CN106081907B - 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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- CN106081907B CN106081907B CN201610318211.9A CN201610318211A CN106081907B CN 106081907 B CN106081907 B CN 106081907B CN 201610318211 A CN201610318211 A CN 201610318211A CN 106081907 B CN106081907 B CN 106081907B
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Image Analysis (AREA)
- Image Processing (AREA)
Abstract
Lifting rope swing angle monitoring device is hung the invention discloses a kind of contactless row, is had：Image acquisition units：Original image of the collection comprising lifting rope root and fixed length lifting rope section；Graphics processing unit：The 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 in the gray scale picture；Image processing module, intercepts the lifting rope image upper, middle and lower image；Calculate starting row (j1b, j1e) and cut-off row (jx1b, jx1e) of the lifting rope image respectively in the upper, middle and lower image in multiple pixel columns；Angular average of the lifting rope in described upper image, middle part image and bottom graph picture is calculated respectively according to described starting row and cut-off row；Obtain the actual pivot angle of lifting rope；Lifting rope swing angle monitoring device is hung there is provided a kind of contactless row instant invention overcomes deficiency of the prior art, it can monitor the pivot angle of lifting rope and produce alarm when pivot angle exceeds artificial predetermined angular, to remind staff timely to rectify a deviation it.
Description
Technical field
Lifting rope swing angle monitoring device is hung the present invention relates to a kind of contactless row.It is related to Patent classificating number B66 elevators；Carry
Rise；Draw B66C cranes；For crane, capstan winch, winch or coaster Slung-Load element or device B66C13/00 other
Architectural feature or part B66C13/16 show, record or meausring apparatus application.
Background technology
Row is hung in hoisting process, because horizontal movement, artificial pulling, wind-force effect etc. can force lifting rope deviation vertical
Position, this will accelerate lifting rope abrasion, or even cause lifting rope to damage, so as to produce potential safety hazard, increase maintenance cost, therefore, right
Lifting rope swing angle is monitored in real time, and warning operating personnel rectify a deviation to lifting rope in time when beyond range of safety operation, just
It is particularly important.
In the prior art, to use mechanical contact monitoring device, its weak point is to install complicated, is safeguarded extremely not more
Just, and due to a lack of controllable ways cause to alert by mistake more, influence row, which is hung, normally to be used.
The content of the invention
The present invention is directed to the proposition of problem above, and a kind of contactless row developed hangs lifting rope swing angle monitoring device, has
Have：
Image acquisition units：Original image of the collection comprising lifting rope root and fixed length lifting rope section；
Graphics processing unit：The unit includes image pre-processing module and image processing module；
Described image pre-processing module, according to the original of acquisition, generates the gray scale picture of picture；In the gray scale picture point
Separate out the lifting rope image for removing background image；
Described image processing module, intercepts the upper of pixel column of the lifting rope image respectively comprising setting quantity respectively
Portion, middle part and bottom graph picture；Calculate lifting rope image the rising in multiple pixel columns in the upper, middle and lower image 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 starting row and cut-off row
Angular average as in；Pass through pivot angle of the mean value computation lifting rope in the lifting rope image；
According to the inclination alpha and figure of the angle of visual field β of image capture device, focal length f, image capture device optical axis and horizontal plane
Pass through equation below apart from d to lifting rope vertical guide as collecting device camera lens photocentre：
Obtain the actual pivot angle of lifting rope；
Alarm Unit：If actual pivot angle exceedes safe range, alarm is sent.
As preferred embodiment, described image pre-processing module passes through following formula：
0.299×r+0.587×g+0.114×b
The gray value of each pixel in described picture is calculated, it is raw using the value of color of gray value replacement pixel point
Into described gray scale picture；Wherein r represents the red color components of pixel in image, and g represents the green components of pixel in image,
B represents the blue component of pixel in image.
