CN106081907A - A kind of contactless row hangs lifting rope swing angle monitoring device - Google Patents
A kind of contactless row hangs lifting rope swing angle monitoring device Download PDFInfo
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- CN106081907A CN106081907A CN201610318211.9A CN201610318211A CN106081907A CN 106081907 A CN106081907 A CN 106081907A CN 201610318211 A CN201610318211 A CN 201610318211A CN 106081907 A CN106081907 A CN 106081907A
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- image
- lifting rope
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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
- 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
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
Abstract
The invention discloses a kind of contactless row and hang lifting rope swing angle monitoring device, have: image acquisition units: gather and comprise lifting rope root and the original image of fixed length lifting rope section；Graphics processing unit: this unit includes image pre-processing module and image processing module；Described image pre-processing module, generates the gray scale picture of picture；The lifting rope image except background image is separated at this gray scale picture；Image processing module, intercepts described lifting rope image upper, middle and lower image；Calculate the initial row (j1b, j1e) in multiple pixel columns and cut-off row (jx1b, jx1e) in the image of described upper, middle and lower respectively of lifting rope image；Lifting rope angular average in described upper image, middle part image and bottom graph picture is calculated respectively according to described initial row and cut-off row；Obtain the actual pivot angle of lifting rope；Instant invention overcomes deficiency of the prior art, it is provided that a kind of contactless row hangs lifting rope swing angle monitoring device, it can be monitored the pivot angle of lifting rope and produce warning when pivot angle is beyond artificial predetermined angular, to remind staff to rectify a deviation it timely.
Description
Technical field
The present invention relates to a kind of contactless row and hang lifting rope swing angle monitoring device.Relate to Patent classificating number B66 elevator；Carry
Rise；Traction B66C crane；For the Slung-Load element of crane, capstan winch, winch or coaster or device B66C13/00 other
Architectural feature or part B66C13/16 show, record or the application of meausring apparatus.
Background technology
Row is hung in hoisting process, owing to horizontal movement, artificial pulling, wind-force effect etc. all can force lifting rope deviation vertical
Position, this will accelerate lifting rope abrasion, and even cause lifting rope to damage, thus produce potential safety hazard, increase maintenance cost, therefore, right
Lifting rope swing angle is monitored in real time, and warns operator to rectify a deviation lifting rope, just when beyond range of safety operation in time
It is particularly important.
In prior art, many employing mechanical contact monitoring devices, its weak point is, installs complexity, safeguards the most not
Just, and for want of controllable ways and causing alerts more by mistake, and impact row hangs normal use.
Summary of the invention
The present invention is directed to the proposition of problem above, and the contactless row of one developed hangs lifting rope swing angle monitoring device, tool
Have:
Image acquisition units: gather and comprise lifting rope root and the original image of fixed length lifting rope section；
Graphics processing unit: this unit includes image pre-processing module and image processing module；
Described image pre-processing module, original according to obtain, generate the gray scale picture of picture；Divide at this gray scale picture
Separate out the lifting rope image removing background image；
Described image processing module, intercepts described lifting rope image respectively and comprises pixel column upper setting quantity respectively
Portion, middle part and bottom graph picture；Calculate lifting rope image rising in multiple pixel columns in the image of described upper, middle and lower respectively
Begin row (j1b,j1e) and cut-off row (jx1b,jx1e)；
Lifting rope is calculated respectively in described upper image, middle part image and bottom graph according to described initial row and cut-off row
Angular average in Xiang；By mean value computation lifting rope pivot angle in described lifting rope image；
The inclination alpha of visual field angle beta, focal distance f, image capture device optical axis and horizontal plane according to image capture device and figure
As collecting device camera lens photocentre to distance d of lifting rope vertical guide, pass through equation below:
Obtain the actual pivot angle of lifting rope；
Alarm Unit: if actual pivot angle exceedes safety range, send warning.
As preferred embodiment, described image pre-processing module is by following formula:
0.299×r+0.587×g+0.114×b
The gray value of each pixel in picture described in calculating, uses the value of color of gray value replacement pixel point, raw
Gray scale picture described in one-tenth；The red color components of pixel during wherein r represents image, g represents the green components of pixel in image,
B represents the blue component of pixel in image.
