CN106744332B - A kind of hanged alignment system of visual crane - Google Patents
A kind of hanged alignment system of visual crane Download PDFInfo
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- CN106744332B CN106744332B CN201611246219.5A CN201611246219A CN106744332B CN 106744332 B CN106744332 B CN 106744332B CN 201611246219 A CN201611246219 A CN 201611246219A CN 106744332 B CN106744332 B CN 106744332B
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- component
- hanged
- crane
- suspender
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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
- B66C13/18—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 to capture positioning correlative technology field, system is determined it discloses a kind of visual crane is hanged, and the hanged alignment system of crane includes crawl 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 in described image processing component, the three-dimensional information extraction component, 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
The invention belongs to the hanged positioning correlative technology field of crane, more particularly, to a kind of visual crane
Hanged alignment system.
Background technology
As the technology in engineering machinery field on crane is constantly ripe, requirement of the user for crane is no longer only
It is limited only to the performance of crane, in addition to the crash rate of crane, security, remotely monitor etc..In order to meet client with
Some researchs have been made in upper requirement, relevant technical staff in the field.
At present, in carrying out the hanged operation process of container, coil of strip on the complicated large-scale place of the environment such as harbour, due to
Hanged environment is complicated, and generally use is unmanned hanged, although can ensure in the case of 90% hanged accurate, still has
The situation of many hanged failures.However, hanged generally container, coil of strip etc. large-scale workpiece, once fail its consequence very
Seriously.Simultaneously as the hanged visualization of crane is not high, it can not already meet operation visualization requirements now, can not
Remote monitoring, irremediable damage is caused to the body of site operation personnel.Correspondingly, there is develop a kind of energy for this area
Enough hanged processes to large-scale component carry out the technical need of the hanged alignment system of crane of visualizing monitor control.
The content of the invention
For the disadvantages described above or Improvement requirement of prior art, the invention provides a kind of visual crane is hanged fixed
Position system, it realizes the Three-Dimensional Dynamic of the hanged process of crane by integrating control centre and the mutual cooperation of each component
The functions such as monitoring in real time, the pose adjustment of suspender grabbing device, and the hanged alignment system of the crane can be integrated into lifting
Machine crawl production line scene, is greatly reduced the hanged fault rate of crane, improves visualization.
To achieve the above object, the invention provides a kind of visual hanged alignment system of crane, 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, the real-time securing component of inside and outside parameter, camera assembly and three-dimensional information extraction component,
It is characterized in that：
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 in described image treatment group
Part, the three-dimensional information extraction component, the real-time securing component of the inside and outside parameter and the camera assembly；The sensing detection group
Part is electrically connected at the expert database；The suspender crawl control assembly is electrically connected at the integrated control centre；
The camera assembly is used to obtaining demarcation card graphic, target object image and target area image, and by acquisition
View data is transferred to described image processing component, and described image processing component is used to carry out the described image data received
The three-dimensional information extraction component is transferred to after processing；The real-time securing component of inside and outside parameter is used to obtain target object and mesh
The three-dimensional data in region is marked, and the three-dimensional data of acquisition is transferred to the three-dimensional information extraction component；The three-dimensional letter
Breath extraction assembly is used to the data message received carrying out three-dimensional information extraction, and the three-dimensional information extracted is transferred into institute
State expert database；The sensing detection component is used for the real-time pose for detecting suspender grabbing device in real time, and will detect
Real-time pose data transfer is to the expert database；The suspender crawl control assembly is used for real-time reception from described integrated
The instruction of control centre, and control the suspender grabbing device to carry out corresponding sports to realize container in real time according to the instruction
Or the pick-and-place of coil of strip；The integrated control centre be used for by from the expert database on suspender grabbing device, mesh
Mark object and the three-dimensional information of target area are transferred to the CopyCAD softwares dynamic three-dimensional display component, and described in control
Suspender grabbing device described in CopyCAD software dynamic three-dimensional display component real-time displays captures the Dynamic Graph of the target object,
Realize the visualizing monitor of the hanged process of crane.
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 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 giving the data information transfer from the expert database to the crawl Surveillance center, 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
Make the suspender crawl control assembly and carry out corresponding actions, improve the hanged accuracy of crane.
Further, described image processing component includes coil of strip image processing modules and container representation processing component, when
When the target object is container, the container representation processing component 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 hanged alignment system of the crane also includes data transmission interface, the data transmission interface electricity
Property connect 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 for detecting the suspender grabbing device in real time.
Further, the sensing detection component also includes the angle detection sensing being arranged on the suspender grabbing device
Device, the angle detecting sensor are used for certain a part of angle for detecting the suspender grabbing device.