As preferred embodiment, image pre-processing module carries out " isolating lifting rope in described graphics processing unit
The detailed process of image and background image " operation is as follows：
The picture under different external environment condition backgrounds is gathered, the gray scale picture under varying environment background is obtained, demarcation obtains table
Show the representative value of tonal range under different external environment condition backgrounds；And then it is divided into n-1 representative value interval, n-1 described allusion quotation
Offset interval is expressed as [Gr1,Gr2),[Gr2,Gr3) ..., [Grn-1,Grn]；
According to maximum and minimum value in each representative value interval, giving can be optimal in described each representative value interval
Distinguish row lifting rope and the gray threshold G of backgroundti, i=1 ..., n-1；So as to obtain the gray threshold G under current environmentt；
The average value of gray scale in the specific region in the gray level image, zoning is selected, the average value is regard as the back of the body
Scape gray reference value Gr；
If the 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 being background image.
Further, specific region is defined as follows：The pixel size of image capture module collection image arranges for n rows m,
Obtained gray level image is similarly n rows m row, takes gray level image to be arranged by the 0th row the 0th to n1 rows m1 row and stops pixel, the 0th row m-
M1 has been arranged to n1 rows m row to stop pixel, the n-th-n2 rows the 0th and arrange to line n m2 and arranged and the n-th-n2 rows m-m2 has been arranged to line n
M is arranged, as selected specific region, wherein m1<M/3, m2<M/3, n1<N/3, n2<N/3, calculates the average value of specific region,
As described background gray reference value Gr。
As preferred embodiment, top 0 is taken to x in the lifting rope image after described top pixels behavior separation1OK
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 lifting rope image starting row and cut-off row step are calculated, equation below is passed through：
Calculate width value of the lifting rope image in described top pixels rowAnd then calculate x in the middle part of image2Line number
Width value inWith image bottom x3Width value in row data
IfAndRespectively less than predetermined lifting rope width image error ξ, then it is assumed that complete to divide
From lifting rope image it is qualified, carry out follow-up calculating lifting rope image starting row and cut-off row；Otherwise, represent after current separating background
Image be not lifting rope image resurvey image and carry out before operation；j0Represent predetermined lifting rope width.
As preferred embodiment, the calculating process of described angular average is as follows：
For image top x1Starting and cut-off columns of the gray value for 1 in row data：(j1b,j1e) ..., (jx1b,jx1e),
Calculate image top x1The average value θ of lifting rope swing angle in row data1=(θ11+θ12+θ13)/3, wherein：
l1And l2Meet 1<l1<x1、1<l2<x1；l1And l2Respectively from the first row to xth1L between row1And l2OK；
As preferred embodiment, also with angle-adjusting mechanism：Change image acquisition units, graphics processing unit and
The Alarm Unit institution where he works and the relative angle and image acquisition units and the inclination alpha of horizontal plane of lifting rope.
By using above-mentioned technical proposal, a kind of contactless row disclosed by the invention hangs lifting rope swing angle monitoring device and overcome
Deficiency of the prior art hangs lifting rope swing angle monitoring device there is provided a kind of contactless row, and it can monitor the pivot angle of lifting rope
And alarm is produced when pivot angle exceeds artificial predetermined angular, to remind staff timely to rectify a deviation it.
Brief description of the drawings
, below will be to embodiment or existing for clearer explanation embodiments of the invention or the technical scheme of prior art
There is the accompanying drawing used required in technology description to do one simply to introduce, it should be apparent that, drawings in the following description are only
Some embodiments of the present invention, for those of ordinary skill in the art, on the premise of not paying creative work, may be used also
To obtain other accompanying drawings 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 means work.
In figure：1st, image pre-processing module, 2, graphics processing unit, 3, Alarm Unit, 4, power subsystem, 5, IMAQ
Unit, graphics processing unit and the Alarm Unit institution where he works, 6, be angle-adjusting bracket, 7, represent angular adjustment fastener, 8,
Pulley, 9, lifting rope.
