CN105217477A - Crane hoisting multiplying power automatic recognition control method and control system - Google Patents
Crane hoisting multiplying power automatic recognition control method and control system Download PDFInfo
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- CN105217477A CN105217477A CN201510745930.4A CN201510745930A CN105217477A CN 105217477 A CN105217477 A CN 105217477A CN 201510745930 A CN201510745930 A CN 201510745930A CN 105217477 A CN105217477 A CN 105217477A
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Abstract
The present invention relates to a kind of crane hoisting multiplying power automatic recognition control method and system, method comprises: carry out image acquisition to whip-gin group and steel rope; Graphical analysis is carried out to the view data collected, identifies the steel rope number of share of stock of whip-gin group both sides; According to the actual multiplying power of recognition result determination whip-gin group; Judge the actual multiplying power of whip-gin group and whether arrange multiplying power consistent, inconsistently then start safety precautions and alarm.The present invention is by carrying out graphical analysis to the image of the whip-gin group collected and steel rope; to obtain actual multiplying power; and by judging actual multiplying power and the conformability arranging multiplying power; when both multiplying powers are inconsistent; the execution of dangerous play is limited by starting safety precautions; and the danger of alarm operator hoisting operation; guide it to carry out correct operating mode to arrange; thus eliminate actual multiplying power and the inconsistent lifting hidden danger of multiplying power is set, guarantee that hoisting operation carries out safely and effectively.
Description
Technical field
The present invention relates to engineering machinery field, particularly relate to a kind of crane hoisting multiplying power automatic recognition control method and control system.
Background technology
Hoisting crane is widely used in various engineering environment, according to the difference of different areas of activity, need arrange, to meet the demand that volume carries calculating and vehicle safety control on Vehicular display device to counterweight, supporting leg, brachium combination and multiplying power etc.As shown in Figure 1, hoisting crane to be sling weight by arm a4, steel rope a5, assembly pulley and suspension hook a3, assembly pulley is divided into fixed pulley group a1 and running block a2, actual multiplying power refers to the laborsaving or speedup multiplying power of crane rope assembly pulley, can determine according to the steel rope number of share of stock between fixed pulley group and running block.
The vehicle-mounted displaying appliance of hoisting crane is for human-computer interaction function, in operation process, operator can select suitable operating mode type, semi-girder combination, multiplying power etc. for current environment feature by telltale, to guarantee reliability and the safety of lift heavy, the multiplying power here set by operator is called as and arranges multiplying power.
At present, before hoisting crane carries out lift heavy, need the canoe of artificial adjustment hoisting rope, to guarantee actual multiplying power and to arrange multiplying power consistent.But in actual use, following situation may be there is: because current actual multiplying power is too small, lift heavy is caused to overload, in order to save the time of more change steel rope, operator artificially may be increased by man-machine interactive system and arranges multiplying power, and this will cause actual multiplying power and arrange the inconsistent of multiplying power, and then it is wrong to cause Calculating Torque during Rotary device to export data, easily causes lifting dangerous.In addition, multiplying power is set when being greater than actual multiplying power, every strand steel wire rope holding capacity amount also can be caused excessive, exist in lift heavy process disconnected rope, cannot vertical takeoff and landing, reduce the lifting hidden danger such as framing member service life.
Summary of the invention
The object of the invention is to propose a kind of crane hoisting multiplying power automatic recognition control method and control system, when can eliminate crane job assembly pulley steel rope actual multiplying power with the inconsistent lifting hidden danger of multiplying power is set, guarantee that hoisting operation carries out safely and effectively.
For achieving the above object, the invention provides a kind of crane hoisting multiplying power automatic recognition control method, comprising:
Image acquisition is carried out to whip-gin group and steel rope;
Graphical analysis is carried out to the view data collected, identifies the steel rope number of share of stock of described whip-gin group both sides;
The actual multiplying power of described whip-gin group is determined according to recognition result;
Judge the actual multiplying power of described whip-gin group and whether arrange multiplying power consistent, if inconsistent, then start safety precautions and alarm.