In general, by the contemplated above technical scheme of the present invention compared with prior art, it is provided by the invention can
Depending on the hanged alignment system of crane of change, it is captured by CopyCAD software dynamic three-dimensional display component real-time displays suspender and filled
The Dynamic Graph of crawl target object is put, improves visualization, information can trace, and reliability is higher.In addition, the lifting
The hanged alignment system of machine monitors the hanged process of crane by capturing Surveillance center in real time, 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, improve the security of execute-in-place.
Brief description of the drawings
Fig. 1 is the structured flowchart for the hanged alignment system of visual crane that better embodiment of the present invention provides.
Fig. 2 is the workflow schematic diagram of the hanged alignment system of visual crane in Fig. 1.
Fig. 3 is the schematic diagram that the hanged alignment system of visual crane in Fig. 1 is in use state.
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 in addition, technical characteristic involved in each embodiment of invention described below
Conflict can is not formed each other to be mutually combined.
Refer to Fig. 1 to Fig. 3, the hanged alignment system of visual crane that better embodiment of the present invention provides, institute
Mutual cooperation of the hanged alignment system of crane by integrated control centre and subsystems is stated, realizes the hanged mistake of crane
The functions such as the Three-Dimensional Dynamic of journey monitors in real time, suspender pose adjusts, the hanged relevant information of crane is shared, and can be integrated into
Heavy-duty machine crawl production line scene, significantly reduces the hanged fault rate of crane, can bring up to the hanged success rate of crane
More than 95%, reduce the infringement to personnel's body during crane operation.
The hanged alignment system of crane 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
The real-time securing component of component, inside and outside parameter, 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 difference is electrical
It is connected to described image processing component, the three-dimensional information extraction component, the real-time securing component of the inside and outside parameter and described takes the photograph
As component.The sensing detection component is electrically connected at the expert database.The suspender pick-and-place control assembly is electrically connected with
In the integrated control centre.
The camera assembly is used to obtaining demarcation card graphic, target object image and target area image, and by acquisition
View data is transferred to described image processing component, and described image processing component is handled the described image data received
After be transferred to the three-dimensional information extraction component, the three-dimensional information extraction component carries out extraction three to the view data received
Image information is tieed up, and the three-dimensional image information extracted is transferred to the expert database, the expert database will
The three-dimensional image information received stores.In present embodiment, the expert database is arranged on crane.
The real-time securing component of inside and outside parameter is used for the three-dimensional data for obtaining target object and target area, and will obtain
The three-dimensional data be transferred to the three-dimensional information extraction component, the three-dimensional information extraction component will receive described three
Dimension data is transferred to the expert database after being handled, the expert database is carried out to the three-dimensional data received
Storage.
The sensing detection component is used for the real-time pose for detecting suspender grabbing device in real time, and the real-time position that will be detected
Appearance data transfer is stored the real-time pose data received to the expert database, the expert database.
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 for detecting the suspender grabbing device in real time；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, it can be used for certain a part of angle 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 control the suspender grabbing device to carry out corresponding sports to realize the pick-and-place of container or coil of strip in real time.
The integrated control centre receives the control from the crawl Surveillance center by the data transmission interface and referred to
Order, and give the data information transfer from the expert database to the crawl Surveillance center, crawl Surveillance center root
The control instruction is sent in real time according to the data message received to the integrated control centre, the integrated control centre enters
And control the suspender crawl control assembly to carry out corresponding actions, improve the accurate hanged of crane.
The integrated control centre also by from the expert database on the suspender grabbing device, the target
Object and the three-dimensional information of the target area are transferred to the CopyCAD softwares dynamic three-dimensional display component, and described in control
CopyCAD software dynamic three-dimensional displays component shows that suspender grabbing device captures the Dynamic Graph of the target object, has realized
The visualizing monitor of the hanged process of heavy-duty machine.
In present embodiment, described image processing component includes coil of strip image processing modules and container representation treatment group
Part, when the target object is container, the container representation processing component 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 component and be in idle state.
When the hanged alignment system of crane works, the camera assembly shooting demarcation card obtains a number of picture
Binocular camera positioning is carried out, the real-time securing component of inside and outside parameter obtains the three-dimensional data of target object and target area,
And the three-dimensional data of acquisition is transferred to the three-dimensional information extraction component, at the same time, the camera assembly will obtain
View data be transferred to described image processing component；Different image processing modules are selected for different target objects；Institute
State after three-dimensional information extraction component is handled the data message received and be transferred to the expert database；The integrated control
Center processed gathers the three-dimensional information in the expert database in real time, and controls the CopyCAD softwares dynamic three-dimensional display group
Part real-time display suspender grabbing device captures the Dynamic Graph of the target object, while controls the suspender crawl control assembly to enter
The corresponding grasping movement of row；The crawl Surveillance center is obtained in real time by the data transmission interface and the integrated control centre
Three-dimensional data from the expert database, and then the process that target object is captured to the suspender grabbing device is monitored
And control instruction is sent to the integrated control centre according to the three-dimensional data received in real time.
