CN105480872A - Automobile crane based on vision feedback and pole tower hoisting method thereof - Google Patents
Automobile crane based on vision feedback and pole tower hoisting method thereof Download PDFInfo
- Publication number
- CN105480872A CN105480872A CN201610025266.0A CN201610025266A CN105480872A CN 105480872 A CN105480872 A CN 105480872A CN 201610025266 A CN201610025266 A CN 201610025266A CN 105480872 A CN105480872 A CN 105480872A
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- China
- Prior art keywords
- camera
- pick
- crane
- car hosit
- access control
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/52—Details of compartments for driving engines or motors or of operator's stands or cabins
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses an automobile crane based on vision feedback. The automobile crane comprises a crane body and a cargo boom arranged on the crane body. A vision feedback device is arranged on the automobile crane and comprises a first camera arranged at a crane head and a second camera arranged right in the middle of the front end of the cargo boom. The first camera and the second camera are connected to an image collecting card through transmission wires respectively, the image collecting card is arranged on a computer, and the computer is connected with a display. The invention further discloses a pole tower hoisting method of the automobile crane. The method comprises the steps that firstly, the first camera and the second camera are installed; secondly, the angle of the first camera and the angle of the second camera are adjusted; thirdly, the vision feedback device is assembled on the crane body; and finally, pole tower hoisting is finished according to image information of the vision feedback device. By means of the vision feedback device, the crane body can be independently and effectively controlled in time, a tower body can be accurately arranged in place, labor force is reduced, and the construction efficiency is improved.
Description
Technical field
The present invention relates to tower erection, particularly the car hosit that feeds back of a kind of view-based access control model and shaft tower hanging method thereof.
Background technology
One, tower erection technology
Tower erection is the critical process in shaft tower construction, is also careful, a complicated and heavy job.The task of tower erection is the tower structure combining on the ground, leaves ground (or rotating along ground) under order, and shaft tower is seated to correct position.Method for assembling can be divided into the legislation of pole group, the legislation of large-scale crane group and the legislation of aircraft group according to the difference of construction appliance.
(1) pole group legislation
The legislation of pole group is that the device that first earth anchor, coaster, hauling rope will be utilized to form completes standing up of pole and it fixed with bracing wire before shaft tower lifting.Again by pole, coaster, traction power equipment composition lifting machinery system, change the Impact direction of lifting, and then complete hoisting process with strand mill traction rigging.
The method step is many, flow process is complicated, and required construction Work tool is many, and each link needs engineering worker many, once occur in hoisting process that deviation adjusting is more difficult, requires higher to the coordination of whole work progress.
(2) crane group legislation
The legislation of crane group utilizes crane steel tower entirety or one straightened portion to be sling, aim at iron tower foundation or organized vertical steel tower part decline suspension hook, treat that steel tower installation personnel buttresses steel tower, make the stud bolt hole of four of steel tower pin accurately can be inserted in holding-down bolt or upper part tower body when aiming at adjacent lower part tower body, fastening nut, crane just can take off suspension hook, completes the hoisted in position operation of this base steel tower.
The method eliminates weight-lifting equipment and lifts by crane the carrying of Work tool, layout and dismantlement work, simple, convenient and rapid, reliable and stable.Therefore 3 ~ 4 times that can improve lifting speed be most suitable method in the construction of current shaft tower, is also the developing direction of shaft tower construction from now on.But in the process of lifting, because the visual range of crane operator is limited, tower body is being sling and slowly in the process of column foot movement, is needing repeatedly to adjust according to the instruction of ground commanding, until tower body alignedly foot bolt eyelet.Like this, relatively extend the engineering time, efficiency reduces, and adds the quantity of workmen simultaneously.
(3) aircraft group legislation
The legislation of aircraft group mounts aboard by a part for the tower body assembled on ground or tower body, and its handling is hovered to column foot overhead in place by autogyro, then according to ground control, aim at iron tower foundation descending flight height.Make laws the same with crane group afterwards, treat steel tower installation personnel fastening nut, aircraft just can take off work hook, completes lifting operation.
