CN106744332A - A kind of visual crane hangs and takes alignment system - Google Patents
A kind of visual crane hangs and takes alignment system Download PDFInfo
- Publication number
- CN106744332A CN106744332A CN201611246219.5A CN201611246219A CN106744332A CN 106744332 A CN106744332 A CN 106744332A CN 201611246219 A CN201611246219 A CN 201611246219A CN 106744332 A CN106744332 A CN 106744332A
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- Prior art keywords
- component
- suspender
- real
- crane
- crawl
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Classifications
-
- 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
- B66C13/16—Applications of indicating, registering, or weighing devices
Abstract
The invention belongs to crane crawl positioning correlative technology field, hang to take it discloses a kind of visual crane and determine system, the crane hangs and takes alignment system including capturing Surveillance center, integrated control centre, CopyCAD software dynamic three-dimensional displays component, expert database, sensing detection component, suspender crawl control assembly, image processing modules, real-time internal-external ginseng securing component, camera assembly and three-dimensional information extraction component.The crawl Surveillance center is electrically connected at the integrated control centre；The CopyCAD softwares dynamic three-dimensional display component is electrically connected at the integrated control centre；The expert database is electrically connected with described image processing assembly, the three-dimensional information extraction component, the real-time internal-external ginseng securing component and the camera assembly；The sensing detection component is electrically connected at the expert database；The suspender pick-and-place control assembly is electrically connected at the integrated control centre.
Description
Technical field
Hung the invention belongs to crane and take positioning correlative technology field, more particularly, to a kind of visual crane
Hang and take alignment system.
Background technology
With in engineering machinery neighborhood, the technology on crane is constantly ripe, user for crane requirement no longer only
The performance of crane is limited only to, the crash rate, security, remotely monitor also including crane etc..In order to meet client with
Upper requirement, relevant technical staff in the field has been made some researchs.
At present, during carrying out container, the hanging and be taken as industry of coil of strip on the complicated large-scale place of the environment such as harbour, due to
Hang that to take environment complicated, generally taken using unmanned hanging, although can ensure to hang in the case of 90% take it is accurate, but be still present
Much hang the situation for taking failure.However, generally container, coil of strip etc. the large-scale workpiece for taking are hung, once fail its consequence very
Seriously.Simultaneously as crane hangs and takes that visualization is not high, operation visualization requirements now can not be already met, it is impossible to
Remote monitoring, the body to site operation personnel causes irremediable damage.Correspondingly, this area has a kind of energy of development
Enough processes of taking of hanging to large-scale component carry out the crane of visualizing monitor control and hang the technical need for taking alignment system.
The content of the invention
For the disadvantages described above or Improvement requirement of prior art, hang to take the invention provides a kind of visual crane and determine
Position system, it realizes the Three-Dimensional Dynamic that crane hangs the process of taking by the mutual cooperation of integrated control centre and each component
The functions such as real-time monitoring, the pose adjustment of suspender grabbing device, and the crane hangs and takes alignment system and can be integrated into lifting
Machine crawl production line scene, is greatly reduced crane and hangs and take fault rate, improves visualization.