Embodiment
To make the purpose, technical scheme and advantage of embodiments of the invention clearer, with reference to the embodiment of the present invention
In accompanying drawing, clear complete description is carried out to the technical scheme in the embodiment of the present invention：
As Figure 1-4：A kind of contactless row hangs lifting rope swing angle monitoring device, by using video algorithm from original graph
The gray level image of lifting rope is isolated as in, and then the angle (pivot angle) by the lifting rope 9 of winding pulley 8 is calculated by formula,
Device mainly includes：
Image acquisition units 5：The unit is mainly used in gathering original colour picture, and the picture mainly includes lifting rope root
Portion, fixed length lifting rope section and necessary external environment condition background.
Graphics processing unit 2, the 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, mainly carries out pretreatment to the colour picture that image acquisition units 5 are gathered and is changed into gray-scale map
Piece.As preferred embodiment, described image pre-processing module passes through following formula：
0.299×r+0.587×g+0.114×b
The gray value of each pixel in described picture is calculated, it is raw using the value of color of gray value replacement pixel point
Into described gray scale picture；Wherein r represents the red color components of pixel in image, and g represents the green components of pixel in image,
B represents the blue component of pixel in image.
After gray scale picture is obtained, further processing mainly obtains 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 is caused, first choice needs uncalibrated image to pre-process mould before separation
Block.First according to the picture under the different external environment condition backgrounds collected, the gray scale picture under varying environment background is obtained, is demarcated
Obtain representing the representative value of tonal range under different external environment condition backgrounds, 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, it is a typical case that the cloudy day is corresponding
Value is interval, one representative value interval of Snowfall correspondence etc..
According to maximum and minimum value in each representative value interval, giving can be optimal in described each representative value interval
Distinguish row lifting rope and the gray threshold G of backgroundti, i=1 ..., n-1；So as to obtain the gray threshold G under current environmentt；
The average value of gray scale in the specific region in the gray level image, zoning is selected, the average value is regard as the back of the body
Scape gray reference value Gr；
Specific region is defined as follows in the present embodiment：The pixel size of image capture module collection image is n rows m
Row, obtained gray level image is similarly n rows m row, takes the row of gray level image the 0th the 0th arrange to n1 rows m1 and arranges only pixel, the 0th row the
M-m1 has been arranged to n1 rows m row to stop pixel, the n-th-n2 rows the 0th and arrange to line n m2 and arranged and the n-th-n2 rows m-m2 has been arranged to n-th
Row m is arranged, as selected specific region, wherein m1<M/3, m2<M/3, n1<N/3, n2<N/3, calculates being averaged for specific region
Value, is described background gray reference value Gr.
If the background gray reference value Gr in current gray level image is more than described gray threshold Gt, think that image is
Lifting rope image, otherwise it is assumed that being background image, abandons current image, again according to the original color image of next frame at
Reason.
If having collected the gray level image for representing lifting rope, described image processing module proceeds by processing,
Upper, middle and lower pixel column region is divided into for the gray level image of lifting rope.After top pixels behavior separation
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 width value of the lifting rope image in described top pixels rowAnd then calculate x in the middle part of image2Line number
Width value inWith image bottom x3Width value in row data
IfAndRespectively less than predetermined lifting rope width image error ξ, then it is assumed that complete to divide
From lifting rope image it is qualified, carry out follow-up calculating lifting rope image starting row and cut-off row；Otherwise, represent after current separating background
Image be not lifting rope image resurvey image and carry out before operation；j0Represent predetermined lifting rope width.
For image top x1Starting and cut-off columns of the gray value for 1 in row data：(j1b,j1e) ..., (jx1b,jx1e),
Calculate image top x1The average value θ of lifting rope swing angle in row data1=(θ11+θ12+θ13)/3, wherein：
l1And l2Meet 1<l1<x1、1<l2<x1；l1And l2Respectively from the first row to xth1L between row1And l2OK.
According to the inclination alpha and figure of the angle of visual field β of image capture device, focal length f, image capture device optical axis and horizontal plane
Pass through equation below apart from d to lifting rope vertical guide as collecting device camera lens photocentre：
Obtain the actual pivot angle of lifting rope；
Alarm Unit：If actual pivot angle exceedes safe range, alarm is sent.