The method is polluted larger to the noise emission of environment and dust, high to the requirement of weather, especially costly, and its service efficiency is relevant with the airmanship, the cooperation of ground crew, the scheduling of supervisory management zone etc. of aviator to a great extent, is therefore mainly used in the camp site that execution conditions are special.
Two, visual feedback technology
Visual feedback is exactly the information feedback function of simulation human eye, and then completes control object quickly and accurately by continuous adjustable strategies.Common vision feedback system is made up of camera, image pick-up card, read-out etc.This technology is widely used in the various fields such as Industry Control, aerospace, military affairs and surgical.
In several years of future, along with the development of Chinese processing manufacturing industry, the demand for machine vision also increases gradually; Along with increasing of machine vision product, the raising of technology, automation will towards more intelligent, future development faster.
Summary of the invention
The object of the invention is to overcome deficiency of the prior art, a kind of view-based access control model is provided to feed back, can manipulate crane timely and effectively makes tower body accurately in place, eliminates ground control personnel simultaneously, the car hosit of complete independently shaft tower lifting task and shaft tower hanging method thereof.
In order to solve the problems of the technologies described above, the invention provides the car hosit of a kind of view-based access control model feedback, comprise crane and be arranged on the crane arm on crane, described car hosit is provided with visual feedback means, described visual feedback means comprises the first pick up camera being arranged on crane headstock position and the second pick up camera being arranged on crane arm front end center position, described first pick up camera and the second pick up camera are connected to setting image pick-up card on computers respectively by transmission line, and described computing machine is connected with telltale.
Described first pick up camera is that the pick up camera of model XB-2001B is formed.
Described second pick up camera is that the pick up camera of model XB-2001B is formed.
Described image pick-up card is that model DH-CG300 image pick-up card is formed.
The present invention also provides a kind of shaft tower hanging method of car hosit of above-mentioned view-based access control model feedback, comprises the following steps:
(1) first, second pick up camera is installed;
(2) angle of first, second pick up camera is adjusted;
(3) on crane, visual feedback means is assembled;
(4) shaft tower lifting is completed according to the graphicinformation of visual feedback means.
In described step (1), described first pick up camera is arranged on the crane headstock position of car hosit, and described second pick up camera is arranged on crane arm front end center position.
In described step (2), by the angular adjustment of first, second pick up camera to Observable shaft tower lifting docking site.
Described step (3) specifically comprises the following steps: first, is arranged on by image pick-up card in the PCI slot of computing machine, and computing machine is connected to telltale; Secondly, first, second pick up camera is connected to two image pick-up cards respectively by transmission line, and accesses power supply; Finally, run corresponding software, telltale shows the image of camera acquisition.
The invention has the beneficial effects as follows:
1, the present invention is by video feed device, and crane operator can depart from ground control personnel, to make adjustment in time strategy, thus decrease the crew numbers of required shaft tower construction operation according to real-time image information;
2, the present invention is by video feed device, what crane operator received is first hand feedback information, can grasp position deviation better and correct in time, decreasing correct frequency, and then decrease the engineering time of every base tower erection process, improve operating efficiency;
3, the inventive method can directly or be applied in the hoisting process of other equipment equally after improving, and the lifting for other equipment provides useful exploration.
Accompanying drawing explanation
Fig. 1: car hosit structural representation of the present invention.
Accompanying drawing marks: 1, crane; 2, crane arm; 3, the first pick up camera; 4, the second pick up camera.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 1, a kind of car hosit of view-based access control model feedback, the crane arm 2 comprising crane 1 and be arranged on crane 1, described car hosit is provided with visual feedback means, described visual feedback means comprises the first pick up camera 3 being arranged on crane 1 headstock position and the second pick up camera 4 being arranged on crane arm 2 front end center position, described first pick up camera 3 and the second pick up camera 4 are connected to setting image pick-up card on computers by transmission line, and described computing machine is connected with telltale.