To achieve the above object, hung the invention provides a kind of visual crane and take alignment system, it includes crawl
Surveillance center, integrated control centre, CopyCAD software dynamic three-dimensional displays component, expert database, sensing detection component, hang
Tool crawl control assembly, image processing modules, real-time internal-external ginseng securing component, camera assembly and three-dimensional information extraction component, its
It is characterised by：
The crawl Surveillance center is electrically connected at the integrated control centre；The CopyCAD softwares Three-Dimensional Dynamic shows
Show that component is electrically connected at the integrated control centre；The expert database is electrically connected with described image treatment group
Part, the three-dimensional information extraction component, the real-time internal-external ginseng securing component and the camera assembly；The sensing detection component
It is electrically connected at the expert database；The suspender pick-and-place control assembly is electrically connected at the integrated control centre；
The camera assembly is used to obtain demarcates card graphic, target object image and target area image, and will obtain
View data is transferred to described image processing assembly, and the described image data that described image processing assembly is used to receive are carried out
The three-dimensional information extraction component is transferred to after treatment；The real-time internal-external ginseng securing component is used to obtain target object and target
The three-dimensional data in region, and the three-dimensional data for obtaining is transferred to the three-dimensional information extraction component；The three-dimensional information
Extraction assembly is used for the data message that will receive carries out three-dimensional information extraction, and the three-dimensional information that will be extracted be transferred to it is described
Expert database；The sensing detection component is used for the real-time pose of real-time detection suspender grabbing device, and the reality that will be detected
Shi Weizi data transfers are to the expert database；The suspender crawl control assembly is used for real-time reception and comes from the integrated control
The instruction at center processed, and according to it is described instruction real-time control described in suspender grabbing device carry out corresponding sports with realize container or
The pick-and-place of person's coil of strip；The integrated control centre be used for by from the expert database on suspender grabbing device, target
The three-dimensional information of object and target area is transferred to the CopyCAD softwares dynamic three-dimensional display component, and controls described
CopyCAD software dynamic three-dimensional display components show that the suspender grabbing device captures the Dynamic Graph of the target object in real time,
Realize the visualizing monitor that crane hangs the process of taking.
Further, the expert database is arranged on crane, and it is used for from the three-dimensional information extraction group
The three-dimensional information of part and the real-time pose data from the sensing detection component are stored, and are transferred to the integrated control
Center.
Further, the integrated control centre is used for control instruction of the real-time reception from the crawl Surveillance center,
And the crawl Surveillance center is given by the data information transfer from the expert database, the crawl Surveillance center is according to connecing
The data message that receives and send the control instruction in real time to the integrated control centre, the integrated control centre and then control
Making the suspender crawl control assembly carries out corresponding actions, improves crane and hangs the accuracy for taking.
Further, described image processing assembly includes coil of strip image processing modules and container representation processing assembly, when
When the target object is container, the container representation processing assembly is in running order, the coil of strip image procossing group
Part is in idle state；When the target object is coil of strip, the coil of strip image processing modules are in running order, the collection
Vanning image processing modules are in idle state.
Further, the crane hangs and takes alignment system also including data transmission interface, the data transmission interface electricity
Property connection the integrated control centre and the crawl Surveillance center.
Further, the sensing detection component includes the displacement transducer being arranged on the suspender grabbing device, institute
Displacement sensors are used for the displacement of suspender grabbing device described in real-time detection.
Further, the sensing detection component also includes the angle detection sensing being arranged on the suspender grabbing device
Device, the angle detecting sensor is used to detect certain a part of angle of the suspender grabbing device.
In general, by the contemplated above technical scheme of the present invention compared with prior art, what the present invention was provided can
Crane depending on changing hangs and takes alignment system, and it passes through CopyCAD software dynamic three-dimensional display components and shows suspender crawl dress in real time
The Dynamic Graph of crawl target object is put, visualization is improve, information can be reviewed, and reliability is higher.Additionally, the lifting
Machine hangs and takes alignment system by capturing the process of taking of hanging of Surveillance center's monitor in real time crane, and coordinates integrated control centre and hang
Tool pick-and-place control assembly accurately captures target object in real time, improves crawl efficiency and crawl accuracy, reduces crawl error
Rate, improves the security of execute-in-place.
Brief description of the drawings
Fig. 1 is that the visual crane that better embodiment of the present invention is provided hangs the structured flowchart for taking alignment system.
Fig. 2 is that the visual crane in Fig. 1 hangs the workflow schematic diagram for taking alignment system.
Fig. 3 is that visual crane in Fig. 1 hangs and takes the schematic diagram that alignment system is in use state.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as additionally, technical characteristic involved in invention described below each implementation method
Not constituting conflict each other can just be mutually combined.
