CN108155915B - Intelligent steel coil storage area lifting steel coil and storage steel coil anti-collision detection system - Google Patents
Intelligent steel coil storage area lifting steel coil and storage steel coil anti-collision detection system Download PDFInfo
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- CN108155915B CN108155915B CN201611097191.3A CN201611097191A CN108155915B CN 108155915 B CN108155915 B CN 108155915B CN 201611097191 A CN201611097191 A CN 201611097191A CN 108155915 B CN108155915 B CN 108155915B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/155—Ground-based stations
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/06—Receivers
- H04B1/08—Constructional details, e.g. cabinet
- H04B1/082—Constructional details, e.g. cabinet to be used in vehicles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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Abstract
The invention discloses an anti-collision detection system for lifting steel coils and stocked steel coils in an intelligent steel coil stock area, which comprises a ground signal transmitting unit, an on-board signal receiving unit and a signal processing unit, wherein the ground signal transmitting unit is used as the bottom layer of the system, and an output interface of the ground signal transmitting unit is connected with the on-board signal receiving unit and used for transmitting information; the output interface of the on-board signal receiving unit is connected with the signal processing unit and used for receiving special information transmitted from the ground and converting the information into digital information; and the signal processing unit is used for obtaining the current storage position state information and the collision possibility information of the lifted steel coil. The invention can provide a unique detection mode, and effectively solve the problem of collision detection of the lifted steel coil and the steel coil on the saddle of the storage position in real time.
Description
Technical Field
The invention relates to an anti-collision detection system, in particular to an intelligent anti-collision detection system for steel coils in a lifting steel coil storage area and steel coils in storage.
Background
Industrial field, in particular steel manufacturing, steel coils are a particularly common profile, and daily inventory management of steel coils is a very burdensome task. The inventory management operation generally comprises warehousing, stack-reversing and ex-warehouse operations, wherein warehousing is to place external rolls into warehouse locations; the step of stacking is to change the steel coil on the storage position of the storage area into the storage position; and the steel coil at the storage position in the storage area is lifted out of the storage area when the steel coil is taken out of the storage area. The three kinds of operation management all need to finish the transportation of the steel coil in the reservoir area by a crane. In the operation of putting in storage and falling a pile, driving operation personnel need drive the driving and place the coil of strip of handling in appointed storehouse position, at this in-process, driving navigating mate need pay close attention to whether the coil of strip has existed in handling target storehouse position, whole handling process has corresponding operation scheduling personnel to point the storehouse position occupation condition that system suggestion target storehouse position information shows at ordinary times and informs driving navigating mate usually, but the storehouse position occupation information of point inspection system is not real-time, so lead to the information inaccurate, cause driving navigating mate to need the visual observation storehouse position occupation condition. Because the influence of factors such as fatigue, sight (all placed the coil of strip around the target storehouse position), probably lead to navigating mate to observe unclear, cause the handling coil of strip to transfer can collide the coil of strip that the current storehouse position exists to cause the production incident, cause the loss.
At present, the anti-collision detection method for the steel coil storage area lifting steel coils and the stored steel coils is generally used for judging according to the storage information of the steel coils in the storage area established by the anti-collision detection method, and the storage information of the steel coils in the storage area is updated and input according to the on-site counting of operators, so that the tasks of the operators are heavy, the information updating is seriously delayed, and the collision condition is caused.
Disclosure of Invention
The invention aims to provide an intelligent steel coil storage area lifting steel coil and storage steel coil anti-collision detection system, which can provide a unique detection mode and effectively solve the problem of collision detection of lifting steel coils and steel coils on a storage saddle in real time.
The invention solves the technical problems through the following technical scheme: the utility model provides an intelligence coil of strip storehouse district handling coil of strip and coil of strip anticollision detecting system in stock, its includes signal receiving unit, signal processing unit on ground signal emission unit, the car, wherein:
the ground signal transmitting unit is used as the bottom layer of the system, and the output interface of the ground signal transmitting unit is connected with the signal receiving unit on the vehicle and used for transmitting information;
the output interface of the on-board signal receiving unit is connected with the signal processing unit and used for receiving special information transmitted from the ground and converting the information into digital information;
and the signal processing unit is used for obtaining the current storage position state information and the collision possibility information of the lifted steel coil, receiving the digital information sent by the information receiving unit on the vehicle, analyzing and processing the information, judging whether the information is the saddle seat at the current storage position and judging which state of the saddle is sent out, and thus obtaining the final collision possibility result.