Further, described the operation that whip-gin group and steel rope carry out image acquisition to be specially:
Several photographic images of described whip-gin group and steel rope are obtained by the camera being arranged on crane arm head;
The view data of photographic images as graphical analysis of optimal quality is selected from several photographic images obtained.
Further, describedly determine that according to recognition result the operation of the actual multiplying power of described whip-gin group is specially:
The actual multiplying power of described whip-gin group is calculated according to the steel rope number of share of stock of described whip-gin group both sides identified and the type of described whip-gin group;
If described whip-gin group is simply connected assembly pulley, then actual multiplying power is the steel rope number of share of stock of described whip-gin group both sides;
If described whip-gin group is duplex assembly pulley, then actual multiplying power is 1/2nd of the steel rope number of share of stock of described whip-gin group both sides.
Further, described startup safety precautions the operation of alarm are specially:
Execution can stop the safety protection control means of the hoisting crane action causing the vertical or horizontal motion of lift heavy, changes the current unsafe condition of vehicle immediately to impel operator;
Carry out alarm visual prompting by human-computer interaction device, and by audible alarm, guide operator to reselect correct operating mode configuration, or change wirerope-winding mode to make the actual multiplying power after adjustment and to arrange multiplying power consistent.
For achieving the above object, the invention provides the automatic control system for identifying of a kind of crane hoisting multiplying power, comprising:
Vehicle-mounted elevator control monitor unit, for carrying out image acquisition to whip-gin group and steel rope;
Controller; for carrying out graphical analysis to the view data collected; identify the steel rope number of share of stock of described whip-gin group both sides; and the actual multiplying power of described whip-gin group is determined according to recognition result; judge the actual multiplying power of described whip-gin group and whether arrange multiplying power consistent; if inconsistent, then start safety precautions and alarm.
Further, described vehicle-mounted elevator control monitor unit comprises the camera being arranged on crane arm head, the shooting angle of described camera is just to crane hook, with the steel rope enabling described camera photograph described whip-gin group, described vehicle-mounted elevator control monitor unit obtains several photographic images of described whip-gin group and steel rope by described camera, and selects the photographic images of optimal quality to send to described controller as the view data of graphical analysis from several photographic images obtained.
Further, also comprise: human-computer interaction device, for realizing, hoisting crane operating mode is arranged, alarm visual is pointed out and audible alarm.
Further, described human-computer interaction device is Vehicular display device, panel computer or with car load notebook PC.
Further, described controller is Vehicle Controller, Vehicular display device or vehicle-mounted power limit device, and described controller specifically comprises:
Photographic images analysis module, for carrying out graphical analysis to the view data collected, identifies the steel rope number of share of stock of described whip-gin group both sides;
Actual multiplying power determination module, for calculating the actual multiplying power of described whip-gin group according to the steel rope number of share of stock of described whip-gin group both sides identified and the type of described whip-gin group, if described whip-gin group is simply connected assembly pulley, then actual multiplying power is the steel rope number of share of stock of described whip-gin group both sides, if described whip-gin group is duplex assembly pulley, then actual multiplying power is 1/2nd of the steel rope number of share of stock of described whip-gin group both sides;
Multiplying power conformability judge module, for judging the actual multiplying power of described whip-gin group and whether arrange multiplying power consistent;
Safety guard-safeguard starts module, for judge at described multiplying power conformability judge module described actual multiplying power with arrange multiplying power inconsistent time, execution can stop the safety protection control means of the hoisting crane action causing the vertical or horizontal motion of lift heavy, changes the current unsafe condition of vehicle immediately to impel operator;
Alarm starts module, for judge at described multiplying power conformability judge module described actual multiplying power with arrange multiplying power inconsistent time, alarm visual prompting is carried out by described human-computer interaction device, and pass through audible alarm, guide operator to reselect the configuration of correct operating mode, or change wirerope-winding mode to make the actual multiplying power after adjustment and to arrange multiplying power consistent.
Further, described vehicle-mounted elevator control monitor unit, described controller are communicated by CAN network with described human-computer interaction device.
