒙古包钢钢联股份有限公司 | Two-core rod interference error control method for high-speed wire collecting and winding region |
| CN113245398A (en) * | 2021-04-29 | 2021-08-13 | 广西钢铁集团有限公司 | Double-arm mandrel rotation positioning method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60197328A (en) * | 1984-03-22 | 1985-10-05 | Mitsubishi Electric Corp | Transfer and machining control device |
| CN102508495A (en) * | 2011-09-28 | 2012-06-20 | 三一重工股份有限公司 | Method and system for controlling motion of tail end of execution arm |
| CN202939620U (en) * | 2012-11-30 | 2013-05-15 | 武汉钢铁(集团)公司 | Information tracking device for C-shaped hooks on P/F transport line |
| CN203845414U (en) * | 2014-03-25 | 2014-09-24 | 中冶华天工程技术有限公司 | Plate coiler overturning device |
| US20150185735A1 (en) * | 2014-01-02 | 2015-07-02 | Automotive Research & Testing Center | Vehicle positioning method and its system |
-
2015
- 2015-09-22 CN CN201510607297.2A patent/CN105159300B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60197328A (en) * | 1984-03-22 | 1985-10-05 | Mitsubishi Electric Corp | Transfer and machining control device |
| CN102508495A (en) * | 2011-09-28 | 2012-06-20 | 三一重工股份有限公司 | Method and system for controlling motion of tail end of execution arm |
| CN202939620U (en) * | 2012-11-30 | 2013-05-15 | 武汉钢铁(集团)公司 | Information tracking device for C-shaped hooks on P/F transport line |
| US20150185735A1 (en) * | 2014-01-02 | 2015-07-02 | Automotive Research & Testing Center | Vehicle positioning method and its system |
| CN203845414U (en) * | 2014-03-25 | 2014-09-24 | 中冶华天工程技术有限公司 | Plate coiler overturning device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105562439A (en) * | 2016-02-18 | 2016-05-11 | 内蒙古包钢钢联股份有限公司 | Two-core rod interference error control method for high-speed wire collecting and winding region |
| CN113245398A (en) * | 2021-04-29 | 2021-08-13 | 广西钢铁集团有限公司 | Double-arm mandrel rotation positioning method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105159300B (en) | 2018-01-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108426547B (en) | Inspection system | |
| JP6348670B2 (en) | A logistics facility with a shuttle cart for transporting parcels and a handheld unit for identifying parcels | |
| CN105752655A (en) | Correction device and method for cargoes in cross-belt sorting trolley | |
| CN110758473B (en) | Tracking and positioning method and system for rail vehicle for molten iron combined transportation | |
| US20210008598A1 (en) | Parcel sorting system and method with active display | |
| KR20180028915A (en) | Article transport facility | |
| CN105159300A (en) | Coil collection station control system and method | |
| JP6408317B2 (en) | Measuring method and measuring device for raw material mountain shape in raw material yard | |
| CN112987739A (en) | AGV transfer robot walking method under different load conditions | |
| CN109533834A (en) | A kind of coil of strip transfer device between pallet and tray carriage transportation system | |
| CN109941694B (en) | Target object transmission method and device | |
| JP2020111471A (en) | Automatic commodity distribution sorting system and automatic commodity distribution sorting method | |
| CN105416959B (en) | A kind of intelligent repository control system based on machine vision | |
| JP2019531993A (en) | Goods conveying device | |
| JP2017530866A (en) | Equipment for identifying handled parcels | |
| JP2007326700A (en) | Steel product management method and management system | |
| US5729868A (en) | Can storage device for rectangular cans at a can filling station | |
| WO2004058623A1 (en) | A system and a method for container identification | |
| CN103243533A (en) | Automatic fabric unwinding system for mending fabric | |
| KR20240003654A (en) | Overhead hoist transport | |
| CN105259925A (en) | Coil collection station coil unloading positioning device and method | |
| CN210982251U (en) | Glass substrate motion state defect detection equipment | |
| CN112573117B (en) | Central logistics scheduling method and central logistics scheduling system | |
| JP6096702B2 (en) | Container terminal gate system | |
| JPH08324963A (en) | Method and device of automatic operation for crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20171027 Address after: 100096, 18, 5, 518, East Building Road, Xisanqi, Beijing, Haidian District Applicant after: BEIJING BESTPOWER INTELCONTROL TECHNOLOGY Co.,Ltd. Address before: 100096 Beijing Xisanqi building materials City, East Road, No. 18, No. Applicant before: BEIJING BESTPOWER ELECTRICAL TECHNOLOGY Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 100096 Beijing Haidian District Xisanqi building materials East Road 18, 5, 518 room. Patentee after: BEIJING BESTPOWER INTELCONTROL CO.,LTD. Address before: 100096 Beijing Haidian District Xisanqi building materials East Road 18, 5, 518 room. Patentee before: BEIJING BESTPOWER INTELCONTROL TECHNOLOGY Co.,Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180123 |