Preferably, the ground signal transmitting unit comprises a high-reflectivity label plate and a projection lamp, the projection lamp projects light rays with special wave bands onto the high-reflectivity label plate, and the reflected light rays of the label plate are received by the signal receiving unit on the vehicle.
Preferably, the on-vehicle signal receiving unit comprises a CCD industrial camera, and an optical filter imaging unit, a trigger unit and an image acquisition unit which are matched with each other, wherein the trigger time of the trigger unit is that a crane lifts a steel coil to reach a saddle coordinate position of an appointed storage position, after the trigger is triggered, the CCD industrial camera and the optical filter imaging unit image light reflected by a high-reflection label plate of the ground signal transmitting unit and convert the light into a digital image which is provided for the image acquisition unit, and the image acquisition unit preprocesses the digital image and outputs the preprocessing result to the signal processing unit.
Preferably, the signal processing unit comprises an image segmentation processing unit, an image judgment unit and an information output unit, wherein the input information of the image segmentation processing unit is the output information of the image acquisition unit, the received preprocessed image is segmented, noise information in the image is filtered, reflection information of the ground high-reflection label plate is reserved, and reflection information of the label plate except the reflection information of the label plate on the current library position saddle is filtered; the input information of the image judging unit is the output information of the image segmenting unit, whether the segmented ground reflection information is real and effective reflection information is judged, whether steel coils exist on the saddle of the warehouse or not is judged, whether the lifting steel coils collide with the saddle steel coil information or not is judged, the output information of the image judging unit is connected with the information output unit, and the judgment result is output to other control systems.
The positive progress effects of the invention are as follows: the invention can provide an intelligent steel coil storage area lifting steel coil and stock steel coil anti-collision detection system, the detection system firstly transmits information through a ground information transmitting unit positioned on a saddle of a storage location of the storage area (the information is different according to whether the steel coil exists on the current saddle), when a crane lifts a steel coil to a target storage location, a trigger signal is received, an information receiving unit on the vehicle starts to receive the information of the ground transmitting unit and converts the information into digital information to be analyzed and processed by an information processing unit, whether the information of the target storage location is the information sent in a steel coil state or the information sent in a steel coil-free state is judged, if the information is sent in the steel coil state, the lifted steel coil is lifted to the current storage location to cause steel coil collision, and otherwise, the steel coil collision cannot occur. The information processing unit obtains the steel coil collision information and sends the information to the crane control unit so as to provide a basis for judging whether the crane is dismounted. The invention can provide a unique detection mode, and effectively solve the problem of collision detection of the lifted steel coil and the steel coil on the saddle of the storage position in real time. The invention can realize the anti-collision automatic detection of the lifted steel coil and the steel coil at the warehouse location, effectively avoid the steel coil collision safety production accident caused by the fuzzy or sheltering of the driver sight, reduce the loss of enterprises, reduce the labor intensity of workers, improve the operation efficiency and provide a technical basis for the unmanned warehouse area.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural diagram of a ground signal transmitting unit according to the present invention.
Fig. 3 is a schematic structural diagram of the on-board signal receiving unit according to the present invention.
Fig. 4 is a schematic structural diagram of a signal processing unit according to the present invention.
Detailed Description
The following provides a detailed description of the preferred embodiments of the present invention with reference to the accompanying drawings.
As shown in fig. 1, the anti-collision detection system for steel coils lifted in an intelligent steel coil storage area and stored steel coils comprises a ground signal transmitting unit, an on-vehicle signal receiving unit and a signal processing unit, wherein:
the ground signal transmitting unit is used as the bottom layer of the system, and the output interface of the ground signal transmitting unit is connected with the signal receiving unit on the vehicle and is used for transmitting information (the information needs to be analyzed and processed to obviously distinguish whether a steel coil exists in the current storage position);
the output interface of the on-board signal receiving unit is connected with the signal processing unit and used for receiving special information transmitted from the ground and converting the information into digital information;
and the signal processing unit is used for obtaining the current storage position state information (whether a steel coil exists) and the collision possibility information (whether collision exists) of the lifting steel coil, receiving the digital information sent by the information receiving unit on the vehicle, analyzing and processing the information, judging whether the information is the current storage position saddle seat and judging which state of the saddle is sent out, and further obtaining the final collision possibility result, namely finally obtaining the current storage position state information (whether the steel coil exists) and the collision possibility information (whether collision exists) of the lifting steel coil.