Based on technique scheme, the present invention is by carrying out graphical analysis to the image of the whip-gin group collected and steel rope, to obtain actual multiplying power, and by judging actual multiplying power and the conformability arranging multiplying power, when both multiplying powers are inconsistent, the execution of dangerous play is limited by starting safety precautions, and the danger of alarm operator hoisting operation, guide it to carry out correct operating mode to arrange, thus when eliminating crane job assembly pulley steel rope actual multiplying power with the inconsistent lifting hidden danger of multiplying power is set, guarantee that hoisting operation carries out safely and effectively.
Accompanying drawing explanation
Accompanying drawing described herein is used to provide a further understanding of the present invention, and form a application's part, schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the assembly pulley of existing hoisting crane and the structural representation of suspension hook.
Fig. 2 is the schematic flow sheet of an embodiment of crane hoisting multiplying power automatic recognition control method of the present invention.
Fig. 3 is the structural representation of an embodiment of the automatic control system for identifying of crane hoisting multiplying power of the present invention.
Fig. 4 is the structural representation of the hoisting crane of the automatic control system for identifying embodiment of application crane hoisting multiplying power of the present invention.
Fig. 5 is the process schematic that the present invention changes wirerope-winding.
Detailed description of the invention
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
As shown in Figure 2, be the schematic flow sheet of an embodiment of crane hoisting multiplying power automatic recognition control method of the present invention.In the present embodiment, control method comprises:
Step 101, image acquisition is carried out to whip-gin group and steel rope;
Step 102, graphical analysis is carried out to the view data collected, identify the steel rope number of share of stock of described whip-gin group both sides;
Step 103, determine the actual multiplying power of described whip-gin group according to recognition result;
Step 104, judge the actual multiplying power of described whip-gin group and whether arrange multiplying power consistent, be then end operation, otherwise perform step 105;
Step 105, start safety precautions alarm.
In the present embodiment; by carrying out graphical analysis to the image of the whip-gin group collected and steel rope; to obtain actual multiplying power; and by judging actual multiplying power and the conformability arranging multiplying power; when both multiplying powers are inconsistent; the execution of dangerous play is limited by starting safety precautions; and the danger of alarm operator hoisting operation; guide it to carry out correct operating mode to arrange; thus when eliminating crane job assembly pulley steel rope actual multiplying power with the inconsistent lifting hidden danger of multiplying power is set, guarantee that hoisting operation carries out safely and effectively.
Image acquisition process in step 101 is realized by the mode of shooting, in the appropriate location of crane arm head, camera is installed, make it just to whip-gin group and steel rope, in manufacturing process, workman can be debugged by the position to camera, angle and focal length, can to photograph in whip-gin group steel rope quantity between fixed pulley group and running block clearly to make camera.Shooting process can be single width photographic images, and this is usually corresponding is the situation that shooting effect is enough to meet requirements; Also can be several photographic images, then choose the view data of photographic images as graphical analysis of optimal quality from several photographic images, the external world or equipment self can be avoided so as far as possible to the adverse effect of photographic images; Certainly also can be from continuous print video image, intercept applicable image as the view data analyzed as required.
In a step 102, view data will be carried out graphical analysis, and to determine the steel rope number of share of stock of whip-gin group both sides, and graphical analysis can adopt the algorithm of existing maturation, such as denoising, rim detection, classification etc., has just repeated no more here.The actual multiplying power of whip-gin group can be calculated based on the steel rope number of share of stock determined further, during calculating, need the type in conjunction with whip-gin group to consider, calculate the actual multiplying power of whip-gin group.If described whip-gin group is simply connected assembly pulley, then actual multiplying power is the steel rope number of share of stock of described whip-gin group both sides.If described whip-gin group is duplex assembly pulley, then actual multiplying power is 1/2nd of the steel rope number of share of stock of described whip-gin group both sides.