Wherein, will follow crane 1 system move together due to pick up camera, therefore require that pick up camera quality is light and volume is little, therefore, described first pick up camera 3 and the second pick up camera 4 all can select the miniaturization pick up camera of model XB-2001B; The image of camera acquisition is analog voltage signal, can not receive by computing machine and process, respective handling could be carried out on computers after image pick-up card must be utilized to convert digital image to, therefore, described image pick-up card can select the DH-CG300 image pick-up card of company of Daheng, has features such as using flexibly, integrated level is high, low in energy consumption; In addition, described computing machine selects general industry computing machine to meet the demands.
The present invention is based on the shaft tower hanging method of the car hosit of visual feedback, comprise the following steps:
1, install first, second pick up camera 3,4: described first pick up camera 3 is arranged on the crane 1 headstock position of car hosit, described second pick up camera 4 is arranged on crane arm 2 front end center position.
2, the angle of first, second pick up camera 3,4 is adjusted: existing crane group legislation can be divided into integral assembly Sum decomposition group to stand, and carries out angular adjustment respectively according to above-mentioned two situations to first, second shooting 3,4.
(1) during assembled, what wheel crane operator paid close attention to is only the footing of shaft tower and docking of pole and tower foundation, and this height is at Near Ground.The visual field of the first pick up camera 3 enough covers, and can not adjust, and lens plane is just to front; The position of the second pick up camera 4 can change with the change of crane arm 2 amplitude in the process of lifting, if its lens plane is parallel with crane arm 2, then field height is too low, so should increase the angle on the second pick up camera 4 lens plane and ground, makes it the overall process that visual field can cover lifting.
(2) during split tower erection, when lifting upper part tower body, what wheel crane operator paid close attention to is no longer shaft tower footing and the docking of pole and tower foundation, but upper part tower body footing with organize docking of vertical tower body interface, and this is highly higher, often between 20 ~ 30m, extra high voltage line can be higher.Now, need the angle increasing the second pick up camera 4 lens plane and ground further, if wheel crane is comparatively near apart from shaft tower, the first pick up camera 3 needs to do the adjustment same with the second pick up camera 4.
3, on crane 1, assemble visual feedback means: first, image pick-up card is arranged in the PCI slot of computing machine, and computing machine is connected to telltale; Secondly, first, second pick up camera 3,4 is connected to image pick-up card respectively by transmission line, and accesses power supply; Finally, run corresponding software, telltale shows the image of camera acquisition.
4, shaft tower lifting is completed according to the graphicinformation of visual feedback means: vision feedback system installation also, after everything in readiness, lifts according to existing crane group legislation.Crane operator, by observing the relative position of tower body and column foot on read-out, is handled car hosit and is put down suspension hook; If there is certain deviation between tower body and column foot, again adjusts according to the graphicinformation of feedback, until complete accurate lifting, unclamp suspension hook.
Claims (8)
1. the car hosit of a view-based access control model feedback, comprise crane and be arranged on the crane arm on crane, it is characterized in that, described car hosit is provided with visual feedback means, described visual feedback means comprises the first pick up camera being arranged on crane headstock position and the second pick up camera being arranged on crane arm front end center position, described first pick up camera and the second pick up camera are connected to setting image pick-up card on computers respectively by transmission line, and described computing machine is connected with telltale.
2. the car hosit of view-based access control model feedback according to claim 1, is characterized in that, described first pick up camera is that the pick up camera of model XB-2001B is formed.
3. the car hosit of view-based access control model feedback according to claim 1, is characterized in that, described second pick up camera is that the pick up camera of model XB-2001B is formed.
4. the car hosit of view-based access control model feedback according to claim 1, is characterized in that, described image pick-up card is that model DH-CG300 image pick-up card is formed.
5. a shaft tower hanging method for the car hosit of the view-based access control model feedback described in any one in Claims 1-4, is characterized in that, comprise the following steps:
(1) first, second pick up camera is installed;
(2) angle of first, second pick up camera is adjusted;
(3) on crane, visual feedback means is assembled;
(4) shaft tower lifting is completed according to the graphicinformation of visual feedback means.
6. the shaft tower hanging method of the car hosit of view-based access control model feedback according to claim 5, it is characterized in that, in described step (1), described first pick up camera is arranged on the crane headstock position of car hosit, and described second pick up camera is arranged on crane arm front end center position.