As preferred embodiment, in described graphics processing unit, image pre-processing module carries out " isolating lifting rope
Image and background image " detailed process that operates is as follows:
Gather the picture under different external environment condition background, obtain the gray scale picture under varying environment background, demarcate and obtain table
Show the representative value of tonal range under different external environment condition background；And then it is interval to be divided into n-1 representative value, n-1 described allusion quotation
Offset interval is expressed as [Gr1,Gr2),[Gr2,Gr3) ..., [Grn-1,Grn]；
According to maximum and minima in each representative value interval, can be optimal in given described each representative value interval
Distinguish the gray threshold G of row lifting rope and backgroundti, i=1 ..., n-1；Thus the gray threshold G under obtaining current environmentt；
Selecting the specific region in described gray level image, the meansigma methods of gray scale in zoning, using this meansigma methods as the back of the body
Scape gray reference value Gr；
If background gray reference value Gr in current gray level image is more than described gray threshold Gt, then think that image is
Lifting rope image, otherwise it is assumed that be background image.
Further, specific region is defined as follows: it is n row m row that image capture module gathers the pixel size of image,
The gray level image obtained is similarly n row m row, takes gray level image and has been arranged by the 0th row the 0th to n1 row m1 row only pixel, the 0th row m-
M1 has arranged to n1 row m row only pixel, the n-th-n2 row the 0th arrange to line n m2 and has arranged and the n-th-n2 row m-m2 has arranged to line n
M arranges, and is selected specific region, wherein m1< m/3, m2< m/3, n1< n/3, n2< n/3, calculates the meansigma methods of specific region,
It is described background gray reference value Gr。
As preferred embodiment, the described lifting rope image after top pixels behavior separation takes top 0 to x1OK
Data, middle part P1To P1+x2Row data and image bottom n-x3To n row data, wherein x1<n/3、x2<n/3、x3<n/3、P1>n/3。
Further, before calculating the initial row of lifting rope image and cut-off row step, pass through equation below:
Calculate lifting rope image width value in described top pixels rowAnd then calculate x in the middle part of image2Line number
Width value according toWith image bottom x3Width value in row data
IfAndIt is respectively less than predetermined lifting rope width image error ξ, then it is assumed that complete point
From lifting rope image qualified, carry out the initial row of follow-up calculating lifting rope image and cut-off row；Otherwise, after representing current separating background
Image be not lifting rope image Resurvey image the operation before carrying out；j0Represent predetermined lifting rope width.
As preferred embodiment, the calculating process of described angular average is as follows:
For image top x1In row data, gray value is the initial and cut-off columns of 1: (j1b,j1e) ..., (jx1b,jx1e),
Calculate image top x1Meansigma methods θ of lifting rope swing angle in row data1=(θ11+θ12+θ13)/3, wherein:
l1And l2Meet 1 < l1<x1、1<l2<x1；l1And l2It is respectively and walks to xth from first1L between row1And l2OK；
As preferred embodiment, also there is angle-adjusting mechanism: change image acquisition units, graphics processing unit and
The inclination alpha of the relative angle of the Alarm Unit institution where he works and lifting rope and image acquisition units and horizontal plane.
By using technique scheme, the contactless row of one disclosed by the invention hangs lifting rope swing angle monitoring device and overcomes
Deficiency of the prior art, it is provided that a kind of contactless row hangs lifting rope swing angle monitoring device, it can monitor the pivot angle of lifting rope
And produce warning when pivot angle is beyond artificial predetermined angular, to remind staff that it is rectified a deviation timely.
Accompanying drawing explanation
For clearer explanation embodiments of the invention or the technical scheme of prior art, below will be to embodiment or existing
The accompanying drawing used required in having technology to describe does one and introduces simply, it should be apparent that, the accompanying drawing in describing below is only
Some embodiments of the present invention, for those of ordinary skill in the art, on the premise of not paying creative work, also may be used
To obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the structure chart of the present invention；
Fig. 2 is the structure chart of angle regulating unit；
Fig. 3 is the schematic diagram of lifting rope swing angle；
Fig. 4 is the flow chart of detection device work.
In figure: 1, image pre-processing module, 2, graphics processing unit, 3, Alarm Unit, 4, power subsystem, 5, image acquisition
Unit, graphics processing unit and the Alarm Unit institution where he works, 6, for angle-adjusting bracket, 7, represent angular adjustment securing member, 8,
Pulley, 9, lifting rope.