Fig. 1 to Fig. 3 is referred to, the visual crane that better embodiment of the present invention is provided hangs and takes alignment system, institute
State crane and hang and take mutual cooperation of the alignment system by integrated control centre and subsystems, realize crane and hang and took
The Three-Dimensional Dynamic real-time monitoring of journey, the adjustment of suspender pose, crane hang and take the functions such as relevant information is shared, and can be integrated into
Heavy-duty machine crawl production line scene, significantly reduces hanging for crane and takes fault rate, hanging for crane can be taken success rate and be brought up to
More than 95%, reduce the infringement to personnel's body during crane operation.
The crane hang take alignment system include crawl Surveillance center, data transmission interface, integrated control centre,
CopyCAD software dynamic three-dimensional displays component, expert database, sensing detection component, suspender crawl control assembly, image procossing
Component, real-time internal-external ginseng securing component, camera assembly and three-dimensional information extraction component.
The crawl Surveillance center is electrically connected at the integrated control centre by the data transmission interface.It is described
CopyCAD software dynamic three-dimensional display components are electrically connected at the integrated control centre.The expert database is electrical respectively
It is connected to described image processing assembly, the three-dimensional information extraction component, the real-time internal-external ginseng securing component and the shooting
Component.The sensing detection component is electrically connected at the expert database.The suspender pick-and-place control assembly is electrically connected at
The integrated control centre.
The camera assembly is used to obtain demarcates card graphic, target object image and target area image, and will obtain
View data is transferred to described image processing assembly, and the described image data that described image processing assembly will be received are processed
After be transferred to the three-dimensional information extraction component, the three-dimensional information extraction component carries out extraction three to the view data for receiving
Dimension image information, and the three-dimensional image information that will be extracted is transferred to the expert database, the expert database will
The three-dimensional image information for receiving is stored.In present embodiment, the expert database is arranged on crane.
Real-time internal-external ginseng securing component is used to obtain the three-dimensional data of target object and target area, and will obtain
The three-dimensional data is transferred to the three-dimensional information extraction component, the three-dimensional that the three-dimensional information extraction component will be received
Data are transferred to the expert database after being processed, the expert database is stored up to the three-dimensional data for receiving
Deposit.
The sensing detection component is used for the real-time pose of real-time detection suspender grabbing device, and the real-time position that will be detected
To the expert database, the real-time pose data that the expert database will be received are stored appearance data transfer.
In present embodiment, the sensing detection component includes the displacement transducer being arranged on the suspender grabbing device, institute's rheme
Displacement sensor is used for the displacement of suspender grabbing device described in real-time detection；It is appreciated that in other embodiments, the sensing
Detection components can also include other kinds of sensor, such as angle detecting sensor, and the angle detecting sensor is arranged on
On the suspender grabbing device, its certain a part of angle that can be used for detecting the suspender grabbing device.
The suspender crawl control assembly is used for instruction of the real-time reception from the integrated control centre, and according to reception
To the instruction real-time control described in suspender grabbing device corresponding sports are carried out to realize the pick-and-place of container or coil of strip.
The integrated control centre receives the control from the crawl Surveillance center and refers to by the data transmission interface
Order, and give the crawl Surveillance center, crawl Surveillance center root by the data information transfer from the expert database
The control instruction is sent in real time according to the data message for receiving to the integrated control centre, the integrated control centre enters
And controlling the suspender to capture control assembly carries out corresponding actions, accurate the hanging that improve crane takes.
The integrated control centre also by from the expert database on the suspender grabbing device, the target
The three-dimensional information of object and the target area is transferred to the CopyCAD softwares dynamic three-dimensional display component, and controls described
CopyCAD software dynamic three-dimensional displays component display suspender grabbing device captures the Dynamic Graph of the target object, has realized
Heavy-duty machine hangs the visualizing monitor of the process of taking.