The hanged alignment system of visual crane provided by the invention, it passes through CopyCAD software dynamic three-dimensional displays
Component real-time display suspender grabbing device captures the Dynamic Graph of target object, improves visualization, information can trace, and can
It is higher by property.In addition, the hanged alignment system of crane monitors the hanged process of crane by capturing Surveillance center in real time,
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, crawl fault rate is reduced, improve the security of execute-in-place.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all any modification, equivalent and improvement made within the spirit and principles of the invention etc., all should be included
Within protection scope of the present invention.
Claims (7)
1. a kind of hanged alignment system of visual crane, it includes capturing Surveillance center, integrated control centre, CopyCAD
It is software dynamic three-dimensional display component, expert database, sensing detection component, suspender crawl control assembly, image processing modules, interior
Outer parameter real-time 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 in described image processing component, institute
State three-dimensional information extraction component, the real-time securing component of the inside and outside parameter and the camera assembly；The sensing detection component electricity
Property is connected to the expert database；The suspender crawl control assembly is electrically connected at the integrated control centre；
The camera assembly is used to obtaining demarcation card graphic, target object image and target area image, and by the image of acquisition
Data are transferred to described image processing component, and described image processing component is used to be handled the described image data received
After be transferred to the three-dimensional information extraction component；The real-time securing component of inside and outside parameter is used to obtain target object and target area
The three-dimensional data in domain, and the three-dimensional data of acquisition is transferred to the three-dimensional information extraction component；The three-dimensional information carries
Take component to be used to the data message that receive carrying out three-dimensional information extraction, and by the three-dimensional information extracted be transferred to it is described specially
Family's database；The sensing detection component is used for the real-time pose for detecting suspender grabbing device in real time, and real-time by what is detected
Pose data transfer is to the expert database；The suspender crawl control assembly comes from the integrated control for real-time reception
The instruction at center, and according to the instruction control the suspender grabbing device to carry out corresponding sports in real time with realize container or
The pick-and-place of coil of strip；The integrated control centre be used for by from the expert database on suspender grabbing device, object
Body and the three-dimensional information of target area are transferred to the CopyCAD softwares dynamic three-dimensional display component, and control the CopyCAD
Suspender grabbing device described in software dynamic three-dimensional display component real-time display captures the Dynamic Graph of the target object, has realized
The visualizing monitor of the hanged process of heavy-duty machine.
2. the visual hanged alignment system of crane as claimed in claim 1, it is characterised in that：The expert database is set
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. the visual hanged alignment system of crane as claimed in claim 1, it is characterised in that：The integrated control centre
For control instruction of the real-time reception from the crawl Surveillance center, and the data message from the expert database is passed
The crawl Surveillance center is defeated by, the crawl Surveillance center sends the control according to the data message received and referred 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 the hanged accuracy of crane.
4. the visual hanged alignment system of crane as claimed in claim 1, it is characterised in that：Described image processing component
Including coil of strip image processing modules and container representation processing component, 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 component is in idle state.
5. the visual hanged alignment system of crane as claimed in claim 1, it is characterised in that：The crane is hanged fixed
Position system also includes data transmission interface, and the data transmission interface is electrically connected with the integrated control centre and the crawl prison
Control center.
6. the hanged alignment system of visual crane as described in claim any one of 1-5, 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 to detect institute in real time
State the displacement of suspender grabbing device.
7. the visual hanged alignment system of crane as claimed in claim 6, 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 described for detecting
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 |
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| CN201611246219.5A CN106744332B (en) | 2016-12-29 | 2016-12-29 | A kind of hanged alignment system of visual crane |
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| CN106744332A CN106744332A (en) | 2017-05-31 |
| CN106744332B true 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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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106744322B (en) | 2016-12-15 | 2018-09-14 | 中国矿业大学 | A method of measuring hanging scaffold rotational angle |
| CN107902554B (en) * | 2017-10-12 | 2019-03-26 | 淮阴工学院 | The location algorithm of suspender precise positioning system |
| CN108335331B (en) * | 2018-01-31 | 2020-09-18 | 华中科技大学 | Binocular vision positioning method and equipment for steel coil |
| CN110555913B (en) * | 2019-08-27 | 2023-04-14 | 正知（上海）智能技术有限公司 | Virtual imaging method and device based on industrial human-computer interface |
| CN112381191B (en) * | 2020-11-09 | 2023-04-07 | 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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