Actual multiplying power and arrange multiplying power inconsistent time, safety precautions to be started and alarm by step 105, in fact this step comprises two aspect operations, on the one hand perform the safety protection control means that can stop the hoisting crane action causing the vertical or horizontal motion of lift heavy, such as shut down, turn off the transfer valve of some operation action, make operation action recovery etc., change the current unsafe condition of vehicle immediately to impel operator; Be on the other hand then carry out alarm visual prompting by human-computer interaction device, and by audible alarm, guide operator to reselect correct operating mode configuration, or change wirerope-winding mode to make the actual multiplying power after adjustment and to arrange multiplying power consistent.
Here alarm visual prompting can be eject information within display screen, lack of standardization with teaching process person current operation, needs to reset, or by strong color change and graphical cues teaching process person assembly pulley existing problems, needs to reset; And audible alarm can be utilize buzzer phone to send buzzing or play according to the warning language preset.
The concrete operations changing wirerope-winding mode can with reference to figure 5, first the spacing bearing pin 71 on rope sling 73 is unloaded, steel wire rope head 72 is pulled out from rope sling 73, and make steel rope walk around movable pulley on corresponding arm head fixed pulley and suspension hook, after being replaced by required multiplying power (change wirerope-winding mode), steel wire rope head 72 is loaded in rope sling 73, the spacing bearing pin 71 on rope sling 73 and clamp 74 are installed.
In above-mentioned crane hoisting multiplying power automatic recognition control method, the operations such as the operation of graphical analysis, the operation determining actual multiplying power and multiplying power compare realized by the different function units on hoisting crane about can divide, also accessible site is in one or more concrete device, provides the explanation of an embodiment of the automatic control system for identifying of crane hoisting multiplying power of the present invention below by Fig. 3.Wherein, the basic automatic control system for identifying of crane hoisting multiplying power comprises: vehicle-mounted elevator control monitor unit 1 and controller 2, and wherein vehicle-mounted elevator control monitor unit 1 is for carrying out image acquisition to whip-gin group and steel rope; Controller 2 is for carrying out graphical analysis to the view data collected; identify the steel rope number of share of stock of described whip-gin group both sides; and the actual multiplying power of described whip-gin group is determined according to recognition result; judge the actual multiplying power of described whip-gin group and whether arrange multiplying power consistent; if inconsistent, then start safety precautions and alarm.
In another embodiment; about the identification of graphical analysis, steel rope number of share of stock and the determination of actual multiplying power also can be realized by vehicle-mounted elevator control monitor unit 1, only completed the action judging multiplying power conformability and start safety precautions and alarm by controller.
Can specifically comprise the camera being arranged on crane arm head in vehicle-mounted elevator control monitor unit 1, make the shooting angle of camera just to crane hook, thus guarantee that camera can photograph the steel rope of described whip-gin group.Vehicle-mounted elevator control monitor unit 1 obtains several photographic images of described whip-gin group and steel rope by described camera, and selects the photographic images of optimal quality to send to described controller 2 as the view data of graphical analysis from several photographic images obtained.Certainly, also can be that several photographic images are sent to controller 2 by vehicle-mounted elevator control monitor unit 1, select the photographic images be applicable to carry out graphical analysis by controller 2.
Further, can add human-computer interaction device 3 in system, hoisting crane operating mode is arranged, alarm visual is pointed out and audible alarm to utilize this human-computer interaction device 3 to realize.Human-computer interaction device 3 can adopt Vehicular display device, panel computer or with car load notebook PC.And controller 2 can be adopted as Vehicle Controller, Vehicular display device or vehicle-mounted power limit device.Communicate with human-computer interaction device 3 in order to ensure vehicle-mounted elevator control monitor unit 1, controller 2, preferably adopt CAN network to communicate.Certainly, can also adopt ethernet or internet etc. possess the latticed form of data-transformation facility substitute.