In present embodiment, described image processing assembly includes coil of strip image processing modules and container representation treatment group
Part, when the target object is container, the container representation processing assembly is in running order, at the coil of strip image
Reason component is in idle state；When the target object is coil of strip, the coil of strip image processing modules are in running order, institute
State container representation processing assembly and be in idle state.
The crane is hung when taking alignment system work, and the camera assembly shoots demarcates the card a number of picture of acquisition
Binocular camera positioning is carried out, the real-time internal-external ginseng securing component obtains the three-dimensional data of target object and target area, and
By obtain the three-dimensional data be transferred to the three-dimensional information extraction component, at the same time, the camera assembly by obtain
View data is transferred to described image processing assembly；Different image processing modules are selected for different target objects；It is described
The data message that three-dimensional information extraction component will be received is transferred to the expert database after being processed；The integrated control
Three-dimensional information in expert database described in the Real-time Collection of center, and control the CopyCAD softwares dynamic three-dimensional display component
Display suspender grabbing device captures the Dynamic Graph of the target object in real time, while control the suspender to capture control assembly carrying out
Corresponding grasping movement；The crawl Surveillance center obtained in real time by the data transmission interface and the integrated control centre come
From the three-dimensional data of the expert database, so to the suspender grabbing device crawl target object process be monitored and
The three-dimensional data according to receiving sends control instruction to the integrated control centre in real time.
The visual crane that the present invention is provided hangs and takes alignment system, and it passes through CopyCAD software dynamic three-dimensional displays
Component shows that suspender grabbing device captures the Dynamic Graph of target object in real time, improves visualization, and information can be reviewed, and can
It is higher by property.Additionally, the crane hangs and takes alignment system and hang the process of taking by capture Surveillance center's monitor in real time crane,
And coordinate integrated control centre and suspender pick-and-place control assembly accurately to capture target object in real time, improve crawl efficiency and crawl
Accuracy, reduces crawl fault rate, improves the security of execute-in-place.
As it will be easily appreciated by one skilled in the art that the foregoing is only presently preferred embodiments of the present invention, it is not used to
The limitation present invention, all any modification, equivalent and improvement made within the spirit and principles in the present invention etc., all should include
Within protection scope of the present invention.
Claims (7)
1. a kind of visual crane hangs and takes alignment system, and it includes crawl Surveillance center, integrated control centre, CopyCAD
Software dynamic three-dimensional display component, expert database, sensing detection component, suspender crawl control assembly, image processing modules, reality
When inside and outside ginseng securing component, camera assembly and three-dimensional information extraction component, it is characterised in that：
The crawl Surveillance center is electrically connected at the integrated control centre；The CopyCAD softwares dynamic three-dimensional display group
Part is electrically connected at the integrated control centre；The expert database is electrically connected with described image processing assembly, institute
State three-dimensional information extraction component, the real-time internal-external ginseng securing component and the camera assembly；The sensing detection component is electrical
It is connected to the expert database；The suspender pick-and-place control assembly is electrically connected at the integrated control centre；
The camera assembly is used to obtain demarcates card graphic, target object image and target area image, and the image that will be obtained
Data are transferred to described image processing assembly, and the described image data that described image processing assembly is used to receive are processed
After be transferred to the three-dimensional information extraction component；The real-time internal-external ginseng securing component is used to obtain target object and target area
Three-dimensional data, and by obtain the three-dimensional data be transferred to the three-dimensional information extraction component；The three-dimensional information extraction
The data message that component is used to receive carries out three-dimensional information extraction, and the three-dimensional information that will be extracted is transferred to the expert
Database；The sensing detection component is used for the real-time pose of real-time detection suspender grabbing device, and the real-time position that will be detected
Appearance data transfer is to the expert database；The suspender crawl control assembly is used for real-time reception from the integrated control
The instruction of the heart, and according to it is described instruction real-time control described in suspender grabbing device corresponding sports are carried out to realize container or steel
The pick-and-place of volume；The integrated control centre be used for by from the expert database on suspender grabbing device, target object
And the three-dimensional information of target area is transferred to the CopyCAD softwares dynamic three-dimensional display component, and control the CopyCAD soft
Part dynamic three-dimensional display component shows that the suspender grabbing device captures the Dynamic Graph of the target object in real time, realizes lifting
Machine hangs the visualizing monitor of the process of taking.