7. the shaft tower hanging method of the car hosit of view-based access control model feedback according to claim 5, is characterized in that, in described step (2), by the angular adjustment of first, second pick up camera to Observable shaft tower lifting docking site.
8. the shaft tower hanging method of the car hosit of view-based access control model feedback according to claim 5, it is characterized in that, described step (3) specifically comprises the following steps: first, is arranged on by image pick-up card in the PCI slot of computing machine, and computing machine is connected to telltale; Secondly, first, second pick up camera is connected to image pick-up card respectively by transmission line, and accesses power supply; Finally, run corresponding software, telltale shows the image of camera acquisition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610025266.0A CN105480872A (en) | 2016-01-15 | 2016-01-15 | Automobile crane based on vision feedback and pole tower hoisting method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610025266.0A CN105480872A (en) | 2016-01-15 | 2016-01-15 | Automobile crane based on vision feedback and pole tower hoisting method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN105480872A true CN105480872A (en) | 2016-04-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610025266.0A Pending CN105480872A (en) | 2016-01-15 | 2016-01-15 | Automobile crane based on vision feedback and pole tower hoisting method thereof |
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| Country | Link |
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| CN (1) | CN105480872A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106586853A (en) * | 2017-01-19 | 2017-04-26 | 中建四局第三建筑工程有限公司 | Intelligent equipment for component hoisting and manufacturing method of equipment |
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| CN201309801Y (en) * | 2008-12-15 | 2009-09-16 | 郭东晓 | Visual device for crane drivers |
| CN202643191U (en) * | 2012-07-05 | 2013-01-02 | 黑龙江省腾升起重机有限公司 | Monitoring device of automobile crane |
| CN202848929U (en) * | 2012-10-28 | 2013-04-03 | 长安大学 | Truck crane with panoramic monitoring system |
| JP2013142037A (en) * | 2012-01-12 | 2013-07-22 | Tadano Ltd | Suspended load monitoring camera device for working vehicle |
| CN204270110U (en) * | 2014-05-13 | 2015-04-15 | 李广庆 | Lifting monitors analysis and Control system |
| CN105174155A (en) * | 2015-10-12 | 2015-12-23 | 国网山东滨州市沾化区供电公司 | Emergency power rush-repair car |
| CN204917777U (en) * | 2015-07-10 | 2015-12-30 | 新乡新起机器设备有限公司 | Hoist control perpendicular hoisting machine construct |
| CN205590180U (en) * | 2016-01-15 | 2016-09-21 | 天津大学 | Mobile crane based on visual feedback |
-
2016
- 2016-01-15 CN CN201610025266.0A patent/CN105480872A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201309801Y (en) * | 2008-12-15 | 2009-09-16 | 郭东晓 | Visual device for crane drivers |
| JP2013142037A (en) * | 2012-01-12 | 2013-07-22 | Tadano Ltd | Suspended load monitoring camera device for working vehicle |
| CN202643191U (en) * | 2012-07-05 | 2013-01-02 | 黑龙江省腾升起重机有限公司 | Monitoring device of automobile crane |
| CN202848929U (en) * | 2012-10-28 | 2013-04-03 | 长安大学 | Truck crane with panoramic monitoring system |
| CN204270110U (en) * | 2014-05-13 | 2015-04-15 | 李广庆 | Lifting monitors analysis and Control system |
| CN204917777U (en) * | 2015-07-10 | 2015-12-30 | 新乡新起机器设备有限公司 | Hoist control perpendicular hoisting machine construct |
| CN105174155A (en) * | 2015-10-12 | 2015-12-23 | 国网山东滨州市沾化区供电公司 | Emergency power rush-repair car |
| CN205590180U (en) * | 2016-01-15 | 2016-09-21 | 天津大学 | Mobile crane based on visual feedback |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106586853A (en) * | 2017-01-19 | 2017-04-26 | 中建四局第三建筑工程有限公司 | Intelligent equipment for component hoisting and manufacturing method of equipment |
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Application publication date: 20160413 |
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| WD01 | Invention patent application deemed withdrawn after publication |