The main hardware that the present invention is selected is as follows：
Now from camera OV2640 as image acquisition units 5, STM32F407 single-chip microcomputers 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 powered for whole device, it is ensured that all parts energy
Normal work, by adjusting the fastening screw of image acquisition units, graphics processing unit and Alarm Unit institution where he works side, i.e.,
The regulation image acquisition units 5 of angular adjustment fastener 7 particular location of the camera on angle-adjusting bracket 6 in other words, with taking the photograph
As head to monitor the state of lifting rope in real time, the image information collected is transmitted to STM32F407 single-chip microcomputers, single-chip microcomputer first will
The background parts in addition to lifting rope contained in image are removed, and the particular location of straight line, is then calculated out where finding out lifting rope
The pivot angle of lifting rope, when pivot angle exceeds security standpoint set in advance in program, sound and light alarm device will send alarm signal,
To point out staff's lifting rope there occurs, skew need to be rectified a deviation, and without departing from setting safe range when, sound and light alarm device
Any response is not done then.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.
Claims (8)
1. a kind of contactless row hangs lifting rope swing angle monitoring device, it is characterised in that have：
Image acquisition units：Original image of the collection comprising lifting rope root and fixed length lifting rope section；
Graphics processing unit：The unit includes image pre-processing module and image processing module；
Described image pre-processing module, according to the original image of acquisition, generates the gray scale picture of picture；In the gray scale picture point
Separate out the lifting rope image for removing background image；
Described image processing module, intercept respectively the lifting rope image respectively comprising setting quantity pixel column top, in
Portion and bottom graph picture；Calculate starting row of the lifting rope image respectively in the upper, middle and lower image in multiple pixel columns
(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 starting row and cut-off row
Angular average；Pass through pivot angle θ of the mean value computation lifting rope in the lifting rope image；
Adopted according to the inclination alpha and image of the angle of visual field β of image capture device, focal length f, image capture device optical axis and horizontal plane
Collect equipment camera lens photocentre to lifting rope vertical guide apart from d, pass through equation below：
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</mrow>
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Obtain the actual pivot angle of lifting rope；
Alarm Unit：If actual pivot angle exceedes safe range, alarm is sent.
2. contactless row according to claim 1 hangs lifting rope swing angle monitoring device, described image is further characterized in that
Pretreatment module passes through following formula：
0.299×r+0.587×g+0.114×b
The gray value of each pixel in described gray scale picture is calculated, it is raw using the value of color of gray value replacement pixel point
Into described gray scale picture；Wherein r represents the red color components of pixel in image, and g represents the green components of pixel in image,
B represents the blue component of pixel in image.
3. contactless row according to claim 1 hangs lifting rope swing angle monitoring device, described image is further characterized in that
The detailed process of image pre-processing module progress " isolating lifting rope image and background image " operation is as follows in processing unit：
The picture under different external environment condition backgrounds is gathered, the gray scale picture under varying environment background is obtained, demarcation obtains representing not
With the representative value of tonal range under external environment condition background；And then it is divided into n-1 representative value interval, n-1 described representative value
Interval is expressed as [Gr1,Gr2),[Gr2,Gr3) ..., [Grn-1,Grn]；
According to maximum and minimum value in each representative value interval, giving in described each representative value interval most preferably to distinguish
The gray threshold G of row lifting rope and backgroundti, i=1 ..., n-1；So as to obtain the gray threshold G under current environmentt；
The average value of gray scale in the specific region in the gray scale picture, zoning is selected, the average value is regard as background ash
Spend reference value Gr；
If the background gray reference value Gr in current gray level image is more than described gray threshold Gt, then it is lifting rope to think image
Image, otherwise it is assumed that being background image.