Detailed description of the invention
For making the purpose of embodiments of the invention, technical scheme and advantage clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is carried out the most complete description:
As Figure 1-4: a kind of contactless row hangs lifting rope swing angle monitoring device, by using video algorithm from original graph
Isolate the gray level image of lifting rope in Xiang, and then calculate by the angle (pivot angle) of the lifting rope 9 being wound around pulley 8 by formula,
Device specifically includes that
Image acquisition units 5: this unit is mainly used in gathering original colour picture, and this picture mainly comprises lifting rope root
Portion, fixed length lifting rope section and the external environment condition background of necessity.
Graphics processing unit 2, this module is the main function components of device, mainly includes image pre-processing module 1 and figure
As processing module.
Image pre-processing module 1, the colour picture mainly gathered image acquisition units 5 carries out pretreatment and becomes gray-scale map
Sheet.As preferred embodiment, described image pre-processing module is by following formula:
0.299×r+0.587×g+0.114×b
The gray value of each pixel in picture described in calculating, uses the value of color of gray value replacement pixel point, raw
Gray scale picture described in one-tenth；The red color components of pixel during wherein r represents image, g represents the green components of pixel in image,
B represents the blue component of pixel in image.
After obtaining gray scale picture, process further, mainly obtain removing the lifting rope gray level image after background, as excellent
The embodiment of choosing,
In order to tackle the background grey scale change that varying environment causes, first-selection needs uncalibrated image pretreatment mould before separation
Block.First according to the picture under the different external environment condition backgrounds collected, obtain the gray scale picture under varying environment background, demarcate
Obtain representing the representative value of tonal range under different external environment condition background, be divided into n-1 representative value interval, described n-1
Representative value interval is expressed as [Gr1,Gr2][Gr2,Gr3] ..., [Grn-1,Grn]。
Its background excursion of each typical environment is by an interval expression.Such as, that the cloudy day is corresponding is a typical case
Value interval, the corresponding representative value of Snowfall is interval.
According to maximum and minima in each representative value interval, can be optimal in given described each representative value interval
Distinguish the gray threshold G of row lifting rope and backgroundti, i=1 ..., n-1；Thus the gray threshold G under obtaining current environmentt；
Selecting the specific region in described gray level image, the meansigma methods of gray scale in zoning, using this meansigma methods as the back of the body
Scape gray reference value Gr；
In the present embodiment specific region is defined as follows: it is n row m that image capture module gathers the pixel size of image
Row, the gray level image obtained is similarly n row m row, takes gray level image the 0th row the 0th and arrange to n1 row m1 to arrange and stop pixel, the 0th row the
M-m1 has arranged to n1 row m row only pixel, the n-th-n2 row the 0th arrange to line n m2 and has arranged and the n-th-n2 row m-m2 has arranged to n-th
Row m arranges, and is selected specific region, wherein m1 < m/3, m2 < m/3, n1 < n/3, n2 < n/3, calculates the average of specific region
Value, is described background gray reference value Gr.
If background gray reference value Gr in current gray level image is more than described gray threshold Gt, then think that image is
Lifting rope image, otherwise it is assumed that be background image, abandons current image, again according to the original color image of next frame at
Reason.
If having collected the gray level image representing lifting rope, described image processing module proceeds by process,
Gray level image for lifting rope is divided into pixel column region, upper, middle and lower.After top pixels behavior separates
Lifting rope image in take top 0 to x1Row data, middle part P1To P1+x2Row data and image bottom n-x3To n row data, wherein x1
<n/3、x2<n/3、x3<n/3、P1>n/3。
Then calculate
Calculate lifting rope image width value in described top pixels rowAnd then calculate x in the middle part of image2Line number
Width value according toWith image bottom x3Width value in row data
IfAndIt is respectively less than predetermined lifting rope width image error ξ, then it is assumed that complete point
From lifting rope image qualified, carry out the initial row of follow-up calculating lifting rope image and cut-off row；Otherwise, after representing current separating background
Image be not lifting rope image Resurvey image the operation before carrying out；j0Represent predetermined lifting rope width.