For aforesaid controller 2, it specifically comprises following functions unit:
Photographic images analysis module, for carrying out graphical analysis to the view data collected, identifies the steel rope number of share of stock of described whip-gin group both sides;
Actual multiplying power determination module, for calculating the actual multiplying power of described whip-gin group according to the steel rope number of share of stock of described whip-gin group both sides identified and the type of described whip-gin group, if described whip-gin group is simply connected assembly pulley, then actual multiplying power is the steel rope number of share of stock of described whip-gin group both sides, if described whip-gin group is duplex assembly pulley, then actual multiplying power is 1/2nd of the steel rope number of share of stock of described whip-gin group both sides;
Multiplying power conformability judge module, for judging the actual multiplying power of described whip-gin group and whether arrange multiplying power consistent;
Safety guard-safeguard starts module, for judge at described multiplying power conformability judge module described actual multiplying power with arrange multiplying power inconsistent time, execution can stop the safety protection control means of the hoisting crane action causing the vertical or horizontal motion of lift heavy, such as by carrying out stop control lever or power supply etc. to actuating unit 4, change the current unsafe condition of vehicle immediately to impel operator;
Alarm starts module, for judge at described multiplying power conformability judge module described actual multiplying power with arrange multiplying power inconsistent time, alarm visual prompting is carried out by described human-computer interaction device 3, and pass through audible alarm, guide operator to reselect the configuration of correct operating mode, or change wirerope-winding mode to make the actual multiplying power after adjustment and to arrange multiplying power consistent.
Fig. 4 shows the example of the crane structure of the automatic control system for identifying embodiment of application crane hoisting multiplying power of the present invention.Lifting, the vehicle frame of hoisting crane 5 is provided with jib, elevator 6 and electric-control system 11, the running block 9 below fixed pulley group 8 and fixed pulley group 8 is provided with at the head of jib, the steel rope 7 of drawing from elevator 6 is wrapped in the whip-gin group that is made up of running block 9 and fixed pulley group 8, be provided with suspension hook in the below of movable pulley to trigger weight 10, wherein aforesaid vehicle-mounted elevator control monitor unit 1, controller 2 and human-computer interaction device 3 all can be arranged in electric-control system 11.
Finally should be noted that: above embodiment is only in order to illustrate that technical scheme of the present invention is not intended to limit; Although with reference to preferred embodiment to invention has been detailed description, those of ordinary skill in the field are to be understood that: still can modify to the specific embodiment of the present invention or carry out equivalent replacement to portion of techniques feature; And not departing from the spirit of technical solution of the present invention, it all should be encompassed in the middle of the technical scheme scope of request of the present invention protection.
Claims (10)
1. a crane hoisting multiplying power automatic recognition control method, comprising:
Image acquisition is carried out to whip-gin group and steel rope;
Graphical analysis is carried out to the view data collected, identifies the steel rope number of share of stock of described whip-gin group both sides;
The actual multiplying power of described whip-gin group is determined according to recognition result;
Judge the actual multiplying power of described whip-gin group and whether arrange multiplying power consistent, if inconsistent, then start safety precautions and alarm.
2. method according to claim 1, wherein, to be describedly specially the operation that whip-gin group and steel rope carry out image acquisition:
Several photographic images of described whip-gin group and steel rope are obtained by the camera being arranged on crane arm head;
The view data of photographic images as graphical analysis of optimal quality is selected from several photographic images obtained.
3. method according to claim 1, wherein, describedly determine that according to recognition result the operation of the actual multiplying power of described whip-gin group is specially:
The actual multiplying power of described whip-gin group is calculated according to the steel rope number of share of stock of described whip-gin group both sides identified and the type of described whip-gin group;
If described whip-gin group is simply connected assembly pulley, then actual multiplying power is the steel rope number of share of stock of described whip-gin group both sides;
If described whip-gin group is duplex assembly pulley, then actual multiplying power is 1/2nd of the steel rope number of share of stock of described whip-gin group both sides.
4. method according to claim 1, wherein, described startup safety precautions the operation of alarm are specially:
Execution can stop the safety protection control means of the hoisting crane action causing the vertical or horizontal motion of lift heavy, changes the current unsafe condition of vehicle immediately to impel operator;
Carry out alarm visual prompting by human-computer interaction device, and by audible alarm, guide operator to reselect correct operating mode configuration, or change wirerope-winding mode to make the actual multiplying power after adjustment and to arrange multiplying power consistent.