As shown in fig. 2, the ground signal transmitting unit includes a high reflective label plate and a projector lamp, the projector lamp projects light of a special waveband onto the high reflective label plate, the reflected light of the label plate is received by the signal receiving unit on the vehicle, the high reflective label plate is mounted at four corners of the saddle of the garage, the projector lamp is mounted on the clamp cantilever, and the mounting position of the projector lamp, the mounting position of the label plate and the mounting position of the signal receiving unit sensor on the vehicle are closely related.
As shown in fig. 3, the on-board signal receiving unit includes a CCD (Charge coupled Device) industrial camera, and a matched optical filter imaging unit, a trigger unit, and an image collecting unit, where the trigger unit triggers the crane to hoist the steel coil to a saddle coordinate position of a designated storage location, after the trigger is triggered, the CCD industrial camera and the optical filter imaging unit image the light reflected by the high-reflectivity label plate of the ground signal transmitting unit, convert the light into a digital image, and provide the digital image to the image collecting unit, where the image collecting unit preprocesses the digital image and outputs the preprocessing result to the signal processing unit, where:
the CCD industrial camera and the matched optical filter imaging unit are used for filtering natural light and impurity light, and the special wave band light emitted by the projection lamp can stably pass through the CCD industrial camera and the matched optical filter imaging unit;
the trigger unit can trigger the camera to shoot and capture an image signal, when the crane runs to the coordinate position of the saddle at the designated storage position (the swing of the clamp is also reduced to 5 degrees), the trigger unit can immediately send a trigger signal to control the CCD industrial camera to shoot a picture, the trigger unit can be controlled by software through hardware control, if the trigger unit is controlled by software, the input end of the trigger unit needs to be connected with the processing unit, and after the trigger unit reaches the position, the processing unit sends the software trigger signal to control the camera to shoot the picture.
As shown in fig. 4, the signal processing unit includes an image segmentation processing unit, an image determination unit, and an information output unit, where the input information of the image segmentation processing unit is the output information of the image acquisition unit, and performs segmentation processing on the received preprocessed image, filters noise information in the image, retains reflection information of the ground high-reflectivity label plate, and filters reflection information of the label plate except the reflection information of the label plate on the current stock location saddle; the input information of the image judging unit is the output information of the image segmenting unit, whether the segmented ground reflection information is real and effective reflection information is judged, whether steel coils exist on the saddle of the warehouse or not is judged, whether the lifting steel coils collide with the saddle steel coil information or not is judged, the output information of the image judging unit is connected with the information output unit, and the judgment result is output to other control systems.
The ground information sending unit is a transmitter which can transmit information in different states according to whether a steel coil is placed above the storage position, the information transmitter is arranged at four corners of a saddle of the storage position according to certain requirements, the information transmitter can transmit information in different states according to whether the steel coil exists on the saddle, the information transmitting unit comprises an active transmitter and a passive transmitter, and the ground information sending unit refers to the passive transmitter in particular, but is not limited to the passive transmitter.
The passive transmitter comprises a passive high-reflection label plate and a special wave band projection lamp. Usually, a high-light-reflection label plate is fixed at each of the four corners of the saddle of each warehouse position in the warehouse area, and a special wave band projection lamp is installed on a crane clamp cantilever, so that only one projection lamp is needed in the whole warehouse area, the projection lamp emits light rays with specific wave bands to the ground, the ground label plate receives the light rays and reflects the light rays, and the light rays can be received by the clamp cantilever beam information receiving unit. (when there is the coil of strip on the saddle, this label board is sheltered from by the coil of strip, and information receiving element can not receive the information on the crane, and on the contrary, then can receive the information).
The special wave band projection lamp can emit light rays with specific wave bands, and the light rays with the wave bands can be filtered by the special filter through the imaging equipment.