For image top x1In row data, gray value is the initial and cut-off columns of 1: (j1b,j1e) ..., (jx1b,
jx1e), calculate image top x1Meansigma methods θ of lifting rope swing angle in row data1=(θ11+θ12+θ13)/3, wherein:
l1And l2Meet 1 < l1<x1、1<l2<x1；l1And l2It is respectively and walks to xth from first1L between row1And l2OK.
The inclination alpha of visual field angle beta, focal distance f, image capture device optical axis and horizontal plane according to image capture device and figure
As collecting device camera lens photocentre to distance d of lifting rope vertical guide, pass through equation below:
Obtain the actual pivot angle of lifting rope；
Alarm Unit: if actual pivot angle exceedes safety range, send warning.
The main hardware that the present invention selects is as follows:
Now select photographic head OV2640 as image acquisition units 5, STM32F407 single-chip microcomputer as graphics processing unit 2,
Sound and light alarm device is as Alarm Unit 3, and battery is as power subsystem 4, and battery is that whole device is powered, it is ensured that all parts energy
Normal work, by regulation image acquisition units, graphics processing unit and the fastening screw of Alarm Unit institution where he works side, i.e.
Angular adjustment securing member 7 regulates image acquisition units 5 photographic head in other words particular location on angle-adjusting bracket 6, with taking the photograph
As head carrys out the state of real-time monitoring lifting rope, the image information collected being passed to STM32F407 single-chip microcomputer, first single-chip microcomputer will
The background parts in addition to lifting rope contained in image is removed, and finds out the particular location of lifting rope place straight line, then calculates out
The pivot angle of lifting rope, when pivot angle is beyond security standpoint set in advance in program, sound and light alarm device will send warning signal,
There occurs that skew need to be rectified a deviation with prompting staff's lifting rope, and during without departing from the safety range set, sound and light alarm device
The most do not do any response.
The above, the only present invention preferably detailed description of the invention, but protection scope of the present invention is not limited thereto,
Any those familiar with the art in the technical scope that the invention discloses, according to technical scheme and
Inventive concept equivalent or change in addition, all should contain within protection scope of the present invention.
Claims (8)
1. a contactless row hangs lifting rope swing angle monitoring device, it is characterised in that have:
Image acquisition units: gather and comprise lifting rope root and the original image of fixed length lifting rope section；
Graphics processing unit: this unit includes image pre-processing module and image processing module；
Described image pre-processing module, original according to obtain, generate the gray scale picture of picture；Isolate at this gray scale picture
Remove the lifting rope image of background image；
Described image processing module, intercept respectively described lifting rope image respectively comprise set quantity pixel column top, in
Portion and bottom graph picture；Calculate the lifting rope image initial row in multiple pixel columns in the image of described upper, middle and lower respectively
(j1b,j1e) and cut-off row (jx1b,jx1e)；
Lifting rope is calculated respectively in described upper image, middle part image and bottom graph picture according to described initial row and cut-off row
Angular average；By mean value computation lifting rope pivot angle in described lifting rope image；
Inclination alpha and the image of visual field angle beta according to image capture device, focal distance f, image capture device optical axis and horizontal plane are adopted
Collection equipment camera lens photocentre, to distance d of lifting rope vertical guide, passes through equation below:
Obtain the actual pivot angle of lifting rope；
Alarm Unit: if actual pivot angle exceedes safety range, send warning.
Contactless row the most according to claim 1 hangs lifting rope swing angle monitoring device, is further characterized in that described image
Pretreatment module is by following formula:
0.299×r+0.587×g+0.114×b
The gray value of each pixel in picture described in calculating, uses the value of color of gray value replacement pixel point, generates institute
The gray scale picture stated；The red color components of pixel during wherein r represents image, g represents the green components of pixel in image, b table
The blue component of pixel in diagram picture.