4. contactless row according to claim 3 hangs lifting rope swing angle monitoring device, it is further characterized in that described specific
Region is defined as follows：The pixel size of image capture module collection image arranges for n rows m, and obtained gray level image is similarly n rows
M is arranged, take gray level image by the 0th row the 0th arrange to n1 rows m1 row stop pixel, the 0th row m-m1 arranged to n1 rows m arrange only pixel,
N-th-n2 rows the 0th have been arranged to line n m2 row and the n-th-n2 rows m-m2 and arranged to line n m row, as selected given zone
Domain, wherein m1<M/3, m2<M/3, n1<N/3, n2<N/3, calculates the average value of specific region, is described background gray reference
Value Gr。
5. contactless row according to claim 1 hangs lifting rope swing angle monitoring device, top pixels row is further characterized in that
To take top 0 to x in the lifting rope image after separation1Row data, middle part P1To P1+x2Row data and image bottom n-x3To n line numbers
According to wherein x1<n/3、x2<n/3、x3<n/3、P1>n/3。
6. contactless row according to claim 5 hangs lifting rope swing angle monitoring device, it is further characterized in that and is calculating lifting rope
Before image starting row and cut-off row step, pass through equation below：
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Calculate width value of the lifting rope image in described top pixels rowAnd then calculate in the middle part of image in x2 row data
Width valueWith image bottom x3Width value in row data
IfAndRespectively less than predetermined lifting rope width image error ξ, then it is assumed that complete separation
Lifting rope image is qualified, carries out follow-up calculating lifting rope image starting row and cut-off row；Otherwise, the figure after current separating background is represented
As being not lifting rope image, the operation before resurveying image and carrying out；j0Represent predetermined lifting rope width.
7. contactless row according to claim 1 hangs lifting rope swing angle monitoring device, it is further characterized in that：Described angle
The calculating process of average value is as follows：
For image top x1Starting and cut-off columns of the gray value for 1 in row data：(j1b,j1e) ..., (jx1b,jx1e), calculate
Image top x1The average value θ of lifting rope swing angle in row data1=(θ11+θ12+θ13)/3, wherein：
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</mtd>
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<mtr>
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</mfenced>
l1And l2Meet 1<l1<x1、1<l2<x1；l1And l2Respectively from the first row to xth1L between row1And l2OK.
8. the contactless row according to claim foot 1 hangs lifting rope swing angle monitoring device, it is further characterized in that with angle
Adjustment mechanism：Change the relative angle and figure of image acquisition units, graphics processing unit and the Alarm Unit institution where he works and lifting rope
As the inclination alpha of collecting unit and horizontal plane.
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| CN108375442B (en) * | 2018-01-19 | 2020-07-14 | 西北工业大学 | Device for measuring tension and swing angle of tether in non-contact manner |
| CN111204662B (en) * | 2020-04-16 | 2020-08-21 | 中联重科股份有限公司 | System for recognizing state parameters, hoisting positioning system and hoisting equipment |
| 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 |
| CN115393360B (en) * | 2022-10-28 | 2023-03-24 | 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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| JP2561192B2 (en) * | 1991-10-29 | 1996-12-04 | 三井造船株式会社 | Suspended load stop control method and device |
| JP2008312004A (en) * | 2007-06-15 | 2008-12-25 | Sanyo Electric Co Ltd | Camera system and mechanical apparatus |
| CN103663143B (en) * | 2013-12-13 | 2015-08-26 | 中联重科股份有限公司 | Hoisting anti-swing control equipment, method and system and engineering machinery |
| CN103863946B (en) * | 2014-03-26 | 2016-06-29 | 东南大学 | A kind of crane load pivot angle detection method |
| CN105152016B (en) * | 2015-08-25 | 2017-08-25 | 山东大学 | The overhead crane energy coupling controller and control method constrained with initial input |
| CN105271004B (en) * | 2015-10-26 | 2017-06-13 | 上海海事大学 | Using the suspender space positioning apparatus and method of monocular vision |
| CN105329777B (en) * | 2015-12-03 | 2017-03-22 | 山东大学 | Fuzzy control method for lifting bridge crane system with persistent disturbances |
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