The installation angle of the high-reflectivity label plate fixed on the saddle depends on two factors, namely the position and the installation angle of a projection lamp on the clamp suspension beam, and the installation position and the installation angle of a signal receiving unit CCD industrial camera, but the following conditions must be met:
the method comprises the following steps that firstly, when physical shielding does not exist among a high-light-reflection label, a projection lamp and a CCD industrial camera, a special wave band emitted by the projection lamp can be basically and completely received by the CCD industrial camera;
the second condition is basically satisfied when the clamp cantilever has a certain swing angle (usually-5 to 5 degrees);
the mounting position satisfying the above condition can be obtained by calibration and calculation.
The calculation process of calibration and calculation is basically as follows (after the travelling crane reaches the coordinate position of the designated stacking position):
tentatively determining the installation angle of the CCD industrial camera, and determining the position range of the camera for obtaining saddle imaging on the installation plane according to the height from the camera installation plane to the center height of the steel coil, the basic size of the lifted steel coil, the position of the saddle, the size of the peripheral steel coil and the placement position if the installation angle is vertically downward, wherein in the position range, the saddle can image on the CCD industrial camera through the gap between the lifted steel coil and the steel coil on the peripheral saddle;
eleventh, according to the available installation position still on the camera mounting plane, mount the projector lamp, according to the distance between camera and CCD industry camera and the height of the installation plane from saddle, according to the light reflection principle, confirm the angle that the high reflecting label plate is installed on saddle, need mount four label plates on saddle mainly because consider the system redundancy, the probability that the label plate will not work at the same time is very low;
and twelfth, determining the area of the current saddle in the image according to the position of the reflection point of the ground high-reflectivity label imaged by the CCD industrial camera and considering the condition that the clamp swings to some extent.
The detection system firstly transmits information through the ground information transmitting unit on the saddle of the storage location in the storage area (the information is different according to whether the steel coil exists on the current saddle), when the steel coil is lifted by the crane to reach the target storage location, the trigger signal is received, the information receiving unit on the crane starts to receive the information of the ground transmitting unit, the information is converted into digital information to be analyzed and processed by the information processing unit, whether the information of the target storage location is the information sent in the steel coil state or the information sent in the steel coil non-state is judged, if the information is sent in the steel coil state, the lifted steel coil is lifted to the current storage location to cause steel coil collision, and otherwise, the steel coil collision cannot occur. The information processing unit obtains the steel coil collision information and sends the information to the crane control unit so as to provide a basis for judging whether the crane is dismounted.
The above embodiments are described in further detail to solve the technical problems, technical solutions and advantages of the present invention, and it should be understood that the above embodiments are only examples of the present invention and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. The utility model provides an intelligence coil of strip storehouse district handling coil of strip and coil of strip anticollision detecting system in stock, its characterized in that, signal receiving unit and signal processing unit on ground signal emission unit, the car, wherein:
the ground signal transmitting unit is used as the bottom layer of the system, and the output interface of the ground signal transmitting unit is connected with the on-vehicle signal receiving unit and used for transmitting information;
the output interface of the on-board signal receiving unit is connected with the signal processing unit and used for receiving special information transmitted from the ground and converting the special information into digital information;
the signal processing unit is used for obtaining the current storage position state information and the collision possibility information of the lifted steel coil, receiving the digital information sent by the signal receiving unit on the vehicle, analyzing and processing the digital information, judging whether the digital information is the information transmitted by the current storage position saddle seat and judging the state of the storage position saddle seat, and thus obtaining the final collision possibility result;
the ground signal transmitting unit comprises a high-light-reflection label plate and a projection lamp, the projection lamp projects light rays with special wave bands onto the high-light-reflection label plate, and the light rays reflected by the high-light-reflection label plate are received by the signal receiving unit on the vehicle;
the high-light-reflection label plates are arranged at four corners of the storage saddle, and the projection lamps are arranged on the clamp cantilever;
the ground signal transmitting unit comprises an information transmitter which can transmit different state information according to whether a steel coil is placed above the storage position or not; the information transmitter adopts a passive transmitter;