2. visual crane as claimed in claim 1 hangs and takes alignment system, it is characterised in that：The expert database sets
It is placed on crane, it is used for by the three-dimensional information from the three-dimensional information extraction component and from the sensing detection component
Real-time pose data stored, and be transferred to the integrated control centre.
3. visual crane as claimed in claim 1 hangs and takes alignment system, it is characterised in that：The integrated control centre
For control instruction of the real-time reception from the crawl Surveillance center, and will be passed from the data message of the expert database
The crawl Surveillance center is defeated by, the crawl Surveillance center sends the control according to the data message for receiving and refers in real time
Make to the integrated control centre, the integrated control centre and then control the suspender crawl control assembly accordingly to be moved
Make, improve crane and hang the accuracy for taking.
4. visual crane as claimed in claim 1 hangs and takes alignment system, it is characterised in that：Described image processing assembly
Including coil of strip image processing modules and container representation processing assembly, when the target object is container, the container
Image processing modules are in running order, and the coil of strip image processing modules are in idle state；When the target object is steel
During volume, the coil of strip image processing modules are in running order, and the container representation processing assembly is in idle state.
5. visual crane as claimed in claim 1 hangs and takes alignment system, it is characterised in that：The crane hangs to take to be determined
Position system also includes data transmission interface, and the data transmission interface is electrically connected with the integrated control centre and crawl prison
Control center.
6. the visual crane as described in claim any one of 1-5 hangs and takes alignment system, it is characterised in that：The sensing
Detection components include the displacement transducer being arranged on the suspender grabbing device, and institute's displacement sensors are used for real-time detection institute
State the displacement of suspender grabbing device.
7. visual crane as claimed in claim 6 hangs and takes alignment system, it is characterised in that：The sensing detection component
Also include the angle detecting sensor being arranged on the suspender grabbing device, the angle detecting sensor is used to detect described
Certain a part of angle of suspender grabbing device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611246219.5A CN106744332B (en) | 2016-12-29 | 2016-12-29 | A kind of hanged alignment system of visual crane |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611246219.5A CN106744332B (en) | 2016-12-29 | 2016-12-29 | A kind of hanged alignment system of visual crane |
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| CN106744332A true CN106744332A (en) | 2017-05-31 |
| CN106744332B CN106744332B (en) | 2018-01-02 |
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| CN201611246219.5A Active CN106744332B (en) | 2016-12-29 | 2016-12-29 | A kind of hanged alignment system of visual crane |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107902554A (en) * | 2017-10-12 | 2018-04-13 | 淮阴工学院 | The location algorithm of suspender precise positioning system |
| CN108335331A (en) * | 2018-01-31 | 2018-07-27 | 华中科技大学 | A kind of coil of strip binocular visual positioning method and apparatus |
| CN110555913A (en) * | 2019-08-27 | 2019-12-10 | 正知（上海）智能技术有限公司 | virtual imaging method and device based on industrial human-computer interface |
| US10870559B2 (en) | 2016-12-15 | 2020-12-22 | China University Of Mining And Technology | Apparatus and method for measuring rotational angle of sinking platform |
| CN112381191A (en) * | 2020-11-09 | 2021-02-19 | 中国第一汽车股份有限公司 | Method for tracing tightening information by manually scanning hanger number |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| Publication number | Publication date |
|---|---|
| CN106744332B (en) | 2018-01-02 |
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