5. the automatic control system for identifying of crane hoisting multiplying power, comprising:
Vehicle-mounted elevator control monitor unit (1), for carrying out image acquisition to whip-gin group and steel rope;
Controller (2); for carrying out graphical analysis to the view data collected; identify the steel rope number of share of stock of described whip-gin group both sides; and the actual multiplying power of described whip-gin group is determined according to recognition result; judge the actual multiplying power of described whip-gin group and whether arrange multiplying power consistent; if inconsistent, then start safety precautions and alarm.
6. system according to claim 5, wherein said vehicle-mounted elevator control monitor unit (1) comprises the camera being arranged on crane arm head, the shooting angle of described camera is just to crane hook, with the steel rope enabling described camera photograph described whip-gin group, described vehicle-mounted elevator control monitor unit (1) obtains several photographic images of described whip-gin group and steel rope by described camera, and select the photographic images of optimal quality to send to described controller (2) as the view data of graphical analysis from several photographic images obtained.
7. the system according to claim 5 or 6, wherein also comprises: human-computer interaction device (3), and for realizing, hoisting crane operating mode is arranged, alarm visual is pointed out and audible alarm.
8. system according to claim 7, wherein said human-computer interaction device (3) is Vehicular display device, panel computer or with car load notebook PC.
9. system according to claim 7, wherein said controller (2) is Vehicle Controller, Vehicular display device or vehicle-mounted power limit device, described controller (2) specifically comprises:
Photographic images analysis module, for carrying out graphical analysis to the view data collected, identifies the steel rope number of share of stock of described whip-gin group both sides;
Actual multiplying power determination module, for calculating the actual multiplying power of described whip-gin group according to the steel rope number of share of stock of described whip-gin group both sides identified and the type of described whip-gin group, if described whip-gin group is simply connected assembly pulley, then actual multiplying power is the steel rope number of share of stock of described whip-gin group both sides, if described whip-gin group is duplex assembly pulley, then actual multiplying power is 1/2nd of the steel rope number of share of stock of described whip-gin group both sides;
Multiplying power conformability judge module, for judging the actual multiplying power of described whip-gin group and whether arrange multiplying power consistent;
Safety guard-safeguard starts module, for judge at described multiplying power conformability judge module described actual multiplying power with arrange multiplying power inconsistent time, execution can stop the safety protection control means of the hoisting crane action causing the vertical or horizontal motion of lift heavy, changes the current unsafe condition of vehicle immediately to impel operator;
Alarm starts module, for judge at described multiplying power conformability judge module described actual multiplying power with arrange multiplying power inconsistent time, alarm visual prompting is carried out by described human-computer interaction device (3), and pass through audible alarm, guide operator to reselect the configuration of correct operating mode, or change wirerope-winding mode to make the actual multiplying power after adjustment and to arrange multiplying power consistent.
10. system according to claim 7, wherein said vehicle-mounted elevator control monitor unit (1), described controller (2) are communicated by CAN network with described human-computer interaction device (3).
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| CN105460789A (en) * | 2016-01-12 | 2016-04-06 | 徐州重型机械有限公司 | Crane rate diagnosis method, system and crane |
| CN108892040A (en) * | 2018-08-02 | 2018-11-27 | 中国十九冶集团有限公司 | Crane Internet of Things net dynamic safety monitoring and managing method and system |
| CN111153329A (en) * | 2018-11-07 | 2020-05-15 | 马尼托瓦克起重机有限责任公司 | System for determining crane state using optical and/or electromagnetic sensors |
| CN112173972A (en) * | 2020-09-14 | 2021-01-05 | 中联重科股份有限公司 | Method and system for detecting abnormal multiplying power setting of tower crane monitoring system |
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| CN112173972A (en) * | 2020-09-14 | 2021-01-05 | 中联重科股份有限公司 | Method and system for detecting abnormal multiplying power setting of tower crane monitoring system |
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| CN105217477B (en) | 2017-09-19 |
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