the on-vehicle signal receiving unit includes CCD industry camera and supporting optics filter imaging element, trigger unit, image acquisition unit, and the trigger opportunity of trigger unit is the coordinate position that crane handling coil of strip reachd appointed storehouse position saddle, and after the trigger triggers, CCD industry camera and optics filter imaging element are imaged and are converted into the digital image and provide image acquisition unit to the light of ground signal emission unit's high reflection of light label board reflection, and image acquisition unit is right the digital image carries out the preliminary treatment to the result that obtains with the preliminary treatment is exported signal processing unit, wherein:
the CCD industrial camera and the matched optical filter imaging unit are used for filtering natural light and impurity light, and light rays of special wave bands emitted by the projection lamp can stably pass through the CCD industrial camera and the matched optical filter imaging unit;
the trigger unit can trigger the CCD industrial camera to take a picture and capture an image signal, when the crane runs to the coordinate position of the saddle of the designated storage position, the trigger unit sends a trigger signal to control the CCD industrial camera to take a picture, and the trigger unit can be controlled by hardware or software;
when the crane is controlled by software, the input end of the trigger unit is connected with the signal processing unit, and after the crane runs to the coordinate position of the designated storage saddle, the signal processing unit sends a signal and controls the CCD industrial camera to take a picture by software triggering;
the installation angle of the high-reflection label plate fixed on the saddle depends on the position and the installation angle of a projection lamp on a clamp cantilever and the installation position and the installation angle of a CCD industrial camera in a signal receiving unit, and the following conditions must be met:
the first condition is as follows: when physical shielding does not exist among the high-light-reflection label plate, the projection lamp and the CCD industrial camera, the special wave band emitted by the projection lamp can be received by the CCD industrial camera;
and a second condition: when the swing angle of the clamp cantilever is between-5 degrees and 5 degrees, the first condition is satisfied;
when the condition I and the condition II are simultaneously met, the mounting position of the high-reflectivity label plate can be obtained through calibration and calculation;
the steps of calibrating and calculating the installation position of the high-reflection label plate are as follows:
the method comprises the following steps: determining the installation angle of the CCD industrial camera, and when the installation angle is vertically downward installation, determining the position range of the CCD industrial camera for obtaining saddle imaging on the installation plane according to the height from the installation plane of the CCD industrial camera to the center height of the steel coil, the basic size of the hoisted steel coil, the position of the saddle, the size of the peripheral steel coil and the placement position, wherein the warehouse saddle can image on the CCD industrial camera through the gap between the hoisted steel coil and the steel coil on the peripheral warehouse saddle in the position range;
step two: installing a projection lamp on an available installation position on an installation plane of the CCD industrial camera, and determining the installation angle of the high-reflection label plate on the garage saddle according to the distance between the projection lamp and the CCD industrial camera and the height of the installation plane from the garage saddle according to the light reflection principle;
step three: and determining the area of the current warehouse saddle in the image according to the position of the light reflected by the ground high-reflectivity label plate imaged by the CCD industrial camera and under the condition that the clamp cantilever has certain swing.
2. The intelligent anti-collision detection system for steel coils lifted in the steel coil storage area and steel coils in stock according to claim 1, wherein the signal processing unit comprises an image segmentation processing unit, an image judgment unit and an information output unit;
the input information of the image segmentation processing unit is the output information of the image acquisition unit, the received preprocessing result is segmented, noise information in the image is filtered, reflection information of the ground high-reflection label plate is reserved, and reflection information of the high-reflection label plate except the reflection information of the high-reflection label plate on the current stock position saddle is filtered;
the input information of the image judging unit is the output information of the image segmentation processing unit, whether the segmented ground reflection information is real and effective reflection information is judged, whether steel coils exist on the saddle of the storage position or not and whether the steel coils can collide with the steel coils on the saddle is judged, and the output information of the image judging unit is connected with the information output unit and outputs the judgment result to other control systems.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611097191.3A CN108155915B (en) | 2016-12-02 | 2016-12-02 | Intelligent steel coil storage area lifting steel coil and storage steel coil anti-collision detection system |
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| CN201611097191.3A CN108155915B (en) | 2016-12-02 | 2016-12-02 | Intelligent steel coil storage area lifting steel coil and storage steel coil anti-collision detection system |
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| CN108155915B true CN108155915B (en) | 2020-09-22 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111960283B (en) * | 2019-12-11 | 2022-09-06 | 宁夏天地奔牛实业集团有限公司 | Automatic loading system for visual identification of steel coils |
| CN113955360B (en) * | 2020-07-20 | 2024-01-23 | 上海宝信软件股份有限公司 | Automatic steel coil warehousing method and system on vehicle based on full-automatic unmanned crane |
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