Contactless row the most according to claim 1 hangs lifting rope swing angle monitoring device, is further characterized in that described image
In processing unit, to carry out the detailed process that " isolating lifting rope image and background image " operate as follows for image pre-processing module:
Gather the picture under different external environment condition background, obtain the gray scale picture under varying environment background, demarcate and obtain representing not
With the representative value of tonal range under external environment condition background；And then it is interval to be divided into n-1 representative value, n-1 described representative value
Interval is expressed as [Gr1,Gr2),[Gr2,Gr3) ..., [Grn-1,Grn]；
According to maximum and minima in each representative value interval, given described each representative value interval can most preferably be distinguished
Row lifting rope and the gray threshold G of backgroundti, i=1 ..., n-1；Thus the gray threshold G under obtaining current environmentt；
Selecting the specific region in described gray level image, the meansigma methods of gray scale in zoning, using this meansigma methods as background ash
Degree reference value Gr；
If background gray reference value Gr in current gray level image is more than described gray threshold Gt, then think that image is lifting rope
Image, otherwise it is assumed that be background image.
Contactless row the most according to claim 3 hangs lifting rope swing angle monitoring device, is further characterized in that described specific
Region is defined as follows: it is n row m row that image capture module gathers the pixel size of image, and the gray level image obtained is similarly n row
M arranges, take gray level image arrange by the 0th row the 0th to n1 row m1 row only pixel, the 0th row m-m1 arranged to n1 row m arrange stop pixel,
N-th-n2 row the 0th has arranged to line n m2 row and the n-th-n2 row m-m2 to have arranged and has arranged to line n m, is selected given zone
Territory, wherein m1< m/3, m2< m/3, n1< n/3, n2< n/3 calculates the meansigma methods of specific region, is described background gray reference
Value Gr。
Contactless row the most according to claim 1 hangs lifting rope swing angle monitoring device, is further characterized in that described top
Lifting rope image after pixel behavior separation takes top 0 to x1Row data, middle part P1To P1+x2Row data and image bottom n-x3Extremely
N row data, wherein x1<n/3、x2<n/3、x3<n/3、P1>n/3。
Contactless row the most according to claim 5 hangs lifting rope swing angle monitoring device, is further characterized in that and is calculating lifting rope
Before the initial row of image and cut-off row step, pass through equation below:
Calculate lifting rope image width value in described top pixels rowAnd then calculate x in the middle part of image2In row data
Width valueWith image bottom x3Width value in row data
IfAndIt is respectively less than predetermined lifting rope width image error ξ, then it is assumed that complete separation
Lifting rope image is qualified, carries out the initial row of follow-up calculating lifting rope image and cut-off row；Otherwise, the figure after current separating background is represented
As being not lifting rope image Resurvey image the operation before carrying out；j0Represent predetermined lifting rope width.
Contactless row the most according to claim 1 hangs lifting rope swing angle monitoring device, is further characterized in that: described angle
The calculating process of meansigma methods is as follows:
For image top x1In row data, gray value is the initial and cut-off columns of 1: (j1b,j1e) ..., (jx1b, jx1e), meter
Nomogram is as top x1Meansigma methods θ of lifting rope swing angle in row data1=(θ11+θ12+θ13)/3, wherein:
l1And l2Meet 1 < l1<x1、1<l2<x1；l1And l2It is respectively and walks to xth from first1L between row1And l2OK.
8. hang lifting rope swing angle monitoring device according to the contactless row described in claim foot 1, be further characterized in that there is angle
Guiding mechanism: change image acquisition units, graphics processing unit and the Alarm Unit institution where he works and the relative angle of lifting rope and figure
Inclination alpha as collecting unit with horizontal plane.
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| CN201610318211.9A CN106081907B (en) | 2016-05-15 | 2016-05-15 | A kind of contactless row hangs lifting rope swing angle monitoring device |
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| CN201610318211.9A CN106081907B (en) | 2016-05-15 | 2016-05-15 | A kind of contactless row hangs lifting rope swing angle monitoring device |
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| CN108375442A (en) * | 2018-01-19 | 2018-08-07 | 西北工业大学 | A kind of device of non-contact measurement tether tension and pivot angle |
| CN112927205A (en) * | 2021-02-26 | 2021-06-08 | 武汉理工大学 | Gantry crane steel wire rope deflection monitoring method and device based on machine vision |
| WO2021208273A1 (en) * | 2020-04-16 | 2021-10-21 | 中联重科股份有限公司 | System for identifying state parameters, hoisting positioning system, and hoisting apparatus |
| CN115393360A (en) * | 2022-10-28 | 2022-11-25 | 常州海图信息科技股份有限公司 | Tail rope monitoring control method and tail rope monitoring control device |
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| CN106081907B (en) | 2017-10-31 |
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